Chapter 1: Calibration and Debugging
Calibrate the Rubon 3-in-1 camera.
Step - 1
1. Open the body software and locate the Rubon 3-in-1 camera, then click to copy the camera’s serial number.
2. Open the workstation design in the special machine software, set the 3D camera brand to Shenzhen Rubon X, and paste the copied serial number into the name field.
Step - 2
1. Make sure to set the virtual reference Z value according to the actual site conditions and the length of the welding torch. It is generally recommended to set it to 550 or 600 (standard torch neck length). The XYZ direction order should be -1, 1, -1. The installation angle should be verified and filled in based on the actual on-site installation.
2. After completing the input, click the Save button to save the changes and exit the workstation design page.
Step - 3
Click on “Profile Steel Parameters” under the auxiliary list. In the composite vision section, set the camera brand to Rubon Swing Line Scan, enter the camera serial number as the camera name, and then click OK.
Step - 4
Click the “3D Calibration” button under the 3D page to enter the 3D automatic calibration page.
Step - 5
Click “Start Online” and then “Start Camera” in sequence at the bottom of the page.
Step - 6
Place the calibration square plate directly below the robot camera. Note that the point recording order follows the current PCS perspective: bottom right is the first point, top right is the second point, bottom left is the third point, and the center point is the fourth point.
Step - 7
Use the teach pendant to teach the points one by one in the order specified in the previous step. After completing the teaching, save the settings.
Step - 8
Click the “Upload Plate Values” button in the dropdown menu. The program will display the points recorded by the teach pendant and sequentially replace Calibration Point 1, Calibration Point 2, Calibration Point 3, and the Center Point.
Step - 9
Move the camera upward to be directly above the calibration plate, then click “Auto Leveling.” The camera will automatically capture and calculate. After the calculation prompt appears, check whether the F1P4 calibration on the calibration plate and the suggested rotation angle are normal. If they are normal, click “Yes” until the “Leveling Completed” prompt appears.
Step - 10
After leveling is completed, click the “Auto Centering” button. Similarly, observe the F1P4 calibration on the calibration plate below and the suggested movement offset. If everything appears normal, click “Yes” and repeat the process until the “Centering Completed” prompt appears.
Step - 11
After leveling and centering are completed, switch the tool to tool9 and click the “Upload Tool Values” button under the upload list.
Step - 12
After confirming the upload, the currently calculated tool values will pop up. Click the “Yes” button to transfer these values into the controller. The camera calibration is now complete
Calibrate the Rubon 3-in-1 camera.
Step - 1
After calibration is completed, use the structural component shown in the figure, and use tool1 to move the welding torch to align with the intersection point of the three surfaces of the structure (ensure that the torch posture is as centered as possible within the structure).
Step - 2
1. Connect the software online, ensuring that the current tool number is set to 1.
2. Click the “Record Verification Point” button on the operation page. The coordinates should now appear in the verification point list below.
Step - 3
Raise the welding torch to a safe position, then switch to tool9 in the position control panel, enter the verification point coordinates, and send the data.
Step - 4
After leveling is completed, click the “Auto Centering” button. Similarly, observe the F1P4 calibration on the calibration plate below and the suggested movement offset. If everything appears normal, click “Yes” and repeat the process until the “Centering Completed” prompt appears.
