With the pendulum cap of OH-au2mate it is possible to perform a pendulum movement with a universal robot. Especially when welding components with large root gaps or tolerances a pendulum movement of the torch is essential. To program an oscillating movement the start, intermediate points and target point of the pendulum seam must be entered. Furthermore, the amplitude, pendulum pitch, speed and dwell times can be set. The URCap currently supports linear robot paths and a zigzag pendulum pattern. The standard linear and circular motion is overlaid with the selected pendulum pattern.