Chapter 2 Intelligent Special-Purpose Machine System
Software Settings
Step - 1
Fill in the upper and lower limit values of each auxiliary axis in the workstation design according to the actual conditions. Set the auxiliary axis control number and the corresponding auxiliary axis label based on the actual teach pendant settings.
Step - 2
Set the auxiliary axis superimposed direction under the PCS corresponding to the main negative control, based on the actual installation orientation of the on-site robot.
Step - 3
Under the auxiliary list, enter the profile steel parameter list and set the panoramic acquisition mode to “Fixed Rail Large Camera.Or fixed track large camera”
Step - 4
1. In the main interface under Global System Parameters, enable the “Continuous Mode” switch.
2. Use joint coordinates to rotate the robot and ensure it does not obstruct the large camera during point cloud acquisition.
Step - 5
1. Move the auxiliary axis to a suitable position to record the starting point (generally the upper limit of the auxiliary axis, or it can be set based on the length of the component).
2. Move the auxiliary axis to another suitable position to record the endpoint (generally the lower limit of the auxiliary axis, or it can also be set based on the component length).
3. Note: When recording the start and end points, the robot body must remain completely stationary.
Step - 6
Adjust the robot to a suitable posture to coordinate with the auxiliary axis for scanning and welding. Once the posture is confirmed, click the “Record Reference Point” button under the global list.
Software Operations
Step - 1
Click the “One-Click Connect” button to connect the robot, global camera, and 3-in-1 camera.
Step - 2
1. Click the “Move to Start Point” button to move the robot to the recorded starting point.
2. Click “Start from Current Point” for the robot to begin stiffener scanning from the current position. (Note: If the component is wide, you can enable the “Lateral Movement” option and set the lateral movement distance to ensure the global camera captures point cloud data for all components in the scene.)
Step - 3
1. After the stiffener scanning is completed, the stitched point cloud will be displayed in the model view area.
2. Use the point cloud cropping tool at the top to trim the global point cloud and remove any remaining cluttered point clouds.
Step - 4
1. Click the “Scene Selection” button, select the corresponding scene based on the on-site component, and then click “OK.”
2. Click “Generate Stiffener Positions” to perform node recognition on the point cloud. (If there are components in the scene that do not require welding, click the corresponding recognized node on the left and set “Weld Completed” to True. In global scanning, the stiffener precise scan will turn yellow, indicating that the node will be skipped and not scanned or welded.)
Step - 5
After recognition is complete, click the first identified node with the mouse, then click “Start Scan Welding from Current Row.” The robot will begin the scan welding operation.
