Explanation of parameters

Classification of parameters	Name of the parameter	Subdivision of the parameter name	Form of presentation	Parameter Meaning/Function
Common Parameters	Insertion Point Control	Distance from the interpolation point of the start and end point	Enter numeric value	When an entry angle needs to be added due to weld size requirements or workpiece structure, the distance from the end point of the entry angle to the start and end point of the weld is called the distance of the start and end interpolation point. It is usually 50, but appropriate adjustments can be made in special cases.
		Minimum interpolation seam length		When the weld needs to add an input angle, interpolation endpoint
		Midpoint distance of vertical welding		To prevent the welding gun from colliding with the workpiece, the vertical welding gun is not at *90° when lowering (the initial angle is usually -65°). When moved to a safe distance, the angle of the welding gun is adjusted to the best vertical welding angle -90°. The position here is the distance from the midpoint of the vertical weld.
		Vertical Weld Endpoint Wrapping Angle B Value		The position of the welding gun when wrapping the end point (65° by default), the actual value can be modified according to the specific situation.
		Sheathing Angle of Vertical Weld Endpoint 1	V/F	Is the single-sided vertical welding endpoint wrapping function activated?
		Sheathing Angle of Vertical Weld Endpoint 2		Is the wrapping function of the vertical welding endpoint on the other side activated?
		Coefficient of the Sheath Angle of Vertical Welding 1	Relative Ratio Value	The ratio of the wrapping angle of the single-sided vertical weld to the thickness of the plate.
		Coefficient of the sheath angle of vertical welding 2		The ratio of the wrapping angle of the vertical weld on the other side to the thickness of the plate. Note: The sum of the two envelope angle coefficients must be greater than 1
		Insertion Point Before Midpoint
		Insertion Point After Midpoint
		BL point of the internal interpolation angle
		BL point of the external interpolation point
		Inside Bisection Angle
		Non-vertical interior angle BL
		Insert POS Point After END

	ROBOX Program	Movement Speed	Enter numeric value	Speed during linear motion instructions, unit mm/s
		Speed of joint movement		Speed During Joint Link Motion Instructions, Unit 300
		BL Welding Instruction Transition		Circular arc transition in BL right-angle welding

	Welding Process Control	Minimum arc swing aperture size	Enter numeric value
		Instruction for closing the welding signal	V/F	Is welding activated?

	Laser Parameters	Transition height of the flat seam laser	Enter numeric value	In flat fillet welding, the transition point height set according to the structure and size of the workpiece to prevent the gun’s lifting height from being insufficient when lowering the gun or during movement, causing a collision.
		Vertical Welding Laser Transition Height		In vertical welding, the transition point height set according to the structure and size of the workpiece to prevent the gun’s lifting height from being insufficient when lowering the gun or during movement, causing a collision.
		Continuous laser scanning speed		When scanning with line laser, move to the point of the final continuous scan extension length set and slow down to scan to the outside of the corner joint.
		Normal laser scanning speed		The speed of movement when the laser normally scans the workpiece.
		Linear speed of laser idle motion		Linear motion speed when the laser is not scanning.
		Minimum Scan Segment Length		The shortest unit length for a single scan, this value can be modified according to the actual length of the weld
		Laser Vacuum Motion Articulation Speed		Speed of joint movement when the laser is not scanning.
		Dwell time before single-point scan		Dwell time before moving to the required scan point
		Laser posture angle B		The posture value of the line laser when the laser is scanning.
		Initial Encryption Point of the Scan Segment	1,3,6,9	Encryption points added after the scan starts.
		End Encryption Point of the Scan Segment	9,6,3,1	Encryption points added before the scan is complete.
		Medium Encryption Point of the Scan Segment	-15 -10 -5 0 5 10 15	Encryption points added during the scanning process. (Encryption points take the default)
		Initial laser retraction angle	Enter numeric value	To avoid collisions with the gun, the entry angle added at the start and end points of the line laser scan. (Usually 25-30°)
		Final laser retraction angle
		Laser Point-Taking Density		(1 by default, try to take odd numbers if you modify it)
		Minimum corner seam angle		The maximum and minimum angle of the corner joint that can be scanned by the line laser
		Maximum corner seam angle
		Linear adjustment deviation of type P1		Adjust the stability of the laser, it is only valid for the current line laser, different for different devices.
		Method of calculating the point of intersection of internal and external right angles	Point of intersection adjacent to the longest straight line	Feedback Information.

