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 
button located in the ribbon 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 Configuration
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.
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°
Link Configuration
The Link Configuration tab contains options for adjusting padding added to links, and limiting the robot to specific configurations when planning.
Additionally Padded Links
List of links that are to have additional padding added to their collision model to reduce planning errors. Most often added to links 4, 5 and 6, as well as the torch and nozzle links.
Links are added by searching for a link using the search box at the bottom of the list-box, then selecting the desired link from the search results. Links can be removed by selecting a link from the list-box, then clicking the remove button located to the right of the search box.
Robot Link Configuration
Invalid Configurations
There are 8 configurations a robot can use when attempting to plan a tool-path or a calibration routine. Setting a robot configuration to invalid will prevent the robot from generating motion plans in that configuration.
Enabling a checkbox next to one of the 8 configurations will set that configuration to Invalid. Leave all checkboxes unchecked if you wish to allow all 8 configurations.
The 8 configurations are shown in the table below:
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Generator
The Generator tab allows you to add custom JSON code to robot section of the model.JSON file. For example, this tab would be used to add pulse count values for a Yaskawa robot for use when generating code for planned welds.
Tool Configuration
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.
Примечание
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.
Примечание
The implementation of Optical Tracking depends on which generator is being used. Consult our supported features page for more information
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.
For tools where a laser sensor is mounted on an extendable joint, for example a pneumatic arm, and only sense when the arm is extended, there is a section of options labelled Use a specific state for sensing.
The options in this section are used to configure the state of the extendable joint for when the laser sensor is and isn“t in use:
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): The state of the extendable joint when the laser sensor is retracted and not in use.
On State (Group State): The state of the extendable joint when the laser sensor is extended out and in use.
Laser Sensor Arm in Off/On States
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 outer nozzle in mm. Generally this is 8-11mm in radius, but check the specifications of your physical tools to verify this.
CTWD (Value): The distance from the contact tip to wire during nozzle sensing operations. Affects how far the wire extends out of the nozzle when sensing. A recommended value here is 10mm.
Tip distance (Value): The distance from the surface of the nozzle to the tcp defined. This value can be measured from the cell, and is generally recommended to be 15-20mm.
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
The Discrete Rotation tab is for configuring specific rotation values for tools that only allow discrete Rz values, such as tandem torches.
Discrete Rotation Tab
A specific rotation value can be added by adjusting the value shown in the input box on the left, then clicking 
Add.
Added values will be shown as a list in the pane beneath these buttons. Values can be removed by selecting them from the list, then clicking 
Remove.
Discrete Values Added
Generator
The Generator tab allows you to add custom JSON code to the tool section of model.JSON file.
Work Station Configuration
The work station configuration is split into 2 tabs:
General
Workstation General Tab
The General tab has options for metadata about the work station, as well as several sections for identifying the URDF elements representing the work station and its functionality.
In the Station section, the following options are available:
Name (Text): The name of the station, used to refer to the work station in Weld.
Positioner Group (Group): The group containing the joints making up the positioner.
TCP Link (Link): The tcp link of the work station, where parts imported into Weld are to be placed. This link is Required for the station to be used in Weld.
Custom Controlled (Check-box): TBA
Station Section
The Activate When Used section contains URDF references for applying unique states and activating certain groups in the cell only when the current station is in use.
For example, these options could be used for a multi-station cell where when the station is in use, it uses additional supports that would otherwise be stored outside of the cell when other stations are active.
Group (Group): A group of cell elements that are only to be added to the cell when the current station is active in Weld.
State Group (Group): A group of cell elements that should be placed into a certain state when the station is active in weld.
State (Group State): The state that the State Group is to be placed in when the station is active.
Примечание
A workstation is defined as Active when a workpiece attached to the workstation is being welded, sensed, or undergoing any other operation during a welding program.
Activate When Used Section
The Settings section contains options for specifying the settings to be used with the station, and if these settings should be shared with other stations:
Name (Text): The name of the workpiece positioner setting in Weld to be used with this workstation.
Share With (Station Configuration): An additional workstation that should also use the workpiece position setting specified for the current workstation. This second workstation must exist in the model configuration in order to be selected.
Station Settings Section
Generator
The Generator tab allows you to add custom JSON code to the workstation section of model.JSON file.
Tasks
Tasks are used to describe which active joints are controlled by which program. Additionally, they affect which code generators are invoked when planning.
A cell requires at least one task to function in weld.
General
A task consists of the following options and references, which are shown in the General tab:
Name (Text): The name of the task, used to reference the task in Weld.
Default Generator (Generator): The default generator to use when this task is enabled in a Weld Project.
Robot (Robot): The robot to be active when the task is enabled in a Weld Project. Robot must be present in the model configuration in order to be selected.
Station (Work Station): The workstation to be active when the task is enabled. If a robot has been reference in the task, this workstation is controlled by that robot.
Controlled Joints (Group): A group of joints that are controlled by the current task.
Uncontrolled Joints (): A group of joints that are restricted from being controlled by the current task.
Task Configuration
Generator
The Generator tab allows you to add custom JSON code to the tasks section of model.JSON file.