| 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. |
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Minimum interpolation seam length |
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When the weld needs to add an input angle, interpolation endpoint |
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Midpoint distance of vertical welding |
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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. |
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Vertical Weld Endpoint Wrapping Angle B Value |
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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. |
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Sheathing Angle of Vertical Weld Endpoint 1 |
V/F |
Is the single-sided vertical welding endpoint wrapping function activated? |
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Sheathing Angle of Vertical Weld Endpoint 2 |
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Is the wrapping function of the vertical welding endpoint on the other side activated? |
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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. |
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Coefficient of the sheath angle of vertical welding 2 |
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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 |
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Insertion Point Before Midpoint |
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Insertion Point After Midpoint |
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BL point of the internal interpolation angle |
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BL point of the external interpolation point |
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Inside Bisection Angle |
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Non-vertical interior angle BL |
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Insert POS Point After END |
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ROBOX Program |
Movement Speed |
Enter numeric value |
Speed during linear motion instructions, unit mm/s |
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Speed of joint movement |
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Speed During Joint Link Motion Instructions, Unit 300 |
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BL Welding Instruction Transition |
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Circular arc transition in BL right-angle welding |
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Welding Process Control |
Minimum arc swing aperture size |
Enter numeric value |
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Instruction for closing the welding signal |
V/F |
Is welding activated? |
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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. |
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Vertical Welding Laser Transition Height |
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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. |
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Continuous laser scanning speed |
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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. |
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Normal laser scanning speed |
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The speed of movement when the laser normally scans the workpiece. |
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Linear speed of laser idle motion |
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Linear motion speed when the laser is not scanning. |
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Minimum Scan Segment Length |
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The shortest unit length for a single scan, this value can be modified according to the actual length of the weld |
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Laser Vacuum Motion Articulation Speed |
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Speed of joint movement when the laser is not scanning. |
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Dwell time before single-point scan |
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Dwell time before moving to the required scan point |
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Laser posture angle B |
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The posture value of the line laser when the laser is scanning. |
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Initial Encryption Point of the Scan Segment |
1,3,6,9 |
Encryption points added after the scan starts. |
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End Encryption Point of the Scan Segment |
9,6,3,1 |
Encryption points added before the scan is complete. |
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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) |
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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°) |
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Final laser retraction angle |
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Laser Point-Taking Density |
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(1 by default, try to take odd numbers if you modify it) |
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Minimum corner seam angle |
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The maximum and minimum angle of the corner joint that can be scanned by the line laser |
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Maximum corner seam angle |
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Linear adjustment deviation of type P1 |
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Adjust the stability of the laser, it is only valid for the current line laser, different for different devices. |
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Method of calculating the point of intersection of internal and external right angles |
Point of intersection adjacent to the longest straight line |
Feedback Information. |
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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. |
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Node Name |
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Feedback Information. |
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End Retraction Angle |
Enter numeric value |
The entry angle when scanning with laser. (Usually 25-30°) |
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Retracting distance of the end of the reinforcement plate 1 |
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When scanning the reinforcement plate, the distance from the scan point to the start and end point of the reinforcement plate. |
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Wing Plate End Retraction Distance 2 |
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When scanning the first wing plate, the distance from the scan point to the start and end point of the wing plate. |
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Wing Plate End Retraction Distance 3 |
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When scanning the second wing plate, the distance of the scan point from the start and end points of the wing plate. |
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Final Continuous Scan Extension Length |
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Commonly used for scanning N2 nodes of the vertical welding model, the line laser continuously scans to determine the path. (Generally set at 10) |
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Overlap length of the closed path |
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Suitable for overlapping length of the connection part of the start and end points of closed graphics welding. (For better welding effect) |
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Proportion of scan points forming a straight line |
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Generally 95-99 |
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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. |
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Internal Right Angle Point Type |
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It is usually P9 – highest point. |
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Long Side Tipping Point Point Stitching Type |
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Same as the internal right angle point type. |
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Retraction angle of the scan of the starting point |
Enter numeric value |