	Scanning laser nodes (e.g. N10)	Node Type	Show by default	Here is simply shown the type of node used in Xi’an at the moment (this does not need to be modified), the specific selection is made after drawing the node line.
		Node Name		Feedback Information.
		End Retraction Angle	Enter numeric value	The entry angle when scanning with laser. (Usually 25-30°)
		Retracting distance of the end of the reinforcement plate 1		When scanning the reinforcement plate, the distance from the scan point to the start and end point of the reinforcement plate.
		Wing Plate End Retraction Distance 2		When scanning the first wing plate, the distance from the scan point to the start and end point of the wing plate.
		Wing Plate End Retraction Distance 3		When scanning the second wing plate, the distance of the scan point from the start and end points of the wing plate.
		Final Continuous Scan Extension Length		Commonly used for scanning N2 nodes of the vertical welding model, the line laser continuously scans to determine the path. (Generally set at 10)
		Overlap length of the closed path		Suitable for overlapping length of the connection part of the start and end points of closed graphics welding. (For better welding effect)
		Proportion of scan points forming a straight line		Generally 95-99
		Internal Right Angle Point Type	Optional Assembly Selection	Generally it is P1-corner joint internal angle point, in special cases it can be set as P-15 low point near middle or P10-lowest point.
		Internal Right Angle Point Type		It is usually P9 – highest point.
		Long Side Tipping Point Point Stitching Type		Same as the internal right angle point type.
		Retraction angle of the scan of the starting point	Enter numeric value	(Usually 30°, can be modified according to the specific situation)
		Endpoint Scan Retraction Angle
		Midpoint Scan Retraction Angle		Generally 0°
		Maximum Value of Times When Moving

	Multi-layer bevel multi-pass	Total layer coefficient	Enter numeric value	Relative Relationship Value, the default value is 1.
		X-direction coefficient of angle welding
		Coefficient in Y direction of angle welding
		Dedicated B-angle for each pass	Optional Assembly Selection	Set the necessary B and A angles when welding each weld seam separately.
		Dedicated A-angle for each pass
		Dedicated welding parameters for each pass		Set the necessary welding parameters by welding each weld seam separately.
		Retraction distance of variable current ignition arc	Enter numeric value
		Variable Current Ignition Arc Welding Speed
		Allow arc oscillation in the root layer	V/F	Does the arc oscillation function open during root welding? (Select based on bezel size)
		Maximum Overall Width of Single Pass Bevel	Enter numeric value	Maximum bevel width that can be welded with this group of multi-layer and multi-pass welding parameters.
		Maximum Single Layer Width When Filling the Layer		Maximum bandwidth that can be achieved with a single welding pass when welding the filler layer.
		Reference pass width for the start of root layer oscillation
		Reference pass width for the start of the infill layer oscillation
		Upward displacement of butt weld

	Gun Posture Control	Welding torch right travel distance	Enter numeric value	In the process of moving the welding gun to the weld, in order to meet the posture requirements of the welding gun, it is necessary to set a transition point, the right/forward movement distance is the X/Y value of the welding gun at the transition point.
		Welding torch forward travel distance
		Height of the lower transition point of the welding gun		In the process of moving the welding gun to the welding, in order to meet the posture requirements of the welding gun, it is necessary to set a transition point, the Z value is the height of the transition point.
		Lower transition point of the initial welding gun	V/F	The transition point at the start and end of the weld, determine if it needs to be set up and if it should be applied according to the structure and size of the workpiece.
		Bottom transition point of the final welding gun

	Sound	Sound Announcement	Show by default	Is the sound streaming feature turned on?

	Position Reference Point	Outside Corner BL Speed Boost	Enter numeric value	1.2
		Inside Corner BL Speed Boost
		Minimum safety transition height		The height value here should be greater than the maximum height of the workpiece to prevent the gun from backing up and colliding with the gun. (Focus on the height of the workpiece)

	Personalized program	Program Tag Name 1	Program 1
		Program Name 1
		Program Tag Name 2	Program 2
		Program Name 2
		Program Tag Name 3	Program 3
		Program Name 3

Workstation Design	Workshop	Program Name 3	Smart Welding Workshop	Personalized or selected from the collection
		Workstation List	Optional Assembly Selection

