Weld angle correction device

A collaborative robot welding system to perform multi-pass welding, the system comprising:

• a robot controller;
• a robot arm;
• a welding torch attached to the robot arm;
• and
• a weld tools user interface component having a display, and operatively interfacing to the robot controller,
• wherein the robot controller, the robot arm, the welding torch, and the weld tools user interface component are configured to:
• facilitate programming of a root pass for a first weld seam by allowing a user to manually position a tip of the welding torch, held by the robot arm, at root pass points along the first weld seam, and automatically record root pass position and angle data of the welding torch at the root pass points;
• facilitate programming of a set of multiple secondary passes for the first weld seam by:
• allowing the user to manually position the tip of the welding torch at a start point and a stop point for each secondary pass of the set of multiple secondary passes, and automatically recording start and stop position data of the start point and the stop point for each secondary pass of the set of multiple secondary passes, and
• automatically calculate numerical position and angle offset data corresponding to the set of multiple secondary passes based on the recorded root pass position and angle data of the root pass of the first weld seam, and based on the recorded start and stop position data of the start point and the stop point for each secondary pass of the set of multiple secondary passes for the first weld seam;
• facilitate storing of the root pass position and angle data, as recorded, and the numerical position and angle offset data, as calculated, as a multi-pass template;
• and
• facilitate translating and applying of the multi-pass template to a weld reference frame of a second weld seam to aid in programming a second set of multiple passes for the second weld seam, where the second weld seam is of a same type as the first weld seam.