P5

How to scan weld seam:

• Open KUKA_KR60-3 project in the editor
• Place the workpiece in front of the robot
• Jog robot manually to the welded seam in order to find the start ponint for the scan
• Use data from the robot to specify startScanPose in the Main2Curves.py
• Specify the velocity and angles for PIT in Main2Curves.py
• Run the program Main2Curves.py
• In WorkVisual create the project to read robot's traces
• Start tracing
• While RoboDK launched, run ScanProgram from the GUI of RoboDK.
• Transfer traces to the computer from KRC4 (.IO.r64 and .Ipo.r64 files for creating the PIT curves) to TransformClass
• Transfer data from scanner to compute PIT positions

How to compute PIT trajectory:

  - Scan weld seam.
  - Place weld_seam_scan.txt (name irrelevant) into 'scans/before/unprocessed/'
  - Edit program.py, line 30, change FILE_NAME = "weld_seam_scan"      .... Notice there is no file extension.
  - in terminal run: "python3 program.py"
  - Trajectory files are located in 'trajectories/' named weld_seam_scan-trajectory-0.txt and weld_seam_scan-trajectory-1.txt
  

How to PIT the weld seam:

• .txt files for left and right sides of the weld seam places inside TransformClass in KUKA_KR60-3 project
• Run the program Main2Curves.py
• Start tracing in WorkVisual
• run CurveFollow1 and CurveFollow2 simultaneously in order to PIT the work piece
• Transfer and save traces to computer to use it for velocity control and debuging

How to compute quality report:

  - Scan treated weld seam with same trjectory used to compute PIT trajectory
  - Place weld_seam_scan-Quality.txt into 'scans/after/unprocessed
  - Edit quality_scan.py line 30 change FILE_NAME = "weld_seam_scan-Quality" ... Notice there is no file extension
  - in terminal run: "python3 quality_scan.py"
  - Output is graphs of quality parameters.