(Usually 30°, can be modified according to the specific situation) |
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Endpoint Scan Retraction Angle |
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Midpoint Scan Retraction Angle |
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Generally 0° |
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Maximum Value of Times When Moving |
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Multi-layer bevel multi-pass |
Total layer coefficient |
Enter numeric value |
Relative Relationship Value, the default value is 1. |
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X-direction coefficient of angle welding |
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Coefficient in Y direction of angle welding |
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Dedicated B-angle for each pass |
Optional Assembly Selection |
Set the necessary B and A angles when welding each weld seam separately. |
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Dedicated A-angle for each pass |
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Dedicated welding parameters for each pass |
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Set the necessary welding parameters by welding each weld seam separately. |
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Retraction distance of variable current ignition arc |
Enter numeric value |
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Variable Current Ignition Arc Welding Speed |
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Allow arc oscillation in the root layer |
V/F |
Does the arc oscillation function open during root welding? (Select based on bezel size) |
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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. |
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Maximum Single Layer Width When Filling the Layer |
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Maximum bandwidth that can be achieved with a single welding pass when welding the filler layer. |
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Reference pass width for the start of root layer oscillation |
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Reference pass width for the start of the infill layer oscillation |
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Upward displacement of butt weld |
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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. |
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Welding torch forward travel distance |
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Height of the lower transition point of the welding gun |
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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. |
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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. |
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Bottom transition point of the final welding gun |
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Sound |
Sound Announcement |
Show by default |
Is the sound streaming feature turned on? |
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Position Reference Point |
Outside Corner BL Speed Boost |
Enter numeric value |
1.2 |
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Inside Corner BL Speed Boost |
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Minimum safety transition height |
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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) |
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Personalized program |
Program Tag Name 1 |
Program 1 |
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Program Name 1 |
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Program Tag Name 2 |
Program 2 |
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Program Name 2 |
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Program Tag Name 3 |
Program 3 |
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Program Name 3 |
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| Workstation Design |
Workshop |
Program Name 3 |
Smart Welding Workshop |
Personalized or selected from the collection |
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Workstation List |
Optional Assembly Selection |
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Workstation |
Workstation Name |
Customized or selected |
Fill in as needed. |
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Is it visible? |
V/F |
Is this workstation shown? |
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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. |
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List of robots |
Collection |
Show by default. |
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List of accessories |
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List of clues |
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List of work surfaces |
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Component alignment point |
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Active Object |
Current Robot 1 |
The specific parameters are the same as the robot below |
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Current Robot 2 |
If there is, it is the same as the above, if not, ignore it. |
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Current Main Control Robot |
It is usually robot 1. |
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Robot control in the current main one |
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Current X-track |
Same as the track parameters below. |
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Current Track Y |
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Current Track Y 1 |
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Current Track Y 2 |
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Current Z Track |
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Current Track Z 1 |
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Track |
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Current Work Surface |
Same as the work surface parameters below. |
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Work surface |
Work Surface Name |
Test bench work surface |
Custom or system default. |
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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. |
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Top right position point |
X6000; Y3000 |
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Length of the work surface in the X direction |
6000 |
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Length of the work surface in the Y direction |
4000 |
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Height of the work surface in the Z direction |
0 |
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Other |
Color |
A=100 R=111 G=111 B=111 |
Default. |
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Color（100，111，111，111） |
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Is it visible? |
V/F |
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Grid Spacing |
500 |
Default. |
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Track |
Number |
Default or Custom |
Fill in as needed. |
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Model |
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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. |
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Motion Control |
PorRobot |
Optional collection (ByRobot/ByPLC) |
Default as ByRobot |
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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. |
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Rank |
Lower limit value of the additional axle |
0 |
Set a zero point for the track. |
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Upper limit value of the additional shaft |
24000 |
Set an upper limit value for robot operation based on the length of the physical track. |
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Number of additional axle shafts |
X |
Set X or Y based on the actual workstation situation. |
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Additional Axle Steering |
1 |
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Model |
Model Entity |
Optional Assembly Selection |
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Is it visible? |
V/F |
Is the model visible? |
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Subtrack |
List of subtracks |
Optional Assembly Selection |
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Robot |
Number |
Default or Custom |
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March |
Show by default (cannot be modified) |
