Model Configuration

For a cell to operate in Verbotics Weld, it requires a model configuration. This model configuration is stored as a json file within your cell, and informs Verbotics Weld and Cell Editor which joints/links make up the cell’s robot, tool, workstation etc. The model configuration is also responsible for defining the different capabilities of your cell.

The model configuration menu allows for adding to and altering the model configuration of the cell, and can be accessed using the gear button located in the ribbon menu.

model menu

Model Menu

The menu is split into 2 sections. The left column lists the different items currently defined in the model configuration, and sorts these items into their relevant types. In addition to the ability to change the cell’s metadata using the general tab, there are 4 main types of items that can be added to the model configuration:

  • Robots

  • Tools

  • Work Stations

  • Tasks

Selecting the header of a given type of item will enable the Add button found at the bottom of the window. Using this button, you can add a new item of the selected type to the model configuration.

When an item is selected on the left of the model configuration menu, its details and properties will be displayed in the section to the right.

Robot

A robot configuration is split into 4 tabs: General, Kinematics, Link Configuration and Generator.

General

The General tab consists of data inputs used to define the robot and its motion:

  • Name (Text): Display name given to identify the robot in the cell.

  • Manipulator (Group): A group containing only the joints that make up the robot. Required for the robot to operate in weld.

  • Flange (Link): The flange link of the robot. Required for the robot to operate in weld.

  • Positioner (Group): The group containing all revolute/prismatic joints controlled by the positioner, only required if a robot position is used in the cell.

  • Make (Drop-down): The manufacturer/brand of the robot. Controls some options for the robot and changes the default generator used for the cell when outputting code from Weld.

  • Kinematics Type (Drop-down): The kinematic solver to use when planning motion paths.

  • Free Joint (Link): Disabled unless using a robot with 7-DOF kinematics. Assigned a link used to identify the free joint.

  • Robot (Group): A group containing all revolute and prismatic joints that make up both the robot and, if used, the robot positioner.

  • State (Group State): A group state that represents the home position of both the robot and, if used, the robot positioner.

../../../_images/robot-general.png

Robot General Tab

Kinematics

The Kinematics tab has adjustable parameters for altering thresholds of the inverse kinematic solver:

Custom Singularity Thresholds

  • Shoulder Singularity: Minimum distance of the wrist to Joint 1 in its projection onto Joint 1. Default value = 100.00mm

  • Elbow Singularity: Minimum angle allowed between Joint 2 and Joint 3 before the solution is considered to be in singularity. Default value = 20.000°

  • Wrist Singularity: Minimum angle of Joint 5 to prevent a wrist singularity. Default value = 5.000°

Generator

The Generator tab allows you to add custom JSON code to the generator used for the robot. For example, this tab would be used to add pulse count values for a Yaskawa robot when generating code for planned welds.

Tool

A tool configuration has 5 tabs of configuration options:

General

The general tab contains the general metadata of the tool, and inputs for essential links.

  • Name (Text): The name of the tool, used to identify the tool in weld.

Tool Group (Group): The group containing the joints making up the tool.

TCP (Link): The tcp of the tool. This should be a link with the z-axis aligning with the direction of the nozzle, and positioned where the end of wire is expected to sit. Required for the tool to function.

Tool Pointing In (Check-box): If enabled, weld will expect the z-axis of the tcp to be pointing in towards torch, instead of outwards along the wire.

Note

If Tool Pointing In is enabled, the tcp still needs the z-axis to be aligned with the wire direction.

Output TCP (Link): If the tcp to be used for motion planning is different to the tcp of the torch as defined by the physical robot, an output tcp link can be assigned here for use in motion planning.

Nozzle Link (Link): The nozzle link of the torch.

Automatically create a wire link (Check-box): If enabled, automatically creates a link to represent the wire protruding from the tool.

Sensing

The sensing tab contains all options and configuration data relating to the sense functionality of the tool. There are currently 4 types of sensing able to be enabled with a tool.

Touch sense available? (Check-box): Enables the tool to use touch sense for path-finding in Verbotics Weld. Requires no additional links or values to be specified.

Optical tracking available? (Check-box): Enables the tool to use touch sense for path-finding in Verbotics Weld. TBA: ADDITIONAL REQUIREMENTS FOR OPTICAL TRACKING.

Laser sense available?

Enables the tool to use laser sensing. Both 1D and 2D laser sensing are available to use, each will require several additional links and values specified in order to function correctly.

Laser 1D sensing requires:

  • Laser TCP (Link): The link representing the tcp of the laser.

  • Laser Occlusion (Link): The link containing the collision body that represents the laser itself.

  • Sensing Range (Value): The range where the sensor is able to take readings. This is a set distance from the laser tcp back along the laser in mm.

  • Laser Distance (Value): The length of the laser in mm.

Laser 2D sensing requires:

  • 2D Laser sense available (Check-box): Enables the tool to use 2D laser sensing and unlocks 2D laser sensing parameters.

  • Laser X Offset (Value): The offset of the laser along the X axis in mm.

  • Field of View (Value): The field measured from the edges of the sensors range in degrees.

Additionally, both methods of laser sensing can be forced to only be conducted when the cell is in a specific state:

  • Use a specific state for sensing (Check-box): When enabled, laser sensing will require the cell to move to a specified state.

  • Group (Group): The group of joints required to be in a specific state for laser sensing.

  • Off State (Group State): TBA

  • On State (Group State): TBA

Nozzle touch sensing is also able to be enabled on tools for use in Weld. The settings and parameters for nozzle touch sense is located at the bottom of the sensing tab:

  • Nozzle touch sense available (Check-box): Enables the tool to use nozzle touch sensing and unlocks parameters for this sensing method.

  • Radius (Value): The radius of the contact tip in mm. VERIFY

  • CTWD (Value): distance from the contact tip to workpiece during nozzle sensing operations.

  • Tip distance (Value): Length of the contact tip. VERIFY

Planning Parameters

The planning parameters tab lists the padding and small error values for different operations. Each value has checkbox to enable applying a custom value, otherwise each operation will use a set of default values.

The following parameters are available to adjust:

Toolpath Parameters:

  • Robot Padding (Default: 5.00)

  • Torch Padding (Default: 5.00)

  • Nozzle Padding (Default: 1.00)

  • Wire Padding (Default: 0.50)

Sensing Parameters:

  • Small Error (Default: 2.50)

Touch Sense Parameters:

  • Robot Padding (Default: 5.00)

  • Torch Padding (Default: 5.00)

  • Nozzle Padding (Default: 3.00)

  • Wire Padding (Default: 0.50)

Laser 2D Sense Parameters:

  • Robot Padding (Default: 5.00)

  • Torch Padding (Default: 10.00)

  • Nozzle Padding (Default: 10.00)

  • Wire Padding (Default: 2.00)

Motion Parameters:

  • Minimum Padding (Default: 20.00)

  • Maximum Padding (Default: 99.99)

Discrete Rotation