Chapter 3: Explanation of Common Software Parameters
Common Parameters
This comprehensive reference table outlines key configuration settings and parameters for 3D scanning, ROBOX programming, insertion point control, and laser operations. It’s designed to support precise calibration and optimized welding processes, offering clear explanations for each setting to help engineers, programmers, and technicians ensure reliable machine performance and safety.
Key System Parameters and Function Explanations
Explore essential configuration properties used in scanning, welding, and laser programming to ensure precision, efficiency, and safety in operation.
| Menu | Properties | Explanation |
|---|---|---|
| 3D Scanning | Scan Posture Angle B | Controls the B angle during 3D and line laser node scanning (generally set to -35). |
| Overhead Welding Posture | Adjust the flat butt welding torch posture in certain special scenarios. | |
| Hanging Welding Posture | Adjust the flat welding torch posture in certain special scenarios. | |
| Height by size | When the switch is turned on, vertical seams are welded according to the node parameter values, instead of using the values obtained from scanning. (Set according to the usage scenario) | |
| Maximum seam length for three-sided point selection | In 3D scanning, components larger than this value will have the F2P2 point selection feature added (generally set to 200). | |
| Scan value alarm deviation | If the scanned actual value is greater than the theoretical value plus the entered value, the scan ends and an alarm message is prompted. (Just fill in 50) | |
| Maximum seam length for single-point scanning | Taking the N10 node as an example, if the length of the underlined weld is less than this parameter, the number of scan points changes from 2 to 1. piece | |
| ROBOX program | It is an arc welding program. | False will cancel the welding instruction in the program; it is generally set to true. |
| MOVE transition value | In the welding program, the arc transition value of the MOVE point is generally set to 5. Setting Z1 will cause the machine to… Robot jitter problem | |
| Initialization is set before each weld seam. | Used in conjunction with the multi-channel parameter when adding transition points, and enabled in multi-layer channels at nodes. A safety return point will be added later to prevent gun bypassing (generally set to true). | |
| Multiple channels when adding transition points | Refers to increasing the number of transition points (usually fill in 1). | |
| Standing seam MOVE point B angle | The B angle of the standing seam transition point is generally set to -45. | |
| Change MOVLNT to ZERO | If True, the program’s linear instructions will be converted to joint instructions; if False, they will not be converted. | |
| Vertical welding fillet | Whether to use fillet weld at the corner | |
| Vertical welding fillet types | There are 2 types of fillet welds: 1 is a single fillet weld, 2 is a continuous fillet weld for vertical welding. | |
| Use a fixed package angle attitude | Whether to use a fixed package corner attitude | |
| Vertical welding fillet position correction | Make corrections to the ABC angles based on the existing package corner attitude to avoid gun collisions or optimize the package corner. Molding | |
| Prone stance corner angle posture correction | Make corrections to the ABC angles based on the existing prone-standing package angle posture to avoid gun collisions or for optimization. Corner forming | |
| Left corner connects to the package corner in a fixed posture. | Setting of fixed posture for left corner and wrapped corner (the left and right corners are wrapped according to the gusset plate wings of the node parameters) Identify according to the height of the board. | |
| Right-angle joint with corner-to-corner fixed posture | Setting of fixed posture for right corner connecting to wrapped corner (the left and right corners wrapping the corner are based on the gusset plate wings of the node parameters) Identify according to the height of the board. | |
| Root welding in a single pass | When used in the case of two or more line laser N01 nodes, perform a single weld on the base layer. After completion, proceed with the filling and capping procedures to increase weld strength and reduce welding deformation. | |
| Multi-layer weld with continuous welding at the start and end. | After the switch is turned on, the welding sequence of the multi-layer and multi-path node ends changes. | |
| Minimum Z value of the workstation | Generally set to the user’s height at the workbench; if it is lower than this value, an early warning will be issued to prompt and prevent. Stop-collision gun | |
| Movement speed | The speed during linear motion command, unit: mm/s (generally set to 400) | |
| Joint movement speed | The speed during joint coordinated motion commands (generally set to 50) | |
| Gun Cleaning Sequence Table | Set value, meaning to perform a gun cleaning after completing a certain number of welds. | |
| Gun clearing procedure name | Custom gun cleaning XPL program name | |
| Clearing the gun is the main procedure. | When True, the program calls the main gun cleaning program; when False, it calls the sub cleaning program (one Generally fill in True to call the gun cleaning main program.) | |
| At the end of the program, execute the gun clearing procedure. | After opening, execute the gun clearing program at the end of the program. | |
| Return to the original position after clearing the gun. | After clearing the gun, should it return to its original position? | |
| Outer corner BL speed increase ratio | External corner welding BL welding speed (the ratio to the welding speed, generally fill in 1.2) | |
