With the pendulum cap from OH-au2mate, it is possible to carry out a pendulum movement with a Universal Robot. Especially when welding components with large root gaps or tolerances, an oscillating movement of the torch is essential. To program an oscillating movement, the start, intermediate points and target point of the oscillating seam must be entered. The amplitude, oscillation gradient, speed and dwell times can also be set. The URCap currently supports linear robot paths and a zig-zag oscillation pattern. The standard linear and circular motion is superimposed with the selected pendulum pattern.