1.选择合理的焊接顺序，以减小焊接变形、焊枪行走路径长度来制定焊接顺序。

1. Choose a reasonable welding sequence to reduce welding deformation and the length of the welding gun travel path to formulate the welding sequence.

2.焊枪空间过渡要求移动轨迹较短、平滑、。

2. The space transition of the welding gun requires a short, smooth, and safe movement trajectory.

3.优化焊接参数，为了获得佳的焊接参数，制作工作试件进行焊接试验和工艺评定。

3. Optimize welding parameters, in order to obtain optimal welding parameters, make work specimens for welding tests and process evaluation.

4.采用合理的变位机位置、焊枪姿态、焊枪相对接头的位置。工件在变位机上固定之后，若焊缝不是理想的位置与角度，就要求编程时不断调整变位机，使得焊接的焊缝按照焊接顺序逐次达到水平位置。同时，要不断调整机器人各轴位置，合理地确定焊枪相对接头的位置、角度与焊丝伸出长度。工件的位置确定之后，焊枪相对接头的位置必须通过编程者的双眼观察，难度较大。这就要求编程者善于总结积累经验。

4. Adopt a reasonable positioning machine position, welding gun posture, and the position of the welding gun relative to the joint. After the workpiece is fixed on the positioner, if the weld seam is not in the ideal position and angle, it is required to continuously adjust the positioner during programming, so that the welded weld seam reaches the horizontal position one by one according to the welding sequence. At the same time, it is necessary to continuously adjust the position of each axis of the robot, and reasonably determine the position, angle, and wire extension length of the welding gun relative to the joint. After determining the position of the workpiece, the position of the welding gun relative to the joint must be observed by the programmer's eyes, which is difficult. This requires programmers to be good at summarizing and accumulating experience.

5.及时插入清枪程序，编写一定长度的焊接程序后，应及时插入清枪程序，可以防止焊接飞溅堵塞焊接喷嘴和导电嘴，保证焊枪的清洁，提高喷嘴的寿命，确保可靠引弧、减少焊接飞溅。

5. Insert the cleaning program in a timely manner. After writing a certain length of welding program, the cleaning program should be inserted in a timely manner to prevent welding spatter from blocking the welding nozzle and conductive nozzle, ensuring the cleanliness of the welding gun, improving the lifespan of the nozzle, ensuring reliable arc ignition, and reducing welding spatter.

6.编制程序一般不能一步到位，要在机器人焊接过程中不断检验和修改程序，调整焊接参数及焊枪姿态等，才会形成一个好程序。

6. Programming generally cannot be done in one step, and it is necessary to continuously inspect and modify the program, adjust welding parameters and gun posture during the robot welding process, in order to form a good program.