001 Full-V Weld Configuration Software - 1R2 - 221031

Suzhou Full-V Intelligent Optoelectronics Co.
,LTD
Weld Configuration
Software
User Manual
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FULL-V Weld Configuration Software User Manual
Revision History
Date Author Version Description

July 10, 2022 Pan HAO 1R0 The initial issuing
October 24, 2022 Pan HAO 1R1 22.3.1 Supplementary Notes to the Version
October 25, 2022 Pan HAO 1R2 Fixed a small amount of formatting
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Table of Contents
1 SYSTEM INTRODUCTION ·········································································- 7 -
1.1 System Introduction ·································································································- 7 -
1.2 System Configuration ·······························································································- 8 -
2 SCOPE OF APPLICATION·········································································- 9 -
2.1 Applicable Hardware ································································································- 9 -
2.2 Applicable Software Version ·······················································································- 9 -
2.2.1 Sensor Firmware Version Requirements ·······································································- 9 -
2.2.2 Client Software Requirements···················································································- 9 -
2.3 Software Operating Environment ················································································- 10 -
2.3.1 Operating System Requirements ··············································································- 10 -
2.3.2 Hardware Requirements ························································································- 11 -
2.3.3 View the Operating System Version ···········································································- 11 -
2.4 Obtain Customer Software and Sensor Firmware ······························································- 12 -
3 HOW THE SENSOR WORKS ···································································- 13 -

3.1 How the Sensor Works ····························································································- 13 -
3.2 Workflow of the Sensor ···························································································- 14 -
3.3 Identify the Relationship between Feature Points or Welding ················································- 14 -
4 USING THE OPERATION FLOW·······························································- 16 -
5 SENSOR HARDWARE INSTALLATION ······················································- 17 -
6 THE USE OF THE CLIENT ······································································- 18 -

6.1 Installation of Client Software ···················································································- 18 -
6.2 The Concept and Relationship of IP Address ···································································- 20 -
6.3 Configure the Computer IP Address ·············································································- 21 -
6.3.1 Configure the Windows 10 System Computer IP ···························································- 21 -
6.3.2 Configure the Windows11 System Computer IP ····························································- 23 -
6.4 Configure the Robot IP Address ·················································································- 24 -
6.5 Start the Client Software ··························································································- 25 -
6.5.1 Installation Version Starts ······················································································- 25 -
6.5.2 Green Edition Start ·····························································································- 25 -
6.6 Guidance Interface·································································································- 26 -
6.7 Multi-language Switch ····························································································- 27 -
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6.8 Online Upgrade of Client ·························································································- 28 -

6.9 Device Discovery Interface ·······················································································- 30 -
6.9.1 Discovery Interface Area Division ············································································- 30 -
6.9.2 Detailed Information of Each Region ········································································- 30 -
6.9.3 Configure Sensor IP ····························································································- 32 -
6.9.4 Ping Sensor ······································································································- 33 -
6.9.5 Manually Upgrade Sensor Firmware ·········································································- 34 -
6.9.6 Online Upgrade of Sensor Firmware ·········································································- 36 -
6.10 Main Interface······································································································- 37 -
6.10.1 Status Area·······································································································- 38 -
6.10.2 Robot Connection Status and Protocol ·······································································- 38 -
6.10.3 Log Information·································································································- 40 -
6.10.4 Status Bar Information ·························································································- 40 -
6.10.5 Image Display Area·····························································································- 40 -
6.10.6 Scaling of the Image Area ·····················································································- 42 -
6.10.7 Real-time Data Display ························································································- 43 -
6.10.8 Sensor Automatic Sleep ························································································- 45 -
6.10.9 Statistics Display Area ·························································································- 45 -
6.10.10 Parameter Configuration Area ··············································································- 46 -
7 WELD DEFINITION AND CONFIGURATION ···············································- 47 -

7.1 Basic Concepts and Processes ····················································································- 47 -
7.1.1 Sensor Weld Configuration Process ··········································································- 47 -
7.1.2 Description of Task Number ···················································································- 47 -
7.1.3 Online Parameter Description ·················································································- 48 -
7.1.4 Risk Warning Function ·························································································- 48 -
7.2 Parameter Configuration Description············································································- 49 -
7.2.1 Stable Condition for Weld Inspection ········································································- 49 -
7.2.2 Exposure Parameter Setting ···················································································- 50 -
7.2.3 Weld Observation Position·····················································································- 52 -
7.2.4 Extraction Parameter Settings ·················································································- 53 -
7.2.5 Detection Area Setting ·························································································- 53 -
7.2.6 Extraction Result Check ·······················································································- 54 -
7.2.7 Comparison of Two Generations of Algorithms ·····························································- 55 -
7.2.8 Identifying Parameter Concepts ···············································································- 55 -
7.2.9 Connector Form Selection ·····················································································- 56 -
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7.2.10 Weld Parameter Configuration Interface ·····································································- 56 -

7.2.11 Principles of Weld Definition··················································································- 57 -
7.2.12 Face Detection Parameters·····················································································- 57 -
7.2.13 Graphical Description of Face Detection·····································································- 58 -
7.2.14 Weld Constraint Parameters ···················································································- 58 -
7.2.15 Surface Constraint Parameters ················································································- 59 -
7.2.16 Graphical Parameter Configuration ···········································································- 60 -
7.2.17 Post-processing configuration ·················································································- 61 -
7.2.18 Filter Processing ································································································- 62 -
7.2.19 Feature Point Datum····························································································- 63 -
7.2.20 Feature Point Offset ····························································································- 64 -
7.2.21 Feature Point Tracking ·························································································- 65 -
7.2.22 Start Output······································································································- 66 -
8 DETAILED EXPLANATION OF JOINT FORM ··············································- 67 -

8.1 Internal Fillet Joint ································································································- 67 -
8.2 External Fillet Joint································································································- 68 -
8.3 Left Lap Joint ······································································································- 69 -
8.4 Right Lap Joint·····································································································- 71 -
8.5 Ordinary Butt Joint ································································································- 72 -
8.6 Small Butt Joint ····································································································- 73 -
8.7 Fine Butt Joint ·····································································································- 74 -
8.8 Flat Plate Straight Line ····························································································- 76 -
8.9 M Type ··············································································································- 77 -
8.10 V-groove ············································································································- 78 -
8.11 Flat Circular Tube ·································································································- 79 -
8.12 Round Tube Flat Plate·····························································································- 80 -
8.13 Two Round Splices ································································································- 81 -
8.14 Three Round Splices ······························································································- 82 -
8.15 Four Round Splices································································································- 83 -
8.16 Five Round Splices ································································································- 84 -
8.17 Six Round Splices ·································································································- 85 -
9 AUTHORIZATION MANAGEMENT ····························································- 87 -

9.1 Authorization Atatus Display·····················································································- 87 -
9.2 Authorization Time Query ························································································- 87 -
9.3 Obtaining Authorization ··························································································- 87 -
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9.4 Manually Update Authorization ··················································································- 88 -

9.5 Automatic Renewal of Licenses ·················································································- 89 -
10 DEBUG FUNCTION ·············································································- 90 -

10.1 Switch User Permissions··························································································- 90 -
10.2 How to Add and Create a New Weld Type ······································································- 91 -
10.3 Local Debugging ··································································································- 93 -
10.4 Screen Record ······································································································- 93 -
10.5 Remote Control ····································································································- 94 -
10.6 Installation of Air Cooling System···············································································- 95 -
10.6.1 The Role of the Air Cooling System ··········································································- 95 -
10.6.2 Selection of Triples ·····························································································- 96 -
10.7 Switch Connection·································································································- 97 -
10.8 Sensor Installation Instructions and Precautions ·······························································- 98 -
10.8.1 Installation Instructions ························································································- 98 -
10.8.2 Installation Notes ·······························································································- 98 -
10.9 Sensor Lens Protector ·····························································································- 98 -
10.9.1 Replacing the Protective Sheet ················································································- 99 -
10.10 Installation of Pneumatic Protective Cover ··································································- 99 -
11 FREQUENTLY ASKED QUESTIONS ·······················································- 99 -

11.1 The Client cannot Find the Device···············································································- 99 -
11.2 Client Black Screen ······························································································- 100 -
11.3 The Client Finds the Device but cannot Connect······························································- 100 -
11.4 The Robot cannot Communicate with the Sensor ·····························································- 101 -
11.5 Weld Recognition is not Stable··················································································- 101 -
11.6 When the Offset or Deviation is Relatively Large ····························································- 101 -
12 SUPPORT AND CONTACT INFORMATION ·············································- 102 -
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1 System Introduction
1.1 System Introduction
In the laser welding seam tracking system, the laser image is collected by the image sensor to identify and track the
welding seam in real time, and then the controller sends instructions to the welding terminal to realize the real-time
monitoring and correction of the welding seam. Just connect the system to the welding robot/special plane, can realize
automatic weld detection, solve the workpiece placement error, workpiece group error, workpiece consistency,
workpiece thermal deformation and other problems, realize the automation of welding.
Suzhou Full-V Intelligent Optoelectronics Co.,LTD. Since 2017, research and development production of laser
welding seam tracking system is a combination of line laser technology and AI algorithm structure, implement the
three-dimensional measurement of welding position, can provide welding trajectory to or welding machine, welding
robot has a strong anti-interference ability, can adapt to welding which is caused by high temperature, strong light,
splash and strong electromagnetic interference, It has a wide range of adaptability. Realize laser weld deflection
correction, laser weld location, starting point detection, weld tracking, weld width intelligent adaptation, simplified
teaching programming and other functions. Laser weld tracking system software powerful, can be applied to most
weld types, ultra-high sampling frequency can be suitable for high-speed welding occasions.
The laser welding seam tracking and detection system is an independent system. The system can communicate with
the industrial robot or welding plane through Ethernet interface or RS485.
This manual mainly introduces the parameter configuration, real-time status monitoring and function debugging of
the sensor through the Full-V welding seam tracking sensor client software.
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1.2 System Configuration
Category Effect Model