	Workstation	Workstation Name	Customized or selected	Fill in as needed.
		Is it visible?	V/F	Is this workstation shown?
		Position (posture)	X:0 Y:0 Z:0 Rx:0 Ry:0 Rz:0	Usually set to 0, in special cases, modify the Z value to adjust the height of the workstation.
		List of robots	Collection	Show by default.
		List of accessories
		List of clues
		List of work surfaces
		Component alignment point
		Active Object	Current Robot 1	The specific parameters are the same as the robot below
			Current Robot 2	If there is, it is the same as the above, if not, ignore it.
			Current Main Control Robot	It is usually robot 1.
			Robot control in the current main one
			Current X-track	Same as the track parameters below.
			Current Track Y
			Current Track Y 1
			Current Track Y 2
			Current Z Track
			Current Track Z 1
			Track
			Current Work Surface	Same as the work surface parameters below.

	Work surface	Work Surface Name	Test bench work surface	Custom or system default.
	Rank	Lower left position point	X-3000; Y-3000	Dimension points of the position of the surface of the lower grid seen from the TOP perspective, which can be adjusted and configured according to the actual needs of the job.
		Top right position point	X6000; Y3000
		Length of the work surface in the X direction	6000
		Length of the work surface in the Y direction	4000
		Height of the work surface in the Z direction	0
	Other	Color	A=100 R=111 G=111 B=111	Default.
			Color（100，111，111，111）
		Is it visible?	V/F
		Grid Spacing	500	Default.

	Track	Number	Default or Custom	Fill in as needed.
		Model
	Position	Posture	X:0 Y:0 Z:400 Rx:0 Ry:0 Rz:0	The Z-value is the same as the Z-value of the PCS.
	Motion Control	PorRobot	Optional collection (ByRobot/ByPLC)	Default as ByRobot
	Track marking axis number	Corresponding additional axle marking number	Collection Selection (Aux1/2/3/4/Null)	Select according to the actual number of corresponding additional axes.
	Rank	Lower limit value of the additional axle	0	Set a zero point for the track.
		Upper limit value of the additional shaft	24000	Set an upper limit value for robot operation based on the length of the physical track.
		Number of additional axle shafts	X	Set X or Y based on the actual workstation situation.
		Additional Axle Steering	1
	Model	Model Entity	Optional Assembly Selection
		Is it visible?	V/F	Is the model visible?
	Subtrack	List of subtracks	Optional Assembly Selection

	Robot	Number	Default or Custom
		March	Show by default (cannot be modified)
		Model of the model	Optional Collection	Select according to the actual robot model.
		Is it visible?	V/F	Is the robot model shown in the workstation layout?
		It is the main control robot		Establish the current robot as the primary control robot? (Distinguishes the primary and secondary relationship when there are two robots)
		Controller Model	ROBOX	Show by default.
		Posture	X:0 Y:0 Z:0 Rx:0 Ry:0 Rz:0	Usually set to 0, in special cases, modify the Z value to adjust the installation height of the robot.
		Installation Guidance	Direct installation	Select direct installation/non-direct installation based on the actual installation method.
		Initial Articulation Angle	Matching	The different installation orientations will have a corresponding set of values that correspond to them (direct installation J1=0 J2=20 J3=-20 J4=0 J5=-45 J6=0 Non-direct installation J1=0 J2=20 J3=-20 J4=0 J5=40 J6=0)
		Additional shaft	Attached Track Name	Custom or default.
		Velocity	Linear Speed	400
			Articulation speed	50

		Composition	Tool List	Show by default (set) The corresponding robot accessories are also added from here.
			List of Linear Lasers
			List of Linear Lasers
			Camera List

		Active Object	Current Tool	Default to white
			Current Tool Coordinate System
			Current Linear Laser
			Current Spot Laser
			Current Spot Laser
			Current track list
			Current X-track
			Current Track Y
			Current Z Track
			Current Track Order

	Tool (welding gun)	Number	Default or Custom (Welding Gun)	Fill in as needed.
		Model	Optional Collection	Select according to the model of the physical welding gun. (Usually TRM605W-45L)
		Posture	X:0 Y:0 Z:0 Rx:0 Ry:0 Rz:-90	Adjust the welding gun to the proper posture by adjusting the values of A, B, and C.
		Configuration	Six-point calibration data	X:-6.651 Y:-0.491 Z:627.886 Rx:0 Ry:45 Rz:180
		Color	A=255,R=180,G=180,B=180
		visible	V/F	Is this project shown?
		Show TCP coordinate system	V/F
		Soldering Tool Number	1	Default or custom.
		Soldering Tool Number	1	Default or custom.

