Page 171 - Welding Robots Technology, System Issues, and Applications

Robotic Welding: Application Examples 159

5.2.4 WeldAdjust
The “WeldAdjust” software tool (Figure 5.8) is used to adjust points on-line and to
acquire points in any given robot configuration and/or any robot program state.
Basically it is a robot jogging application that enables the user to position the robot
from the computer, using Cartesian XYZ commands or absolute joint commands.

5.2.5 File Explorer

With the “File Explorer” (Figure 5.9) software tool the user can exchange files
with the robot controller, facilitating the process of transferring programs,
modules, etc., to and from the robot controller. It works like the Microsoft
Windows file explorer, having the available robots as extra “disks”. The user can
access the robot internal disk and also the external floppy disk, which is
implemented using the file access services available from the software component
used.

5.2.6 Robot Control Panel and RPC Server to Receive Events

The “Control Panel” software tool is used to change the robot controller state and
to load and unload modules from the robot controller. The RPC server is used to
receive events from the robot controller. As already mentioned events are RPC
calls made by the robot controller and fired when pre-programmed actions actually
occur. Possible actions include IO change, system state change, program variable
change, etc. All actions are programmable.

Figure 5.10. Robot Control Panel and RPC server