1 Laser weld tracking Laser welding seam tracking sensor to identify, FV-160/240/400 , etc
sensor calculate and communicate with Ethernet robot,
computer /HMI.
2 Ethernet switch Set up 100/1000M LAN Since the set
3 The robot Welding industrial robot or welding plane ABB/Fanuc/Yaskawa/Kuka/
OTC/Panasonic Welding
robot,etc
4 HMI Human-machine interaction interface, HMI does FULL-V client
not participate in weld calculation, robot
communication. Only the sensor can be configured
with parameters, real-time status monitoring, and
debugging functions.
HMI allows the computer to install Full-V client
software. Or All-in-one embedded machines with
built-in all-in-one client.
This section describes the main functions of the
Full-V client software.
5 Precision oil-water CTA type precision oil-water separator, after
separator removing the oil and water to cool the sensor and
extend the life of the protective glass.
6 The compressed air Provide air source for air cooling.
supply
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2 Scope of Application
This manual is applicable to the fourth generation sensor and supporting client software.
2.1 Applicable Hardware

This software is only applicable to the fourth-generation sensor shipped after July 22, and the fourth generation
product has G4 after the serial number. As shown in the figure below.
2.2 Applicable Software Version

2.2.1 Sensor Firmware Version Requirements
Sensor Firmware Automatic Updates Requirements

Version
V5.1.x Not support If applicable, manually upgrade to V5.2.x or higher version
V5.2.x Support Where applicable, upgrade to V5.2.x or higher version manually
or automatically online
V4.xx or lower Not support For the third generation sensor, this software and manual are not
applicable
2.2.2 Client Software Requirements
Sensor Firmware Automatic Updates Requirements

Version
V5.1.x Not support If applicable, manually upgrade to V22.3.x or higher version
V5.2.x Support For manual or automatic online upgrade to V22.3.x or higher
version
V22.x Support For manual or automatic online upgrade to V22.3.x or higher
version
V2.9x or lower Not support For the third generation sensor, this software and manual are
not applicable
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The fourth generation sensor is equipped with

the 22.3.X version client, which is applicable to
this manual
The third generation sensor is compatible with

the 2.9.X client, which is not applicable to this
manual
Third generation sensor, when using 22.X client

connection will prompt incompatibility
2.3 Software Operating Environment
2.3.1 Operating System Requirements
Operating system tested and supported: Windows 8.1/10/11 64-bit version。

Not tested: Windows 7 64-bit
Unsupported systems: Windows XP, 7/8.1/10 32-bit systems.
The system must install the OpenGL driver for the graphics card.
Note: The OpenGL driver is abnormal, and a black screen of the client software will occur.
- 10 -
2.3.2 Hardware Requirements
Project Minimum Requirements Recommended Requirements

CPU 4 cores above 2GHz AMD Ryzen 2nd Gen or Intel Core 10th Gen
Low-performance Intel I3 or ATOM cpus may or higher CPU
stall
Memory More than 4 GB 8GB
The hard SSD 256 GB Greater than 512GB is recommended
disk
The graphics Supports OpenGL graphics cards No separate graphics card is required
card
Display 1920*1080 1920*1080
2.3.3 View the Operating System Version
Take Windows 10, for example
Click Start windows in the left corner of the taskbar. On the

pop-up screen, click Settings.
In the windows Settings window that pops up, click System.
In System Settings, find the System Type in About and

Check whether the OS is 64-bit.
- 11 -
2.4 Obtain Customer Software and Sensor Firmware

Use the online upgrade of the client to automatically download the latest version of the client and sensor firmware.
Download the latest version online
Sensor firmware download address：https://fullv.vaxpl.com/pub/fv-laser/
Client software download address： https://fullv.vaxpl.com/pub/fv-lwt/
A password is required. Contact technical support for the password.
Contact our Business Support to obtain the latest version
- 12 -
3 How the Sensor Works

3.1 How the Sensor Works
The welding seam tracking sensor is a linear structured light sensor, which is composed of a laser generator and a
camera.
The laser generator produces a "word" profile laser to illuminate the surface of the measured object, and the camera
takes the laser stripe. The captured image appears as a black and white image, and the laser line is a white stripe,
which is called an image on the software.
The laser line fringe is identified by the algorithm, and the center position of the laser line is extracted, which is called
point cloud in software. The process is called extraction.
When the center position of the laser line is extracted and converted to the data in mm under the laser coordinate
system, it is called the world coordinate.
Sensors in the world coordinates, according to the rules set by the joint form, identify and output the coordinate of
the characteristic point (BP point) to the [X,Y] coordinate position of the robot or PLC of the special plane, which is
called the characteristic point (BP point).
- 13 -
3.2 Workflow of the Sensor
The laser beam hits the Take an image of the laser Extraction algorithm to Calculate Weld Feature
workpiece line extract laser lines Points
The laser line hits the workpiece, and after a series of algorithms, the sensor obtains the measurement results of the
workpiece surface.
After calculating and identifying the measurement results, the [y,z]mm coordinates are output to the robot.
3.3 Identify the Relationship between Feature Points or Welding

Feature points (BP points) are calculated by the algorithm according to certain rules, which have relatively high
consistency in the specific joint form.
Most of the time, the feature point of the sensor output is not the starting point of the process, the main reasons are：
1、There are errors in robot TCP and hand-eye calibration. The sensor detection is accurate, but the robot cannot
accurately execute to the feature point position.
2、Check the position and process best welding point. Such as thick plate fillet weld, the sensor detects the base
metal intersection, but the arc point needs to be on the side or outside the position to achieve the required welding
height.
Therefore, the sensor ensures that the detection point is stable and has good consistency. The welding arc point is
offset and welded according to the actual robot accuracy and process requirements.
Detect feature points
The arc starting point required by the process
- 14 -
- 15 -
4 Using the Operation Flow
Both must
Sensor Switch wiring
Install the sensor
ground handling
installation Sensor wiring
Modify the sensor IP

Computers, sensors,
address
robots
Install Full- Select the Modify computer IP
Three IP addresses are
V welds desired sensor address
on the same network
Software client Modify the
segment
communication port
number
Select task Configure Weld Configure Weld Save task

number Type Parameters number
- 16 -
5 Sensor Hardware Installation

The installation process mainly uses network cable, sensor fixture, switch, sensor private network electrical
integrated wire. Other requirements are shown below.
Among them
The green box is "Sensor Standard Configuration".
The yellow box is "Optional Accessories".
The blue box is "Customer Preparation".
For details, please refer to the sensor installation manual
- 17 -
6 The Use of the Client

6.1 Installation of Client Software
Open the installation package and click Next to install
Read the license terms and click I Accept to proceed

to the next installation
Click Next for the next step of installing the software
Select the installation directory and click Next to

install the software
Default installation directory: D:\Full-V\fv-lwt
Finally, confirm the installation
- 18 -
Complete installation of weld software
Desktop icon, click to run
- 19 -
6.2 The Concept and Relationship of IP Address

Sensors, robots, computers /HMI communicate via Ethernet.
For devices on a network to communicate, each computer must be assigned an identification number that identifies
the computer receiving or sending data. In TCP/IP, an IP address identifies a computer. Currently, the widely used
version of IP addresses is IPv4.
The IP address is the address of the device on the TCP/IP network, and the port is the window through which the
network device communicates with other devices.
Sensors, robots, computers /HMI and other devices must have a unique IP address in order to work.
The sensor is from the device, passively waiting for the robot to visit.
The robot is the main device and actively controls the sensors to obtain data.
If a robot is actively connected to a sensor, it must know the sensor's IP address and port.
Therefore, sensors, robots, computers /HMI are required to meet the following conditions ：
1、They're connected through a local area network。
2、Assign different IPV4 addresses on the same network segment.
3、The robot must be configured with the IP address and port of the target sensor.
You need to perform the following operations during project operations：
1、Use network devices such as switches to connect sensors, robots, computers /HMI to the same network.
2、Configure the IP addresses of the computer /HMI, robot, and sensor respectively. Ensure that the three IP
addresses are on the same network segment and have the same mask, but the last addresses do not conflict.
3、Enter the sensor's IP address and port number on the robot side.
Sensor Robot PC/HMI
IP address of the IP：192.168.1.111 IP：192.168.1.112 IP：192.168.1.113
device mask：255.255.255.0 mask：255.255.255.0 mask：255.255.255.0
The default IP
IP Address Use the Device management Configure on the teacher You configure it on your
Configuration page of the Full-V client computer
system
Destination IP Don't need IP address and port of the Don't need
Address sensor
Configuration
- 20 -
6.3 Configure the Computer IP Address
6.3.1 Configure the Windows 10 System Computer IP
Click windows Start in the left corner of

the desktop. On the pop-up screen, click
Settings.
Click on Network and Internet
Click on the Status on the left and change

adapter options.
With the adapter options open, right-click

to select the Ethernet port connected to the
switch, and right-click to select Properties .
- 21 -
After turning on Ethernet properties, left-

click the cursor to Internet Protocol version
4 (TCP/IPv4), and then the property key on
the lower right side lights up, left-click the
property key.
After enabling the properties of Internet