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Model of the model |
Optional Collection |
Select according to the actual robot model. |
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Is it visible? |
V/F |
Is the robot model shown in the workstation layout? |
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It is the main control robot |
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Establish the current robot as the primary control robot? (Distinguishes the primary and secondary relationship when there are two robots) |
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Controller Model |
ROBOX |
Show by default. |
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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. |
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Installation Guidance |
Direct installation |
Select direct installation/non-direct installation based on the actual installation method. |
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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) |
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Additional shaft |
Attached Track Name |
Custom or default. |
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Velocity |
Linear Speed |
400 |
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Articulation speed |
50 |
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Composition |
Tool List |
Show by default (set) The corresponding robot accessories are also added from here. |
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List of Linear Lasers |
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List of Linear Lasers |
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Camera List |
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Active Object |
Current Tool |
Default to white |
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Current Tool Coordinate System |
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Current Linear Laser |
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Current Spot Laser |
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Current Spot Laser |
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Current track list |
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Current X-track |
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Current Track Y |
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Current Z Track |
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Current Track Order |
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Tool (welding gun) |
Number |
Default or Custom (Welding Gun) |
Fill in as needed. |
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Model |
Optional Collection |
Select according to the model of the physical welding gun. (Usually TRM605W-45L) |
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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. |
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Configuration |
Six-point calibration data |
X:-6.651 Y:-0.491 Z:627.886 Rx:0 Ry:45 Rz:180 |
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Color |
A=255,R=180,G=180,B=180 |
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visible |
V/F |
Is this project shown? |
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Show TCP coordinate system |
V/F |
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Soldering Tool Number |
1 |
Default or custom. |
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Soldering Tool Number |
1 |
Default or custom. |
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PCS-1 |
Workpiece coordinate system |
Serial Number |
1 |
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Number |
PCS-1 |
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Position (posture) |
X:0 Y:0 Z:400 Rx:0 Ry:0 Rz:0 |
Consistent with the user’s coordinate system. |
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Appearance |
Size |
300 |
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Arrow thickness |
2 |
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Is it visible? |
V/F |
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Color |
A=255,R=100,G=100,B=100 |
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Auxiliary Position |
Fixed point of return to zero of the joint |
Joint Return Point, ACS |
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Gun Return Transition Point |
Gun Return Transition Point, ACS |
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Secure transition point |
Safe Point, ACS |
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List of Location Points |
Show Default (Set) |
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Workstation angle? |
Minimum angle |
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Maximum Angle |
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Calculate additional axis |
Additional X-Overlap Axis (Axle Number, Direction) |
Aux1,1 |
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Additional Y-overlap axis (axle number, direction) |
Null,1 (no additional axis in this direction) |
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Additional Z-overlap axis (axle number, direction) |
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Workspace |
List of workspaces |
Show Default (Set) |
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Workspace |
Number |
Default or Custom |
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Is it visible? |
V/F |
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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) |
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Rank |
Radio interior |
Set within the limit range of the robot, based on the actual job situation. (Working range, robot arm reach, etc.) |
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Radio exterior |
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Left Corner of the Inner Circle |
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Right Corner of the Inner Circle |
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Left Angle of Outer Circle |
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Right Angle of the Outer Circle |
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Camera |
Number |
Default or Custom |
Fill in as needed. |
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March |
Optional set |
Select the appropriate brand based on the physical camera. (Usually MindCamera, MindVision) |
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Parameters |
Camera Image Width |
1944 |
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Camera Image Height |
2592 (adjust until the image is appropriate). |
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Distance from camera to gun tip |
240 (fill in according to actual measurement data) |
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Ruiniu Chamber |
Direction of the Ruiniu Chamber |
ws://192.168.2.3:6001 |
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Exposure value of the Ruiniu camera |
250 |
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Image rotation angle |
Optional set (0° 90° 180° 270°) rotate the corresponding angle to get the desired image. |
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Distortion |
Enable distortion removal |
T/F (usually off) |
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Distortion parameters |
GuoObjClsLib.CameraIntrincsParameter |
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Line Laser |
Welding voltage |
Default or Custom |
Fill in as needed. |
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March |
Optional set |
Select the appropriate brand based on the physical camera. |
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Red |
Laser IP |
192.168.2.3 |
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LASER PORT |
49152 (configure to the parameters of the corresponding physical line laser) |
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Parameters |
Front Laser Installation |
T/F (Generally False) |
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Laser Z-value reversal |
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Laser calibration distance Z |
Default 400 (set based on line laser point-taking parameters) |
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Laser Image Scanning Frequency |
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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. |
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Laser Setpoint X-Shift Value |
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Noise Removal Filtering Coefficient |
0.5 |
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Exposure value |
Rui Niu is usually 128, and Xiaobudian is usually 1~3 |
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Laser brightness |
230 |
