The world of additive manufacturing techniques is a realm in constant development due to the structural need of the system to optimize the productive processes of modern industry. This industry increasingly seeks new manufacturing methods that are faster, more advanced, and that increase both productivity and decrease waste generation, as the world is becoming more aware of climate change and it is necessary to use resources responsibly. And it is in this situation that additive manufacturing methods stand out above traditional industrial manufacturing processes, as these are generally based on subtractive techniques such as milling, grinding, cutting, drilling, among many others. This causes waste generation during production processes to be incredibly large compared to additive manufacturing methods, which can greatly reduce this amount of waste, achieving reductions of up to 90%. The additive manufacturing technology commonly known as WAAM (Wire arc additive manufacture), or in Spanish, fabricación aditiva por arco de alambre, is one of these additive manufacturing techniques and also the basis of the project developed in this TFG. The objective of this research is to develop the necessary interfaces for the proper functioning of a WAAM printing station, using the dependencies of the CIM UPC. To do this, I will study the station available at the center, which is composed of a UR10e cobot from Universal Robots and a modified head holding a TIQ welder from Lorch. In order to automate the welding processes, I have developed all the necessary tools for adapting G-codes to the robot in question, I have learned about the operation of the collaborative robot and its limitations, and I have established the necessary communication interfaces for data acquisition and remote robot control, thus collecting data and improving robot control.