Protocol version 4 (TCP/IPv4) and
selecting "Use the following IP address" in
area 1, you can manually change the IP
address of the computer in area 2. The
subnet mask of area 3 will be automatically
generated. Click Area 4 to confirm the
modification. Each IP address ranges from
0 to 255. The first two IP addresses are
192.168. The first three network segments
must be the same, and the fourth must be
different.
- 22 -
6.3.2 Configure the Windows11 System Computer IP
Press "Windows+S" to open the search bar, search

Settings and open
Open Settings and go to Network and internet on the

left to find Advanced Network Settings
Find more network adapter options
Once the adapter option is turned on, right-click to

select the Ethernet port connected to the switch, and
right-click to select Properties.
After turning on Ethernet properties, left-click the

cursor to Internet Protocol version 4 (TCP/IPv4), and
then the property key on the lower right side lights up,
left-click the property key.
After enabling the properties of Internet Protocol

version 4 (TCP/IPv4) and selecting "Use the following
IP address" in area 1, you can manually change the IP
address of the computer in area 2. The subnet mask of
area 3 will be automatically generated. Click Area 4 to
confirm the modification.
- 23 -
6.4 Configure the Robot IP Address

Note: Please refer to the robot installation manual for detailed configuration of the robot IP address.
Yaskawa robot IP address display
Fanuc robot IP address display
The IP address of the Carop robot is shown
Treasure Yuan system IP address diagram
- 24 -
6.5 Start the Client Software
6.5.1 Installation Version Starts
Note that do not click this option during the

installation. You can create a shortcut on the
desktop.
Find the shortcut on the desktop to start.
Note: If no shortcut is created during installation, refer to the green version to start.
6.5.2 Green Edition Start
Note: The green version does not need to be installed. Find FV-lwt. exe to start, using the installation location
D:\Full-V\fv-lwt\bin as an example
Open my computer, find drive D, double-

click to access.
Go to the folder where you found Full-V and

enter.
Go to the "fv-lwt" folder.
Go to the bin folder.
Double-click fv-lwt.exe to start.
- 25 -
6.6 Guidance Interface

After starting the program, it will automatically enter to the guidance page. As shown in the following figure, this
page has eight sections, each of which indicates a different function. The details are as follows：
Serial Name Illustration

number
1 Search for Open the Device discovery window and search for sensors in all networks
sensor
2 Contact us Get our contact information
3 Installation Open the electronic sensor installation instructions
instruction
manual
4 Instruction Open the sensor use book
manual
5 Automatic One minute later, the sensor connected last time will be automatically connected.
connection
6 Contact Related Contact Information
7 The current Version number of the current customer software
version
8 Check the Check whether the current version is an old version. If so, click "Install a new version".
update Otherwise, the message "The current software is the latest version" is displayed.
9 To switch Switch the main language of the client software to another language, which is
between automatically selected by the system by default.
languages
- 26 -
6.7 Multi-language Switch
On the guidance page, you can select Chinese, English, Russian, and Thai.
After changing the language, restart the software to take effect.
- 27 -
6.8 Online Upgrade of Client

When the computer is connected to the Internet, the client software can be upgraded online. Install the browser
provided with the Windows operating system.
When the firewall allows the client software to
access the Internet, the client software
automatically detects the Internet.
You can also click "Check for Updates" to
manually check whether there is a new version
of the client.
When there is a new version, you will be
prompted whether to upgrade, and tell the latest
version.
Click "Yes" to download the upgrade
Download the file in the browser .In normal

cases, grant the software trust authorization.
Otherwise, the software cannot be downloaded
and installed. The operation process is as follows
After clicking Download, a prompt will pop up

in the notification box. Select the file "... ".
Shape icon, select the "Keep" option
A pop-up window prompts "Ensure trust" click

"Show Details"
- 28 -
Select the first of the three options to "Still keep"

to download and install the sensor.
This is displayed after the download is complete
- 29 -
6.9 Device Discovery Interface
6.9.1 Discovery Interface Area Division
Area 1:IP address

area of the current
computer. You can
view the IP address
of the computer here.
If the computer has
multiple IP addresses
it will display
multiple IP
addresses.
Area 2: Laser tracker
list area where you
can view the sensor
devices searched.
Area 3: The
operation area of the
sensor, where you
can edit the sensor
operation.
6.9.2 Detailed Information of Each Region
1：Click Connect the selected sensor.

2：Click the selected sensor to modify the sensor
IP address.
3：Re-search all sensors in the network.
4：Ping the selected sensor to check whether the
computer can connect to it.
5：Use the firmware upgrade package to upgrade
the firmware version of the selected sensor.
6：Restart the selected sensor.
7：Clear all files generated while debugging the
sensor.
8：Check whether the current sensor firmware can
be upgraded to a later version online.
9：Check whether the sensor authorization time

can be updated online.
- 30 -
10：The IP address segment of the sensor is

different from that of the computer.
Unable to connect.
11：Indicates that the sensor and the computer are
in the same IP network segment and can be
connected.
12：Indicates the current warning status of the
sensor
Common status are:
Internal faults: Warning: A software or hardware
fault occurs that cannot be repaired on site.
There is a new version upgrade: Prompt: indicates
that the new version is checked online
The firmware is too old: Warning, serious BUG or
defect in sensor firmware must be upgraded.
Not compatible with: Warning, incompatible
hardware or device type
HMI/ touch screen：Prompt, represented as a
touch screen or other HMI device.
13：Sensor IP address and subnet mask.
14：Current firmware version of the sensor.
15：Mainboard Serial number of the sensor.
16：Sensor serial number
The sensor serial number is the unified
identification of upgrade and update authorization.
The serial number is the same as that of the casing.
17：Sensor model.
18：Sensor internal model.
- 31 -
6.9.3 Configure Sensor IP
The default IP address and mask off code of the sensor are 192.168.1.111 and 255.255.255.0 respectively.
The default IP address of the sensor does not meet the onsite network environment. Therefore, you need to change
the IP address of the sensor
Go to the laser tracker device

management window
Select the sensor whose IP address you
want to modify
Click "Configure Sensor"
Change the IP address to the required one

Click OK to modify the sensor
- 32 -
6.9.4 Ping Sensor
Select the sensor to Ping

Click the "Ping Sensor" option to use
the Ping tool to check the network
status from computer to robot.
If the return time is smaller than or

equal to 1ms and there is no packet
loss, the sensor is properly connected
to the computer；
The return time is no less than 1ms. A
larger time indicates a worse
network；
Packet loss indicates that the network
has serious problems and cannot
work properly.
- 33 -
6.9.5 Manually Upgrade Sensor Firmware
Sensor firmware upgrades can fix software bugs and lead to new features or algorithm optimizations. You can
download the upgrade package from technical support or website to manually upgrade the sensor. Do not upgrade
the device if it is in stable production.
The firmware upgrade file is named FV-laser-all-5.2.31. upk. fv-laser-all- indicates a fixed identifier, and
5.2.31.upk indicates the version 5.2.31.
You are not advised to change the file name.
When the sensor firmware version is too old, bright

colors will appear to remind you to upgrade the
firmware.
Click Upgrade Sensor Firmware to manually upgrade
the sensor.
Locate the sensor firmware upgrade package and

open it to begin the upgrade.
The file upload progress bar is displayed in the lower

right corner.
- 34 -
When the upload is complete, the system asks you

whether to restart it. Click "Yes".
Click "OK" and the sensor will restart automatically.