	PCS-1	Workpiece coordinate system	Serial Number	1
			Number	PCS-1
		Position (posture)	X:0 Y:0 Z:400 Rx:0 Ry:0 Rz:0	Consistent with the user’s coordinate system.
		Appearance	Size	300
			Arrow thickness	2
			Is it visible?	V/F
			Color	A=255,R=100,G=100,B=100
		Auxiliary Position	Fixed point of return to zero of the joint	Joint Return Point, ACS
			Gun Return Transition Point	Gun Return Transition Point, ACS
			Secure transition point	Safe Point, ACS
			List of Location Points	Show Default (Set)
		Workstation angle?	Minimum angle
			Maximum Angle
		Calculate additional axis	Additional X-Overlap Axis (Axle Number, Direction)	Aux1,1
			Additional Y-overlap axis (axle number, direction)	Null,1 (no additional axis in this direction)
			Additional Z-overlap axis (axle number, direction)
		Workspace	List of workspaces	Show Default (Set)

	Workspace	Number	Default or Custom
		Is it visible?	V/F
		Position (posture)	X:0 Y:0 Z:0 Rx:0 Ry:0 Rz:0	Default to 0, with the first axis of the robot as the center of the plane. (Adjust the position of the red sector)
		Rank	Radio interior	Set within the limit range of the robot, based on the actual job situation. (Working range, robot arm reach, etc.)
			Radio exterior
			Left Corner of the Inner Circle
			Right Corner of the Inner Circle
			Left Angle of Outer Circle
			Right Angle of the Outer Circle

	Camera	Number	Default or Custom	Fill in as needed.
		March	Optional set	Select the appropriate brand based on the physical camera. (Usually MindCamera, MindVision)
		Parameters	Camera Image Width	1944
			Camera Image Height	2592 (adjust until the image is appropriate).
			Distance from camera to gun tip	240 (fill in according to actual measurement data)
		Ruiniu Chamber	Direction of the Ruiniu Chamber	ws://192.168.2.3:6001
			Exposure value of the Ruiniu camera	250
			Image rotation angle	Optional set (0° 90° 180° 270°) rotate the corresponding angle to get the desired image.
		Distortion	Enable distortion removal	T/F (usually off)
			Distortion parameters	GuoObjClsLib.CameraIntrincsParameter

	Line Laser	Welding voltage	Default or Custom	Fill in as needed.
		March	Optional set	Select the appropriate brand based on the physical camera.
		Red	Laser IP	192.168.2.3
			LASER PORT	49152 (configure to the parameters of the corresponding physical line laser)
		Parameters	Front Laser Installation	T/F (Generally False)
			Laser Z-value reversal
			Laser calibration distance Z	Default 400 (set based on line laser point-taking parameters)
			Laser Image Scanning Frequency
			Laser Setpoint Z-Shift Value	It is generally 0. If the three-element calibration is inaccurate or the structure of the workpiece affects the distance between the welding gun and the workpiece during line laser scanning, this value can be increased to extend the safety distance. After this value is modified, the laser line must be recalibrated.
			Laser Setpoint X-Shift Value
			Noise Removal Filtering Coefficient	0.5
			Exposure value	Rui Niu is usually 128, and Xiaobudian is usually 1~3
			Laser brightness	230
		Total correction of weld displacement	Total Flat Weld Correction L1, L2, L3, L4	Default to 0.
		Graphical range	Left limit	Generally ±30~±50
			Right Limit
			Lower limit
			Upper limit
		Tracking Parameters	Laser Tracking Calibration Z-Value	300
			Increased correction in the X, Y, Z directions of laser tracking	Usually Chengtuo type point laser.
		Other	Line Laser Tool Number	10
			Laser Tracking Tool Number	9

	Spot Laser	Number	Default or Custom	Fill in as needed.
		Brand Name	Optional Assembly Selection	Usually Chengtuo type point laser.
		Parameters	Installation deviation between the point laser and the camera	5
			Spot Laser Spot Picking Radius	5
			Distance Deviation Correction Table	Show by default (collection)
		Red	Method of communication	Usually TCP (TCP/RTU)
			IP	Usually 192.168.2.8, in special cases it can be 10/14.
			PORT	8234
			COM Port Number	COM1-20 (select according to actual parameters)


Welding Technology Package	Basic Info	Name (e.g. 8mm)	8mm flat angle welding	The size of the welding angle and the type of shielding gas used.
		Remarks	8mm Flat Angle Welding – CO2 Gas Shielded Welding	Feedback Information.
		Angle Weld Size	Enter numeric value	Width of the welding angle.
		Weld orientation type	Optional Assembly Selection	Flat fillet welding, flat butt welding, or vertical welding, etc.
		Applicable Weld Pass Level	Optional Assembly Selection	Base/Fill/Cover Choose one of the three.