| Insertion point control | Distance between the start/end point and the interpolation point | When it is necessary to add a crater due to weld size or workpiece structure requirements, the distance from the end point of the crater to the start/stop point of the weld is called the interpolation point distance of the start/stop point. It is generally 50. Appropriate adjustments can be made in special circumstances. |
| Minimum seam length for interpolation | The minimum weld seam length for setting interpolation points; if it is less than this value, no interpolation points will be set. | |
| Distance between intermediate points in vertical welding | In order to avoid the welding torch colliding with the workpiece, the torch is not lowered at -90° (initial angle one) during vertical welding. Generally at -65°; when moving to a safe distance, adjust the welding torch angle to the optimal angle for vertical welding. This position is the midpoint distance for vertical welding. | |
| Vertical welding end point fillet B value | The welding torch posture at the end point package angle (default -65°), the actual value can be modified according to the specific situation. | |
| Vertical welding end point fillet 1 | Whether to enable the function of wrapping the corner at the end point of single-sided vertical welding. (To be used in conjunction with the vertical welding corner wrapping switch) | |
| Vertical welding end point fillet 2 | Whether to enable the function for wrapping the corner at the end point of vertical welding on the other side. (To be used in conjunction with the vertical welding corner wrapping switch Use) | |
| Vertical welding fillet weld factor 1 | The ratio of the included angle of single-sided vertical welding to the plate thickness. | |
| Vertical welding fillet weld factor 2 | The ratio of the fillet weld leg length on the other side to the plate thickness. Note: The sum of the two fillet weld leg length coefficients should be large. On 1 | |
| Insert a point before the midpoint. | Turn on the switch, and insert a point before the midpoint of the fillet weld. | |
| Insert a point after the midpoint. | Turn on the switch, and insert a point after the middle point of the fillet weld. | |
| Distance from the midpoint to the preceding point | How far before the midpoint of a fillet weld should a point be inserted? | |
| Distance from the midpoint to the inserted point | After the midpoint of flat welding, how far should another point be inserted? | |
| Change the auxiliary axis | Replace by adding the axis increment to the end point. | Strategy used to replace the additional axis in fixed scanning nodes |
| Laser parameters | Laser continuous scanning speed | For components that require continuous collection of laser continuous scanning grooves, it is generally set between 30-70. interval |
| Minimum scan segment length | Minimum weld length to be scanned | |
| Laser idle travel joint speed | Joint running speed during laser idle movement, degrees/second | |
| Dwell time before single-point scanning | The pause time before single-point acquisition with a 3D camera is generally delayed by 2 seconds. Used to ensure sampling is performed after the robot has moved into position. | |
| Laser scanning frequency | The laser scans the weld seam at a frequency of 100ms by default, which means ten acquisitions are performed per second. | |
| Linear fitting method | The default value is 2, and the parameter is already blocked internally. | |
| Laser point downsampling step size | Reduce the number of laser frame sampling points to address the issue of lengthy laser scanning calculations. | |
| P1 type straight line fitting deviation | The smaller the value, the more stable the point selection, but correspondingly, the calculation and fitting time will be longer. | |
| Method for calculating the intersection point of internal and external right angles | In the images collected by the laser, when there are multiple intersection points, call the leftmost and rightmost two. Intersection point of long straight lines |
| Menu | Properties | Definition |
|---|---|---|
| Laser node scanning | Point table calculation tips | After turning on the switch, a pop-up reminder will appear when calculating the meter. |
| End inward angle | During node scanning, in order to avoid collisions and to ensure that points can be scanned properly, the tool needs to Adducted posture enters the scanning area. | |
| Muscle plate end adduction distance 1 | When scanning for the rebar plate points, the distance of the scanning point relative to the starting point or the end point | |
| Wing panel end inward distance 2 | When scanning to obtain the first wing plate point, the distance of the scanning point relative to the start and end points | |
| Wing panel end inward distance 3 | When scanning to take the second wing plate point, the distance of the scanning point relative to the starting and ending points | |
| End continuous sweep extension length | In the node parameters, the point scanning method refers to taking points from the inside out, on the side without the wing plate lap. Continuously scan this length before and after the end point. | |
| Overlapping length of closed trajectories | When welding nodes similar to n10, the lap overlap length of the welding start and end points is determined by this parameter. Control | |
| The proportion of scan points forming a straight line | There are some deviations in individual points when using control line laser scanning for point acquisition; fitting is performed within the range of deviation. A straight line | |
| Scan result save prompt | After turning on the switch, a pop-up will appear after the scan is completed to prompt you to save the scan results. | |