The sensor is automatically upgraded after the restart.
The upgrade takes 1 to 2 minutes. After the upgrade is
complete, the sensor automatically starts working.
Never power off the sensor during the upgrade!
After the upgrade is complete, the sensor firmware in

the device list is the latest version.
- 35 -
6.9.6 Online Upgrade of Sensor Firmware
When the computer is connected to the Internet, the sensor firmware can be upgraded online. The software will
automatically download the latest version of firmware and upgrade it.
Select Online upgrade and click "Check Online

Firmware Upgrade" in the lower right corner.
When the system detects a new version of firmware,

click Yes to upgrade the firmware. The downloader
will then automatically download the firmware in the
background.
After the automatic download is complete, click "Yes"

to install, and then the firmware upgrade will be
automatically installed.
After the upgrade is complete, the automatically

downloaded firmware is saved to the program
installation directory by default.
"D:\Full-V\fv-lwt" if installed by default
- 36 -
6.10 Main Interface

The various areas and functional options of the client main interface is shown in the following table：
Serial
Area Name Illustration
number
Including computer and sensor connection, robot and sensor connection,
1 Status Information Bar whether the laser has been turned on, log information, real-time task
number, real-time task number joint form, real-time sensor coordinates.
Problem synthesis help
2 Includes remote assistance, screen recording, use help, use guidance
area
Contains display images, display point clouds, display real-time images of
3 Image display area
the world.
Identify the information
4 Contains the detection rate, jitter.
display area
Including task management, exposure parameters, extraction parameters,
Parameter
5 detection area, scanning parameters, weld parameters advanced
Configuration Area
configuration.
6 Debug area Enable local debugging, algorithm debugging, and YUV recording.
Point cloud image Includes display auxiliary line, hide coordinate axis, variable coordinate
7
display area axis, enlarge, move image synthesis area.
Real-time data display Includes sensor, robot, reference point, offset, offset (Y, Z) coordinates. And
8
area weld real-time information display
Show the trend chart of detection results of weld characteristic points,
Dynamic real-time
9 including Y/Z(direct detection value of sensor), delta Y/Z(same detection
trend map area
difference value of last time), Robot Y/Z(YZ chart sent by sensor to robot).
10 The status bar Status information bar area.
11 The client Client version information
- 37 -
6.10.1 Status Area
Options Function Status Counting

1 The sensor Connection status between the White: The sensor is not Sensor
sensor and the client software. connected Heartbeat
Click to open the Device Green: The sensor is connected duration when
discovery window a sensor is
connected.
2 Robot setup The status of successful network Red: Robot is not set up with To
connection between the robot and sensors communicate
the sensor. Yellow: The robot is connected to with the robot.
Click to set the port of the sensor, but there is no Only when
communication between sensor successful communication there is a
and robot, etc. Green: Robots connect and newsletter.
communicate
3 Laser switch Check whether the laser is on Red: The laser is not turned on Laser turn on
Click to switch the laser on and Green: The laser is on time
off manually.
4 Log View the generated logs. White: No unread logs are Number of
information Click to show and hide the log displayed unread logs
window Yellow: unread logs exist
5 Real time The current task number is Red: No feature point is identified
mission number displayed in the current task number
connector form
Green: Feature points are
identified in the joint form in the
current task number
Blinking: The current
identification is unstable
6 Real time joint Displays the connector form in Type of weld currently selected
form the current task number
7 Real time Y/Z Display the Y and Z coordinates Display the current feature point
coordinates of the current sensor feature Y
points
6.10.2 Robot Connection Status and Protocol
1、Robot Communication Protocol

The sensor factory preset different robot or controller communication protocol, different brands of machines need
to use different protocols to communicate with the sensor.
When the protocols don't match, the robot can't communicate with the sensors. The preset communication protocol
and model of the sensor cannot be modified.
- 38 -
2、Protocol communication port

Sensors are used as network slave devices. When the robot connects to sensors, the communication port of the
sensors needs to be specified. (Refer to the robot manual).
The working port number monitored by the sensor can be configured by software. The default port number varies
with protocols. The default port number is 5020.
The sensor must listen to the same port number set in the robot controller in order to communicate.
The Robot Connection option displays the communication status with
the robot.
Red: Robot is not set up with sensors
Yellow: The robot has established a TCP connection with the sensor, but
there is no communication.
Green: The robot is connected and has had successful communication.
Time: The timing of sensor and robot communication. When there is
communication, the clock stops when there is no communication.
Timing can be used to tell if the sensor is communicating with the robot.
Click the option to display the robot communication parameters.
Robot protocol: The protocol specified by the sensor manufacturer
cannot be configured.
Robot IP address: After the robot is successfully connected to the sensor,
the IP address connected to the sensor is displayed. If the connection
fails, an inaccurate IP address will be displayed.
Robot port: The communication port on which the sensor listens.
After clicking "Unlock" option, you can modify the communication port
monitored by the sensor.
After the configuration is consistent with the robot configuration, click
Modify Port to save.
Note:
The robot and sensor must be restarted after the port modification to take
effect.
After clicking "Unlock" option, you can modify the communication port
monitored by the sensor.
After the configuration is consistent with the robot configuration, click
Modify Port to save.
Note:
The robot and sensor must be restarted after the port modification to take
effect.
- 39 -
6.10.3 Log Information
The Log Information option displays the log window. The log
records the start and stop information of the sensor, as well as the
serious alarm information.
6.10.4 Status Bar Information
C: indicates the CPU temperature of the sensor

S: temperature of the image sensor
Some models do not support the image sensor temperature display. S
shows zero degrees.
The normal temperature ranges from 10 ° to 55 ° C. If the
temperature is higher than 55 ° C, the sensor will enter the protected
status.
The sensor IP address and connection speed can be 100M or 1000M
depending on the model.
The alarm will be red when the time is below 100M or full double
time
Serial number of sensor
Firmware version of the sensor
Authorization status of the sensor
Official Edition: Licensed in perpetuity
Trial: Trial status, and displays the remaining time available
Lock machine: The sensor stops working when the trial period is
over.
The time when the sensor has been activated
Software version number and compile ID of the client
The sensor automatically synchronizes with the current system time
6.10.5 Image Display Area
Real-time image display is used for monitoring sensor image acquisition, laser line extraction and recognition
results.
You can open a display, can also open any two images superposition display. The details are shown in the following
table：
- 40 -
Default Open Status

The original image is displayed in the image display
area.
The image is black and white. The image can be used
to observe whether the exposure is ready, whether the
laser line brightness is appropriate, and whether the
laser line position is accurate.
The white line is laser or dazzle light.
The normal laser line should be bright, dark
background, no interference.
Off by default
After it is opened, the center of the algorithm is
displayed in the display area of the point cloud image,
which is used to check whether the extraction is
reliable and whether the feature points are quasi-
confirmed.
Default Open Status

And the image of laser coordinate system Y and Z is
displayed in the display area of the point cloud image.
Point clouds can be displayed in laser coordinates.
Trapezoidal area is the whole sensor detection range.
Brown yellow YZ coordinate scale display.
Moving the mouse over the relevant position will
display the YZ coordinate of the position in the lower
right corner of the ruler.
Green X represents the recognized weld

coordinate point, which is turned on by default
Red X represents the coordinate point after the

weld offset when starting the offset, which usually
needs to be opened manually
The orange X represents the robot coordinate
point, which is usually opened manually after the
green X
The green circle represents the tracking area.

This green circle appears only when tracking is
enabled. Generally, you need to start the tracking
manually
The red square represents the baseline area.

When the baseline is enabled, the red square will
appear and you need to manually enable it
- 41 -
This figure shows the display situation after all

graphic instructions are opened. Each graphic with
different colors represents a functional display with
different meanings.
6.10.6 Scaling of the Image Area
Image area is relatively small, you can use the zoom option to zoom in, out, and move the image.
In the process of debugging, the image, point cloud and point cloud image should be enlarged to observe whether
the recognition is stable. Operating as follows
1. Click the 'Zoom in' option to
enlarge the image display area.
2. Click the 'Variable axis' option, the

coordinate axis in the image display
area, then scroll to zoom in and out.
3. "+" to enlarge the displayed

image.
"-" is used to scale the displayed
image.
4. "Move icon" to move the

displayed image.
- 42 -
6.10.7 Real-time Data Display
The real-time data area displays the current sensor detection results and algorithm status, which are used to check
whether key parameters of the current task are reasonable and correct. The real-time detection result is shown in the
following figure：
Display the [Y,Z] coordinates
identified by the current sensor as
1 The sensor
weld features, and display as "----"
if no special points are detected.
Display the [Y,Z] coordinates of
the weld characteristics sent by the
current sensor to the robot, and
display as "----" when the robot
does not request it.
When the weld offset function is
not enabled, the coordinates of the
2 The robot
sensor and the robot are the same,
but there may be a certain time
difference.
turned on, the sensor coordinates
are the same as those after the
offset.
When the reference function is
turned on, the coordinates of the set
3 Benchmark reference point are displayed.
When the baseline function is not
activated, it is displayed as ----.
turned on, the set offset is
4 The offset displayed. When the weld offset
function is not played, it is
displayed as "----".
turned on, the set offset is
After the
5 displayed. When the weld offset
migration
function is not played, it is
displayed as "----".
- 43 -
Algorithm results：
Show the filter type (from left to

right) in the weld parameters
1 Wire breaking threshold,
Endpoint threshold,
The set point of the plane error
Show width (WW), height