	Welding Parameters	Solder File Number	Call File	Calls the parameters of the corresponding solder file number on the controller.
		Welding Current	Enter numeric value	Subject to the welding parameter file of the programming pendant.
		Welding voltage
		Arc ignition current
		Arc ignition voltage
		Arc Ignition Pause
		Arc extinguishing current
		Arc Extinguishing Voltage
		Arch extinguishing pause	1,2 s
		Welding speed	0

	Arc Oscillation Parameters	Arc Oscillation Switch	V/F	Is the arc oscillation function activated?
		Arc Oscillation File Number	Call File	Calls the parameters of the corresponding arc oscillation file number on the controller.
		Arc Oscillation Type	Optional Assembly Selection	Select the corresponding arc oscillation type according to the needs and actual situation.
		Frequency	Enter numeric value
		Left oscillation amplitude	0.8	Set the corresponding oscillation amplitude according to the needs and the actual situation.
		Right Oscillation Amplitude	0.8

	Arc Tracking Parameters	Arc Tracking Switch	V/F	Is the arc tracking feature enabled?
		Arch Tracking File Number	Call File	Calls the parameters of the corresponding arc trace file number on the scheduler.

	Transition Control	Outer Corner BL Transition Length	Enter numeric value	2
		Inner Corner BL Transition Length		22
		Arch extinguishing dwell time		500
		Initial Fillet Weld Input	V/F	To open or not to open the start and end point retraction function (it must be opened for non-open welds)?
		Angle Weld Endpoint Retraction	V/F
		Starting Point Retraction Angle	Enter numeric value	Set the corresponding input angle according to the needs and the actual situation.
		Starting Point Retraction Angle

	Weld Shape	Welding Shape Parameters	Continuous welding	Determined by the following options.
		Weld Seam Shape	Optional Assembly Selection	Continuous welding, intermittent welding, spot welding Optional
		Weld Length	Enter numeric value	Set the corresponding distance values as needed and the actual situation. (Weld a section, stop a section)
		Empty travel length
		Welding Parameter File Number		Calls the parameters of the corresponding arc oscillation file number on the controller.

	Welding torch posture (invalid for vertical welding)	Gun tip angle A	0	Default to 0.
		Flat angle welding angle B	-45
		B-angle correction	0	Default to 0.
		C Angle Correction	0	It controls the advance angle of the weld, a positive number is for backward welding (tensile welding) and a negative number is for forward welding (push welding). An angle of ±15° is recommended
		Distance from the tip of the L1 gun	2 (horizontal distance)	Adjusting this value is most effective after the laser line is corrected accurately. (Bidirectional action)
		Distance from the tip of the L2 gun	1 (Vertical Distance)	Positive value to move away, negative value to zoom in, superimposed on the total displacement of the workstation-weld. (L1, L2 are the same)

	Control of vertical welding parameters (invalid for flat welding)	Distance from the tip of the L3 gun	0	Distance of displacement of the gun tip towards the direction of the midline of the vertical weld angle, positive for far and negative for near.
		Distance from the tip of the L4 gun	0	The tip of the gun is shifted left and right with the center of the vertical weld angle as a reference, negative on the left and positive on the right.
		Vertical weld starting point offset	0	Displacement of the first vertical welding point with respect to the starting point in the direction of height.
		Vertical Weld Endpoint Offset	0	Displacement of the vertical welding endpoint with respect to the end point in the direction of height.
		Gun tip angle B	-65	Angle B of the tip of the vertical welding gun at the start and end points. If there is no interference, the closer it is to -90°, the better the weld formation.
		Gun tip angle B2	-90

	Ordination	Main Order	1
		Secondary Order	0

	Device Parameters	Welding Machine Model	空
		Welding Mode	Optional Assembly Selection	Wire feed current/speed.
		Welding wire diameter	1.2	It is generally a 1.2mm welding wire.
		Welding wire extension	12 mm
		Gas composition	Optional Assembly Selection	CO2, CO2-O El, choose one of the three.
		Gas pressure	18

November 2, 2025
4:22 pm

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