| Save scan coordinates to log | After turning on the switch, the scanned coordinates will be saved in the log. | |
| Model-driven prompt sends data | After turning on the switch, the model driver will prompt to send data. | |
| Type of point selection for internal right angle | Internal angle scanning method: select the corresponding point-taking method according to the actual component, similar to the inner intersection point of the corner seam, the near-middle-low point, the lowest point, etc. | |
| Type of point selection at the highest point | Highest point scanning method: choose the corresponding point selection method according to the actual component, such as highest point, near-middle-high point, etc. | |
| Type of point selection at the inflection point of the long side | End continuous scanning method: select the corresponding point-taking method according to the actual component, similar to inner intersection points of corner seams, near middle and low points, lowest points, etc. | |
| Type of seam point selection | For the point selection type of the butt joint, the default value is P19_Butt Joint Midpoint. | |
| LPN custom type point | Groove scanning method: When scanning the groove, use the selected scanning method for continuous acquisition. | |
| Scan posture angle B – Docking | The B angle of the laser relative to the weld during scanning | |
| Failed to pick up points, stopping scan. | After the switch is turned on, stop scanning when point acquisition fails, and the laser line will no longer synchronously read data. | |
| Starting point scan adduction angle | When there is an obstacle at the starting point scan, use an inward angle to avoid the obstacle, with a default of 25 degrees. | |
| End-point scan adduction angle | When there is an obstacle during endpoint scanning, use an inward angle to avoid the obstacle, with a default of 25 degrees. | |
| Midpoint scan inward angle | When there is an obstacle during midpoint scanning, use an inward angle to avoid the obstacle, with a default of 25 degrees. | |
| Delay time before taking a photo | Delay time before taking a photo, default 1000ms | |
| Model-driven | The Z value of the additional axis follows the robot. | After the switch is turned on, the additional axis z data will be synchronized to the scanning program and the welding program. |
| Draw the part | Turn on the switch; only then can the model drive the drawing of parts. | |
| Draw node | Turn on the switch; only then can the model-driven function draw nodes. | |
| Allow simultaneous scanning at multiple locations. | After turning on the switch, selecting multiple scan tasks for the assigned node will perform continuous scan welding. Connect | |
| Gun posture control | Distance moved to the right by the welding torch | The distance the transition point moves to the right relative to the weld seam |
| Distance the welding torch moves forward | The distance by which the transition point moves forward relative to the weld start point (and backward relative to the end point) | |
| Height of the transition point at the bottom of the welding torch | When the transition point moves vertically downward to a position where the Z value is 100 higher than the end point, it starts moving toward the end point. | |
| Starting point welding gun bottom transition point | When lowering the gun, an additional transition point switch is added. If the workpiece is relatively high, it needs to be turned on. | |
| Transition point at the bottom of the end spot welding gun | A transition point switch has been added when raising the gun. If the workpiece is relatively high, it needs to be turned on. | |
| Standing seam starting point setback distance | The distance the welding torch retreats before the starting point of the vertical weld seam | |
| Seam end point rollback distance | The distance the welding torch retreats after welding the end point of the vertical seam | |
| Transition point at the bottom of the standing seam starting point | Turn on the switch, perform the retraction action before the starting point of the vertical seam. | |
| Transition point at the bottom of the standing seam end | Turn on the switch, and perform the retraction action after the end point of the vertical seam. | |
| Position reference point | Minimum Safe Transition Altitude | The transition point height is generally set to be about 100 higher than the highest welding position. This parameter is chosen as the larger one between this value and the h value specified in the node parameters. |
| System parameters | Upload MES data | Whether to upload real-time data to MES for statistics |
| Open the program and use the saved layout. | When opening the software, use the layout from the last time the software was closed by default. | |
| Program 1 Name | Custom program 1 purpose: similar to editing for gun cleaning, used as a clickable button, which can be clicked to call the gun cleaning program edited and saved in the teach pendant. | |
| Program 2 Label Name | The name of the program edited and saved in the teach pendant | |
| Program 2 Name | Custom program 2 purpose: similar to editing for gun cleaning, used as a clickable button, which can be clicked to call the gun cleaning program saved and edited in the teach pendant. | |
| Program 3 Label Name | The name of the program edited and saved in the teach pendant | |
| Program 3 Name | Custom program 3 usage, similar to editing for clearing the gun, used as a clickable button, can be clicked to call The gun cleaning program edited and saved in the teach pendant. | |
| Program 3 Label Name | The gun cleaning program edited and saved in the teach pendant. |