2 (WH) and Angle (WA) of weld
respectively
Ln-A/Ln-L: Weld seams are

shown separately
Current values of slope and line
length parameters from L1 to
3
L4, and set the maximum and
minimum values. The current
test result is out of the set range
and will be displayed in red.
- 44 -
6.10.8 Sensor Automatic Sleep
After the sensor and the robot stop communicating for 15 minutes, the laser will automatically turn off and enter
the hibernation status, and the client software will give a prompt before hibernation.
The robot or client can resume normal operation by turning on the laser again.
6.10.9 Statistics Display Area
Schematic
Area Illustration
1 Comprehensive regional Overall real-time trend chart.
2 Sensor Y/Z region The coordinate statistics of the characteristic weld point Y/Z detected by
the sensor.
Continuous and smooth, indicating stable detection; The presence of
mutations or pulsations indicates unstable recognition.
The Y/Z difference region Output relative to the last sensor detection result difference.
3 Continuous and smooth, indicating stable detection; The presence of
mutations or pulsations indicates unstable recognition.
4 Y/Z region of the robot The sensor output to the robot weld characteristic point Y/Z coordinate
statistics.
Operation Skills：
1、 You can use the 2/3/4 option to enable or hide the corresponding trend chart.
2、 The default adaptive coordinate system, can be manually scaled.
3、 The mouse current all coordinates at the lower right corner of the instant display.
- 45 -
6.10.10 Parameter Configuration Area
1：The task management setting area contains operation functions

such as task numbering, saving, loading, importing and exporting.
2：Exposure parameter area, adjust the exposure time and laser

intensity and other parameters.
3：The extraction parameter area is used to adjust the
preprocessing mode, extraction algorithm, luminance threshold and
other parameters.
4：Detection area, where you can adjust the starting position of
detection and the size of the area.
5：Scan parameter area, including scan mode, filter time, connector

type selection and configuration parameters.
6：Quick configuration area of weld parameters, where the height,

width and Angle of the weld and the Angle and length configuration
of the identification edges L1, L2 and L4 are adjusted.
For detailed parameter configuration and description, see the subsequent section "6 Weld Definition and
Configuration"
- 46 -
7 Weld Definition and Configuration

7.1 Basic Concepts and Processes
7.1.1 Sensor Weld Configuration Process
Configure
Select the task Select Configure Configure
tracking and Save task
number to connector Weld Weld
benchmarking number
configure style Extraction Parameters
parameters
7.1.2 Robot Call Sensor Process
Load the
The robot calls Sensor Loading Sensors identify Return the result
parameters in the
the task number Task Number welds to the bot
task number
7.1.2 Description of Task Number
All the identification-related parameters in the sensor, such as exposure,

extraction, identification, and post-processing, are stored independently in
the task number。
Sensor has a maximum of 256 mission numbers, from 0 to 255. (Some
robots have no task number and only support 1~255 task calls)
The sensor IP address, communication protocol, communication port and
other system parameters are not saved in the task number.
The task number needs to be loaded before modification and manually
saved after modification；
Parameters not saved after modification, use yellow background display
The task number and joint form currently in use
- 47 -
Parameters under the mission number that take effect immediately after
modification, but must be saved manually.
Otherwise reloading will modify previously unsaved parameters.
Parameter Yellow background, indicating that the changes are not saved.
7.1.3 Online Parameter Description
If you select all parameters in the software, the parameter meanings, default configurations, and recommended
parameters are provided.
7.1.4 Risk Warning Function
Risk warning
If you modify or use some functions, the weld may be unstable and the weld may not be detected. In this case, a
risk message is displayed. You need to enable this function only in specific scenarios. Only click 1 to 4 in order
to further set.
- 48 -
7.2 Parameter Configuration Description
7.2.1 Stable Condition for Weld Inspection
Process Target Solution

Appropriate laser brightness
The laser image is clearly visible
The appropriate exposure
The appropriate exposure
Laser image clear No interference such as reflective light
The right Angle
Not too far up or down
It's in the center of the image
Not too far to the left or right
Extract the point cloud at the center of
Choose an appropriate extraction algorithm
the laser line
To extract the accurate Dazzling light does not interfere with
Angle adjustment
extraction
Detection area Remove unnecessary detection interference
Select the correct connector form
Correct joint form Select the most reasonable type based on the
artifact variation
The BP point of the weld is correct Select a stable BP point
Configure the correct slope range for the line
Correct identification
Correct weld line The minimum length of the configuration
parameters
line
Suitable weld width and height
Correct weld parameters
Configure the proper weld Angle
Trace parameters are correct
Weld reference tracking is correct
Reasonable baseline configuration
No jitter of output Configure filtering parameters
Starting point for interference Delay output
Post processing
Detection of the benchmark The deviation is too large to output
parameters
Elimination of multiple welds
Seam tracking
Elimination of abnormal run-out
- 49 -
7.2.2 Exposure Parameter Setting
(1) Click Unlock option 1 to make the parameter

editable.
(2) Set the laser intensity first
▪ Here sets the power intensity of the laser output in
percentage.
▪ 40~70% is recommended for locating or scanning
to reduce the loss of the laser.
▪ For real-time tracking, 70~90% is recommended
and 80% is the default to reduce arc light effects.
▪ When the intensity output is below 30%, the laser
Laser intensity: It's laser power. The bigger the laser,
the brighter the laser. brightness may be too low to be seen.
Exposure time: The longer the laser time, the brighter ▪ It is not recommended to set the laser brightness to
the image. 100%.
(3) Exposure time
Configure the camera exposure time, the longer the
time, the brighter the image.
The luminance of the laser is determined, and the
exposure time is adjusted to achieve a reasonable
range of images.
▪ If you adjust the exposure time, the laser is still too
bright or too dark. Reexposure time can be adjusted
after laser intensity.
▪ The workpiece surface has different light and dark,
and multiple areas of the workpiece need to be tested
for proper exposure.
▪ The laser brightness will be interfered by smoke
and dust and the laser itself is attenuated, so the
image can be slightly brighter.
- 50 -
Too bright Appropriate Too dark

Too bright, a lot of dazzling light Slightly higher brightness, can If the brightness is too low, the
Affect the accuracy of meet the workpiece surface rust or accuracy may be improved, but it is
laser attenuation and other changes easy to be interfered by arc light and
rust
The glare intersects but The laser line is The laser line coincides Normal laser line image
does not coincide with indistinguishable from with the glare
the laser line. the glare
Less affected Serious Very serious, although the Stable and reliable
Modify posture as algorithm targeted
much as possible processing processing, but
there are great hidden
dangers. You need to
modify your posture
- 51 -
7.2.3 Weld Observation Position
Observation by image
Turn on the auxiliary line and observe the white
laser line in the background.
When the weld is at or near the center, the accuracy
is the best, the anti-glare is the best, and the best
observation range can be obtained.
The weld must be in the purple auxiliary line,
purple auxiliary line outside the observation range
is easy.
It is observed in the world coordinate system
Within the trapezoidal area, there is a brown center
line, with welds as far as possible in the center
area.
The world coordinate system can be enlarged and
moved. Moving the mouse over the relevant
position will display the [Y,Z] coordinates in the
laser coordinate system.
The middle of the laser coordinate system is [Y,Z]=
[0,0]
When not near the central area, there will be a decrease in accuracy, anti-dazzle/arc capability, and the effective
detection range will be reduced.
Weld too close to sensor The weld is too far from the sensor
Weld too close to right edge of sensor Weld too close to left edge of sensor
- 52 -
7.2.4 Extraction Parameter Settings
Tap Unlock options to make the parameters editable.

Preprocessing mode
The preprocessing mode is to enhance the image, reduce noise and eliminate
glare.
Select from 1 to 7 according to the situation to view the image with the clearest
laser line and the least interference.
The default value is 7. You are not advised to change the value
Extraction algorithm
Algorithm for extracting laser center line.
High speed: High speed extraction support 60~240HZ high speed extraction, but poor anti-interference ability.
For scanning or non-interfering environments.
Standard: Applied to position finding and tracking applications, anti-interference, arc light, splashing ability is
very strong. The default value is standard. You are not advised to change the value.
Special purpose for fine docking: Dedicated to the fine docking model when the extraction algorithm.
Brightness threshold:
The threshold used for the area laser line and background.
This parameter ranges from 3 to 7. The default value is 5. If no, the modification is not recommended
The default value is 200 for fine interconnection.
7.2.5 Detection Area Setting
Detection area
After the detection area function is enabled (there will be a risk warning)
The detection range is selected on the image, and the region within the range is extracted and recognized. Images
outside the region are not processed.
Reasonable selection of detection area can reduce unnecessary interference or interference that cannot be processed
by subsequent algorithms
Use the detection area only when it affects extraction and identification. Normal use of baseline and trace functions
to avoid interference.
The images in the region (in the blue box) were extracted
with laser lines.
Outside the area (outside the blue box) laser lines are not
extracted and detected.
Starting Position:
Set the starting position of the image detection area, unit:
pixel, effective range: X [8 ~ 1912], Y [8 ~ 1072].
This setting starts at the upper left corner, that is, the upper
left corner is [0, 0].
Note: the first input box is X, the second input box is Y;
Area size:
Set the size of image detection area, unit: pixel, effective
range: W [8 ~ 1912], H [8 ~ 1072].
Note: the first input box is W and the second input box is H.
- 53 -
As shown above, the weld is very complex and interference cannot be ruled out through configuration parameters,
tracking, and benchmarking.
In this case, the detection area is used and the affected detection area is excluded
7.2.6 Extraction Result Check
Click the "Show Image" and "Show Point cloud"

options.
The white background of the image is the laser

line, and the pink is the extraction result.
The pink line completely coincides with the laser

line, and there are no discrete points, indicating
that the extraction results are good.
If the following phenomenon occurs, it is the

