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Robot Programming Aid For The Smartray Inspection System

This document provides guidance for programming a robot for inspection of welds using a SmartRay sensor system. It outlines permissible sensor angles and positions for overlap seams and fillet welds. It also provides important information for programming such as using the live image tool to determine optimal sensor position and teaching points along the seam. Instructions are given for linear approach points before and after the seam and selecting path switching points to record approximately 10mm before and after the seam.

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David Rubiano
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69 views

Robot Programming Aid For The Smartray Inspection System

This document provides guidance for programming a robot for inspection of welds using a SmartRay sensor system. It outlines permissible sensor angles and positions for overlap seams and fillet welds. It also provides important information for programming such as using the live image tool to determine optimal sensor position and teaching points along the seam. Instructions are given for linear approach points before and after the seam and selecting path switching points to record approximately 10mm before and after the seam.

Uploaded by

David Rubiano
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Robot programming aid

for the
SmartRay inspection system
Sensor position for overlap seams

ATTENTION: The following illustrations assume a working distance of 100mm


Angular error (pivot point in the sensor)
Lateral angular error with respect to lateral position on the laser line

0° (+- 5°)
Permissible angular error to vertical
0° (+- 5°)
0° (+5°)
100mm 100mm

Direction of travel (ideally from the start of the process, laser leading)

Weld seam position OK


Sensor position for fillet welds

ATTENTION: The following illustrations assume a working distance of 100mm


Angular error (pivot point in the sensor)
with respect to lateral position on the laser line

Lateral angular error

35° (+- 5°)

Permissible angular error to vertical


0° (+- 5°)
0° (+5°)
100mm
100mm

Direction of travel (ideally from the start of the process, laser leading)
Sensor positions
Other important information
for programming

- The angle specifications in the previous pages should be shown in the


planning can be taken into account or be possible in the installation.

- To learn the optimum position of sensor to component,


the live image tool of the SmartRay software must be used.

- The TCP can be taught via the live image.

- The courses should be taught as quietly and faithfully as possible.


Operating instructions in the
robot program

- P1 should be linear before P2 (point before the seam) so that P2 can be


approached linearly with the process speed and the required sensor
distance.

Laser on

Laser off

P3 P2 P1
Programming of path switching points

- The path switching points must be selected in such a way that


before and after the seam can be recorded approx. 10mm at a time.
See example below.
Laser on

P3 Laser off P2

l5 l4 l3 = seam length l2 l1
=X mm = 10mm =10mm =X mm

BS on P3: Example of a fillet weld Example of an overlap seam


Laser on= - l5+l4+l2+l2 (Here is to be found
Laser off= - l5 Make sure that the
Bags in picture
are visible.)

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