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Total correction of weld displacement |
Total Flat Weld Correction L1, L2, L3, L4 |
Default to 0. |
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Graphical range |
Left limit |
Generally ±30~±50 |
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Right Limit |
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Lower limit |
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Upper limit |
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Tracking Parameters |
Laser Tracking Calibration Z-Value |
300 |
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Increased correction in the X, Y, Z directions of laser tracking |
Usually Chengtuo type point laser. |
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Other |
Line Laser Tool Number |
10 |
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Laser Tracking Tool Number |
9 |
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Spot Laser |
Number |
Default or Custom |
Fill in as needed. |
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Brand Name |
Optional Assembly Selection |
Usually Chengtuo type point laser. |
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Parameters |
Installation deviation between the point laser and the camera |
5 |
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Spot Laser Spot Picking Radius |
5 |
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Distance Deviation Correction Table |
Show by default (collection) |
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Red |
Method of communication |
Usually TCP (TCP/RTU) |
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IP |
Usually 192.168.2.8, in special cases it can be 10/14. |
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PORT |
8234 |
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COM Port Number |
COM1-20 (select according to actual parameters) |
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| 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. |
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Remarks |
8mm Flat Angle Welding – CO2 Gas Shielded Welding |
Feedback Information. |
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Angle Weld Size |
Enter numeric value |
Width of the welding angle. |
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Weld orientation type |
Optional Assembly Selection |
Flat fillet welding, flat butt welding, or vertical welding, etc. |
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Applicable Weld Pass Level |
Optional Assembly Selection |
Base/Fill/Cover Choose one of the three. |
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Welding Parameters |
Solder File Number |
Call File |
Calls the parameters of the corresponding solder file number on the controller. |
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Welding Current |
Enter numeric value |
Subject to the welding parameter file of the programming pendant. |
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Welding voltage |
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Arc ignition current |
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Arc ignition voltage |
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Arc Ignition Pause |
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Arc extinguishing current |
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Arc Extinguishing Voltage |
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Arch extinguishing pause |
1,2 s |
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Welding speed |
0 |
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Arc Oscillation Parameters |
Arc Oscillation Switch |
V/F |
Is the arc oscillation function activated? |
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Arc Oscillation File Number |
Call File |
Calls the parameters of the corresponding arc oscillation file number on the controller. |
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Arc Oscillation Type |
Optional Assembly Selection |
Select the corresponding arc oscillation type according to the needs and actual situation. |
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Frequency |
Enter numeric value |
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Left oscillation amplitude |
0.8 |
Set the corresponding oscillation amplitude according to the needs and the actual situation. |
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Right Oscillation Amplitude |
0.8 |
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Arc Tracking Parameters |
Arc Tracking Switch |
V/F |
Is the arc tracking feature enabled? |
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Arch Tracking File Number |
Call File |
Calls the parameters of the corresponding arc trace file number on the scheduler. |
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Transition Control |
Outer Corner BL Transition Length |
Enter numeric value |
2 |
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Inner Corner BL Transition Length |
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22 |
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Arch extinguishing dwell time |
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500 |
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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)? |
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Angle Weld Endpoint Retraction |
V/F |
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Starting Point Retraction Angle |
Enter numeric value |
Set the corresponding input angle according to the needs and the actual situation. |
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Starting Point Retraction Angle |
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Weld Shape |
Welding Shape Parameters |
Continuous welding |
Determined by the following options. |
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Weld Seam Shape |
Optional Assembly Selection |
Continuous welding, intermittent welding, spot welding Optional |
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Weld Length |
Enter numeric value |
Set the corresponding distance values as needed and the actual situation. (Weld a section, stop a section) |
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Empty travel length |
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Welding Parameter File Number |
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Calls the parameters of the corresponding arc oscillation file number on the controller. |
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Welding torch posture (invalid for vertical welding) |
Gun tip angle A |
0 |
Default to 0. |
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Flat angle welding angle B |
-45 |
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B-angle correction |
0 |
Default to 0. |
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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 |
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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) |
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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) |
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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. |
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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. |
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Vertical weld starting point offset |
0 |
Displacement of the first vertical welding point with respect to the starting point in the direction of height. |
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Vertical Weld Endpoint Offset |
0 |
Displacement of the vertical welding endpoint with respect to the end point in the direction of height. |
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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. |
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Gun tip angle B2 |
-90 |
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Ordination |
Main Order |
1 |
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Secondary Order |
0 |
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Device Parameters |
Welding Machine Model |
空 |
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Welding Mode |
Optional Assembly Selection |
Wire feed current/speed. |
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Welding wire diameter |
1.2 |
It is generally a 1.2mm welding wire. |
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Welding wire extension |
12 mm |
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Gas composition |
Optional Assembly Selection |
CO2, CO2-O El, choose one of the three. |
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Gas pressure |
18 |
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