performance of unstable extraction
The purple line does not coincide with the laser
line
Discrete pink dots outside the laser line
Pink dots come and go
Pink dots jump up and down.
There are flying spots and jumps Dazzle light effect Affected by dazzling light
- 54 -
7.2.7 Comparison of Two Generations of Algorithms
Third generation high speed algorithm results Results of the fourth generation standard algorithm
7.2.8 Identifying Parameter Concepts
The exposure parameters and extraction parameters are all configured for the image domain.
The identification is on the "world coordinates" domain configuration.
All parameters are compared with real world measurements in the sensor.
The slope, length, and height of the real workpiece are measured in the laser coordinate system.
- 55 -
7.2.9 Connector Form Selection
Click the weld icon on the main interface to select the joint
form.
Select the corresponding joint form on the left side, and there
will be detailed instructions on the right side, including CAD
drawings, physical drawings of the workpiece, and
explanations of the meaning of all parameters.
For details, see software prompts.
Select the appropriate joint form and click "OK and go to
configuration" to display the weld configuration parameters.
7.2.10 Weld Parameter Configuration Interface
Click the "Weld Configuration" interface on the main interface to configure weld parameters.
The interface for configuring seam parameters is divided into two sections
1. Description of joint form and parameters. The definition of weld and interpretation of each parameter are
described here.
2. The drawing and illustration area shows the position of the weld CAD drawing and the width and height defined
in the weld. And dynamic display weld configuration instructions.
3. For detailed parameter descriptions, see section "Joint Form".
4. Select the starting point and ending point of the weld on the image to automatically generate part of the
configuration parameters of the weld.
- 56 -
7.2.11 Principles of Weld Definition
All welds consist of a maximum of four surfaces, denoted by L1, L2, L3 and L4
respectively.
The number of different joint forms is different, such as two faces of fillet
welding, three faces of N type, four faces of M type
Three types of parameters should be set after the connector form is selected
1. Surface detection parameters
Ensure that the algorithm correctly identifies the workpiece surface.
2. Weld constraint parameters
Constraints weld height, width, Angle parameters
3. Surface constraint parameters
The slope range and minimum length of the workpiece surface in the laser
coordinate system are constrained
7.2.12 Face Detection Parameters
Disconnection threshold:
In mm. Indicates that the line direction, less than this threshold will
be merged into a straight line. A value greater than this threshold may
be divided into two lines. The default value is 1.5mm. The default
value is recommended.
This parameter should be expanded when the laser line extraction is

intermittent due to the poor quality of the laser line and the large
amount of rust in the workpiece.
End point error:
In mm. Indicates when there may be interference or arcs at the
edge/end of the workpiece. The point farthest from the workpiece
surface (line) is the endpoint. The smaller the value, the closer the
end point is to the workpiece surface. The larger the value, the farther
away from the workpiece surface.
When the end of the workpiece is an arc edge or there is interference,
the consistency of detection can be improved by reducing the value
appropriately.
Mainly for N-type, plane endpoints
Plane error:
The unit mm, represents the workpiece or laser line contamination,
how much error range point, belongs to this plane. A point or line
below this threshold is treated as a plane.
- 57 -
7.2.13 Graphical Description of Face Detection
7.2.14 Weld Constraint Parameters
The basic parameters of welding seam are configured according

to the actual plate thickness, the size of the break and the Angle
of the workpiece. Ensure that both can be stable identification,
and have types but different parameters of weld interference.
Basic parameters:
Height/width/Angle:
1. Generally, it is the range value, which defines the maximum
and minimum height/width/Angle of the weld, in mm and °.
Welds within the range can be identified, welds outside the range
are not identified.
2. The height, width, and Angle of different connector types are
defined differently. For details, see the corresponding parameter
description.
3. The Angle value is affected by the shooting Angle, and the
detection will generally be slightly larger than the actual value,
not less than the actual value.
4. The value ranges from 0.8 to 1.4 times the actual value.
- 58 -
7.2.15 Surface Constraint Parameters
The surface condition constraint is to constrain the surface parameters measured by the laser line to obtain the
workpiece surface we expect and then identify the weld.
There will be 1~4 surfaces in the weld, which can be constrained by the opposite slope and minimum length
respectively.
The slope：
▪ Range value, in degrees。
▪ Angle relationship between the workpiece surface and the
sensor's optical plane YZ world coordinates. It is affected
by the relative Angle between the workpiece and the
sensor.
▪ The slope configuration takes into account the varying
angular surface Settings between the workpiece and the
sensor. It is not recommended to be too large, Generally in
standard ±20 degrees.
▪ Too large slope range may cause algorithm error checking;
However, too small a slope range will cause the weld to
fail to detect output after the workpiece or sensor attitude
changes.
▪ With slope configuration, similar but different direction
welds can be eliminated.
Minimum length
▪ Minimum, in mm
▪ The minimum length of the workpiece surface that can be

effectively measured by the laser line, not the actual length of
the workpiece. The workpiece surface less than this length will
be discarded, and the workpiece surface greater than this length
will be included in the calculation.
▪ This length is affected by many factors, such as sensor
measurement position, observation range, surface error, and line
breaking threshold.
▪ The smaller the minimum length, the higher the weld detection
rate, but the higher the false detection rate, and may shake; The
greater the minimum length, the better the stability of the weld,
but the detection rate may decrease.
▪ Usually at 1/3~1/2 of the real measured value.
- 59 -
The slope refers to the measured slope in the "world coordinates" of the sensor.
Therefore, affected by the shooting Angle of the sensor on the workpiece, the slope range is different under
different shooting angles.
The slope is defined as shown in the figure above and ranges from 0 to 180 degrees
7.2.16 Graphical Parameter Configuration
In order to simplify the difficulty of weld configuration for users, the mouse is used to select the starting point and
end point of the detection surface to be identified on the image, and the software can automatically calculate the weld
structure and surface constraint parameters.
Click the face end options (P1 to P3) at the bottom of the
drawing. There is no requirement on the order.
Pn, the NTH plane, n=1 to 4
PnA, which is the starting point of n faces.
PnB, denoting the end points of n faces.
Click on the corresponding position in the image.

Note: The selected point must be in the laser line, as close to the
end position as possible.
- 60 -
When all endpoints are selected, click the "Calculate

Parameters" button.
After the calculation is complete, the system automatically

jumps back to the detection page.
If the weld is correctly configured, a stable green "X" will appear
in the image, indicating that the weld has been identified.
Note:
Graphical parameters can only be calculated, parameters related to structural information, and other parameters can
not be calculated automatically
The parameters automatically generated are to detect the weld as far as possible, and the parameters are relatively
broad. False detections or false detections may occur, requiring further adjustment of parameters according to actual
workpiece changes。
Automatically generate Parameters that cannot be automatically computed
Face constrained parameter Surface detection parameter
Weld constraint parameters (height, width, Angle, Trace parameters
etc.) Benchmark parameters
Filter parameters
The offset parameters
7.2.17 Post-processing configuration
Post-processing is the welding seam identification, the identification results are processed and output to the robot.
It includes filtering, feature point reference, feature point offset and starting point filtering, which will be explained
in the following chapters.
- 61 -
7.2.18 Filter Processing
Filter:
▪ Provides noise reduction and smoothing for the output
solder joints to reduce actuator jitter. The unit is
millisecond (ms). It averages the points within the specified
time.
▪ The larger the value, the better the smoothing effect, but
the slower the response. The value ranges from 75 to 150ms
▪ Linear weld filter can be extended, curve or arc when
reducing filter time for improved response.
▪ The filtering time is too long, and the tracking process
will also cause the robot to shake.
Schematic diagram of filtering effect:
Green line: actual detection value
Red line: 300ms filtering result
Blue: 100ms filtering result
- 62 -
7.2.19 Feature Point Datum
Enabled: Specifies whether to enable the baseline

function.
Base position: The center coordinate of the base rectangle
range.
Allowable deviation: the allowable YZ± range centered
on the base position.
Take (base point +Y+Z, base point -Y-Z construct) a
rectangular range.
Weld the benchmark
▪ When turned on, establishes a base position with the
current detected BP coordinates and allows configuration
to deviate from the YZ range.
▪ Weld coordinate output within the allowable range; No
output of out-of-range coordinates is allowed.
▪ The benchmark is mainly to ensure that it is not wrong
to detect, can avoid large errors in the workpiece, similar
weld interference or to a specific location to be identified.
When the baseline is turned on, the world point cloud will
display a red rectangular area.
The weld feature points in this area are allowed to output,
while the weld feature points outside the area are not.
Note: Since the feature point tracking function is turned
on by default, the benchmark display area may be
occluded by the green tracking area.
The left picture is the display effect after the feature point
tracking is turned off.
Real-time status display
Reference point: Current reference point coordinates
- 63 -
7.2.20 Feature Point Offset
Enabled: Indicates whether to enable feature point offset.

Amount of deviation: Coordinate of output characteristic
point = reference point +Y+Z.
Note that Y/Z has positive and negative directions.
Feature point migration

Weld offset is to output the weld detection result YZ to the
robot or special plane after compensation.
Reasonable use of weld offset can solve the problems of
robot error, detection point and welding process mismatch.
If the robot (such as Fanuc, Yaskawa, etc.) has the
offset function, it is recommended to use the offset
function of the robot.
When the benchmark is turned on, the world point cloud will
have a pink "X" symbol, indicating the offset output
coordinate position.
Real-time status display

Offset: Indicates the offset value of the current task
configuration.
After offset: Add the offset output detection result data.
The robot receives the offset result
- 64 -
7.2.21 Feature Point Tracking
Feature point tracking

Is to track the identification results, stabilize the weld and filter out abnormal results.
Track the strength
Use the historical detection results of the past n seconds
as the tracking benchmark, strong/medium/weak
corresponds to n=5/2/1 seconds, respectively.
The weld changes quickly, and the tracking strength
should be set weaker; The smaller the weld changes, the
stronger the tracking strength should be.
Tracking area
The diameter range of allowable deviation points around
the tracking reference point.
The smaller the tracking area, the smaller the range of
allowable deviation points. The opposite is greater. Small
and large 20mm/10mm/5mm respectively.
The tracking time
During the TRACKING time, when the weld seam is
detected outside the tracking area, the duration of no
output. Many abnormal welds can be avoided by adjusting
long time.
If the value ranges from 50 to 5000ms, 500ms is
recommended
When feature point tracking is turned on, the world point
cloud will show a green circular area. The green area is
the tracking area, in which welds are exported.
Tracking strength: Tracking area: Duration:

Strong: 5 seconds Strong: 5 mm Configurable 50 ~ 5000 ms
Medium: in 2 seconds Medium: 10 mm
Weak: 1 SEC Weak: 20 mm
Tracking center, lag current point Tracking area range
- 65 -
7.2.22 Start Output
After the effective weld is detected, output shall be made after the configuration delay time is reached. Points
within the delay are discarded as invalid points.
The delayed output mainly solves the problem that the starting point is disturbed or partially unstable when
searching the starting point by moving. The consistency and reliability of the starting point are guaranteed by
certain delay output.
Note: Delayed output does not mean that the detection results are output after delay, but the identification results
are discarded within a set time.
Enable and set the time for starting point filtering.
Yellow area Blue is the weld that was incorrectly T2-T1= delayed output time
For the weld and scanning scanned at the beginning of the scan
direction to be identified This section of output to the robot
can be avoided by delaying the
output
- 66 -
8 Detailed Explanation of Joint Form

8.1 Internal Fillet Joint
Joint name: Internal fillet joint
Definition: Two base materials L1 and L4 intersect with the opening direction facing the sensor direction. The
opening towards the sensor is seen on the image.
CAD schematic：
Description of weld characteristics：
Intersection of two parent materials Left end female material Right end female material The intersection point on
end point end point the extension line of two
parent materials P2A
Internal fillet welding intersection: the intersection of the two base material L1/L4 extension line P2A
Inner corner welding left edge: left parent L1 endpoint P1B (not recommended)
Inner corner welding right edge: the right parent L4 endpoint P4A (not recommended)
Width: Range value, "W" on the graph, both L1/L4 two endpoints (P1B to P4A) distance,
detection width within the set range of the weld output; outside the set range, detected
but not output.
The width value can be configured to not output when there is a gap or weld joint.
The default width range is "0~0mm" which means no constraint.
Angle: Range value, "α" on the figure. angle between two faces of L1 and L4, recommended range
70~135 degrees. The intersection point may not be very accurate at large angles.
Line length setting: The minimum length of the L1/L4 laser line. It is recognized only when it is greater
than the minimum length. The minimum line length is greater than 1/3 of the actual length, too small to
improve the detection rate, but may cause jitter.
Caution.
1, the base material end point P1B (P4A) detection by the laser line and weld joints, reliability is not
recommended.
2、 Angle welding angle α greater than 130 degrees or more, the intersection may have a large error, the need
for compensation calculations.
Tips for fillet weld configuration.
▪ Protocol parameter recommendations.
▪ Surface error.
- 67 -
▪ End point accuracy.

▪ Tips for weld joint filtering.
▪ 1. The fillet weld is not sensitive to the weld joint. As long as the weld joint is larger than the line length,
the fillet weld can be output.
▪ 2. Set the minimum length of L1 and L4 to half of the line length. The angle range is reduced and can be
stable over the solder joint.
▪ 3. When the solder joint size reaches to half the length of L1/L4, the over will may fail.
Other considerations.
1, Obtuse angle greater than 110 degrees angle weld, the intersection point calculation deviation, the need to
increase the offset to solve.
2. Slightly rounded fillet welds can expand the surface error to improve stability.
Laser line physical picture： Physical picture：Actual workpiece diagram.
8.2 External Fillet Joint

Joint name: External fillet joint
Definition: Two base materials L1 and L4 intersect with the opening direction reversing the sensor direction.
The sensor downward opening is seen in the image.
CAD schematic：
Intersection of two parent materials Left end of parent

Right end female The intersection point
P1B (P4A) material end point
material end point P2A on the extension
P1B
P4A line of the two parent
materials
Outer fillet welding intersection: the intersection of the two base material L1/L4 extension line P2A
Outer corner welding left edge: left parent L1 endpoint P1B (not recommended)
Outer corner welding right edge: the right parent L4 endpoint P4A (not recommended)
Width: Range value, "W" on the graph, both L1/L4 two endpoints (P1B to P4A) distance, detection width
within the set range of the weld output; outside the set range, detected but not output.
- 68 -
The width value can be configured to not output when there is a gap or weld joint. The default width range is
"0~0mm" which means no constraint.
Angle: Range value, "α" on the figure. angle between two faces of L1 and L4, recommended range 70~135
degrees. The intersection point may not be very accurate at large angles.
Line length setting: The minimum length of the L1/L4 laser line. It is recognized only when it is greater
than the minimum length. The minimum line length is greater than 1/3 of the actual length, too small to
improve the detection rate, but may cause jitter.
Caution.
1、 The parent material end point P1B (P4A) detection by the laser line and weld joints, reliability is not
recommended.
2、 Angle welding angle α is greater than 130 degrees or more, the intersection may have a large error, the need
for compensation calculations.
Tips for fillet weld configuration.
▪ Protocol parameter recommendations.
▪ Surface error.
▪ End point accuracy.
Tips for weld joint filtering.
▪ 1. The fillet weld is not sensitive to the weld joint. As long as the weld joint size is larger than the wire
length, the fillet weld can be output.
▪ 2. Set the minimum length of L1 and L4 to half of the wire length. The angle range is reduced and can be
stable over the solder joint.
▪ 3. When the solder joint size reaches to half the length of L1/L4, the over will may fail.
Laser line physical drawing： Physical picture：Actual workpiece diagram.
8.3 Left Lap Joint

Joint name:Left lap joint
Definition: A piece of base material L4 is placed on the base plate L1, the base material L4 has a certain length H.
And the higher base material L4 is on the left side of the image in the laser image.
CAD schematic：
- 69 -
Top edge of the base material The top edge of the base material The top edge of the base material
drops down to the bottom plate drops down to the bottom plate
Left lap top edge: edge P1B of base material L1
Left lap bottom edge: edge P4A of base material L4
Width: Range value, the horizontal distance between the two endpoints (P1B,P4A) of "W", L1/L4 on the
graph, and the value within this distance is output. Maximum value. The default width range is "0~0mm" which
means no constraint.
Height: The height drop distance between the two endpoints (P1B,P4A) of L1/L4, "H" on the graph, and the
value within this distance is output. Height is an important feature of the left and right laps. It must be set.
Angle: "α" on the chart. The angle between the high side and the side, depending on the workpiece
configuration, is generally 90 degrees. This angle affects the output position of the lower key point. The lower
key point is calculated from the upper key point based on the angle α. Therefore, the lower key point is
influenced by the upper key point and the α configuration value.
L2 no longer needs to be configured: when L2 length is greater than 70% of H or more, and the angle is
loaded with α ±10, participation in the calculation will improve the accuracy of the key point.
Caution.
1. When the edge of the base material is rounded (L2 is rounded in the illustration), it affects the recognition accuracy
and reliability.
Tips for weld joint filtering and width (W)：
1、 Overlap welding on the weld joint is relatively sensitive, the weld joint does not affect the L1 end face, the weld
joint will not affect the results.
2、 When the solder joint has been level with L1, or the middle L2 is very close
Other notes.
1、 Width value in the absence of error detection, because the configuration is 0 ~ 0, neither width constraints. Only
in the error detection, the need to configure when configured.
Laser line physical drawing：(left laser line height) Physical picture：Actual workpiece diagram.
- 70 -
8.4 Right Lap Joint

Joint name: Right lap joint
Definition: A piece of base material L4 is placed on the base plate L1, the base material L4 has a certain length H.
And the higher base material L4 is on the right side of the image in the laser image.
CAD schematic：
Top edge of the base material The top edge of the base material The top edge of the base material
drops down to the bottom plate drops down to the bottom plate
Right lap upper plate edge: P4A at the edge of base material L4
Right lap bottom edge: edge P1B of base material L1
Width: Range value, the horizontal distance between the two endpoints (P1B,P4A) of "W", L1/L4 on the
graph, and the value within this distance is output. Maximum value. The default width range is "0~0mm" which
means no constraint.
Height: The height drop distance between the two endpoints (P1B,P4A) of L1/L4, "H" on the graph, and the
value within this distance is output. Height is an important feature of the left and right laps. It must be set.
Angle: "α" on the chart. The angle between the high side and the side, depending on the workpiece
configuration, is generally 90 degrees. This angle affects the output position of the lower key point. The lower
key point is calculated from the upper key point based on the angle α. Therefore, the lower key point is
influenced by the upper key point and the α configuration value.
L2 no longer needs to be configured: when L2 length is greater than 70% of H or more, and the angle is
loaded with α ±10, participation in the calculation will improve the accuracy of the key point.
Caution.
1. When the edge of the base material is rounded (L2 is rounded in the illustration), it affects the recognition accuracy
and reliability.
Tips for weld joint filtering and width (W)：
1、 Overlap welding on the weld joint is relatively sensitive, the weld joint does not affect the L4 end face, the weld
- 71 -
joint will not affect the results.

2、 When the solder joint has been level with L4, or the middle L2 is very close
Other notes.
1、 Width value in the absence of error detection, because the configuration is 0 ~ 0, neither width constraints. Only
in the error detection, the need to configure when configured.
Laser line physical drawing：(right laser line height) Physical picture：Actual workpiece diagram.
8.5 Ordinary Butt Joint

Joint name: Ordinary butt joint
Weld definition: Two flat plates L1 and L4 butt-jointed with a significant gap or drop in between.
CAD schematic：
Description of weld characteristics:
Docking left edge Docking right edge Docking Center

Docking center: P2A in the middle of the two base materials
Docking left plate edge: P1B at the edge of L1 of the base material
Docking right plate edge: P4A at the edge of the base material L4
Width: Range value, "W" on the right figure, the range value of the distance between the two endpoints of
L1/L2 (P1A to P4A), the value within this distance is output.
Width (W) is a common butt-strong feature. The minimum width must not be zero, otherwise it is a large
number of errors output.
Height: The range value, "H" on the right graph, of the height drop distance between the two endpoints of
L1/L2 (P1A to P4A) is output within this distance.
- 72 -
Height is the second characteristic of small docking. It must be set. The minimum height must not be zero,
otherwise it is a mass error output.
Small butt joint height and width any of the conditions are met will be output, while meeting the priority output
width to meet the weld.
Minimum angle: "α" on the graph. the angle of L1/L1, calculated as less than 180 degrees, the default is
160~180.
Solder joint filtering tips：
1, ordinary butt joint is very sensitive to the weld joint, if you need to accurately filter the weld joint need to purchase
a separate special algorithm.
2, the butt gap is less than the minimum resolution, you may need "zero gap" special sensors and algorithms.
Such as FV-150-ZO or FV-210-ZO.
Cautions：If the gap is too small need to use fine docking special sensors and algorithms.
Other notes:The angle is a strong constraint
Laser line physical picture： Physical picture：
8.6 Small Butt Joint

Joint name: Ordinary butt joint
Weld definition: Two flat plates L1 and L4 butt-jointed with a si8gnificant gap or drop in between.
Small docking height and width can meet one
CAD schematic：
- 73 -
Docking left edge Docking left edge Docking left edge

Small butt joint height and width any of the conditions are met will be output, while meeting the priority
output
160~180.
1, ordinary butt joint is very sensitive to the weld joint, if you need to accurately filter the weld joint need to
purchase a separate special algorithm.
8.7 Fine Butt Joint

Joint name: Fine butt joint
Weld definition: Two flat plates L1 and L4 butt-jointed with a si8gnificant gap or drop in between.
Fine butt height and width can satisfy one
- 74 -
CAD schematic：
Docking left edge Docking left edge Docking left edge

Small butt joint height and width any of the conditions are met will be output, while meeting the priority
output
160~180.
1, ordinary butt joint is very sensitive to the weld joint, if you need to accurately filter the weld joint need to
purchase a separate special algorithm.
- 75 -
8.8 Flat Plate Straight Line

Joint name: Flat plate straight line
Weld definition: A flat plate L1 or vertical plate put together with a smaller vertical seam.
CAD schematic：
Weld seam characteristics description：
Flat Center Right edge of the tablet

Left edge of the tablet
The center of the plane: the center of the plate P2A,
The left edge of the plane: the left edge of the plate P1A,
The right edge of the plane: the right edge of the plate P1B
W: Length of the flat plate L1 must meet the condition range value in mm
Caution：
1、 Flat plate L1 needs to have a certain length W.
2、 The vertical board splicing will affect the accuracy if the height is not flat.
Laser line physical drawing： Physical picture：
- 76 -
8.9 M Type
Joint name: M type
Definition: There is a certain thickness of the mother plate L4 placed on the thick base plate L1, the edge
distance W is relatively short, can not be used when the lap weld stable identification.
CAD schematic：
intersection top edge

left edge of tablet
Width: The distance of "W", L4 indentation on the drawing.
Height: "H" on the graph, the thickness of the plate of L4.
Angle: "α1" on the graph. The minimum angle indicates the angle value of the lower plate (L1 and L2). Default
is 90.
The maximum angle indicates the angle value of the upper plate (L4 and L3), the default is 90 degrees.
The center key point is calculated from the L1/L4 upper key point based on the angle α. Therefore, the center
key point is influenced by the edge key point and the α configuration value.
Tips for solder joint filtering:
1、M-type solder joints are relatively sensitive to solder joints, solder joints do not affect the L1/L3 end face
when the solder joints will not affect the results.
2、the solder joint has been covered with L3/L2 when the solder joint affects the detection accuracy.
Other considerations:
1、M-type L2/L3 is vulnerable to dazzle, especially when the thin plate, the workpiece should be processed when
needed.
2、L4 on the board for the rounded edge, the algorithm detection can not be stable.
Cautions.
1、The motherboard L4 stacked on top has a certain thickness H.
2、stacked on top of the motherboard L4 cutting edge L3 must be vertical edge, not a rounded edge.
- 77 -
8.10 V-groove
Joint name: V-groove
Definition: When two beveled L2 and L3 bevels or two K-bevel parent materials are paired together and the
opening takes on a V shape.
CAD schematic diagram：
Bevel Center Left edge of the bevel Right edge of the bevel
Bottom of the bevel
V-slot center: Bevel center P3B
Left edge of V-groove: left edge of bevel P2B
Right edge of V-slot: right edge of bevel P3A
V-slot lower intersection: bottom of bevel P2A (not open)
W: distance range value between endpoint P1B and endpoint P4A Default 0~0 Unconstrained
α: angle between line L2 and line L3
Caution:
1、 Bevel bottom identification is not stable, and the output is not open by default.
2、 Use the center of the bevel for offset.
Laser line physical drawing： Physical picture:
- 78 -
8.11 Flat Circular Tube

Joint name: flat circular tube
Definition: round tube on flat plate L1, flat line on the left side of the image, round tube on the right side of the
image
CAD schematic：
焊缝特征说明：
Outermost side of the round tube Outermost part of the circular tube to The outermost point of the
the center of the flat plumb line circular tube to the intersection
of the flat plumb line
Flat circular tube center plate: the outermost tangent point of the circular tube P3A
Flat circular tube center plate under: the outermost side of the circular tube to the intersection of the flat vertical
line P3B
The center of the flat circular tube: the outermost side of the circular tube to the center of the flat plumb line
P2A
Width: The maximum and minimum diameter of the circular tube allowed on the figure "W. The result of
the circle calculation will be larger than the real value, so the minimum value needs to be close to the real
value, while the maximum value is larger than 1.5 times the real value.
Height: "H" on the graph, the maximum and minimum distance from the center of the circular tube to the
plane.
1. No weld joint filtering function for flat round tubes.
Other notes.
1、Circular tube needs to meet certain roundness.
2、the calculation error of the round tube is large, so the results are bound to have jitter, and need to be used
after multi-frame processing.
Calculation process.
1、The circle is externally tangent to the plane.
2、The characteristic points are the external tangent point of the circle, the external tangent point to the plane
perpendicular point, two are the center point.
Note:
1、 The round tube to ensure a certain degree of roundness
2、 The default BP point for the flat plate that is P3B
- 79 -
8.12 Round Tube Flat Plate

Joint name: round tube flat plate
Definition: round tube on flat plate L1, flat plate on the right side of the image, round tube on the left side of
the image
CAD schematic：
Weld feature description：
Outermost side of the round tube Outermost part of the circular tube to Outermost part of the round tube
the center of the flat plumb line to the flat plumb line
Round tube on the center plate: the outermost tangent point of the circular tube P3A
Round tube plate center plate under: the outermost side of the tube to the plate vertical intersection point P3B
The center of the circular tube plate: the outermost side of the circular tube to the center of the plate plumb line
P2A
Width: The maximum and minimum diameter of the circular tube allowed on the figure "W. The result of
the circle calculation will be larger than the real value, so the minimum value needs to be close to the real
value, while the maximum value is larger than 1.5 times the real value.
Height: "H" on the graph, the maximum and minimum distance from the center of the circular tube to the
plane.
1、No weld joint filtering function for flat round tubes.
Other notes.
1、Circular tube needs to meet certain roundness.
- 80 -
2、The calculation error of the round tube is large, so the results are bound to have jitter, and need to be used
1、The circle is externally tangent to the plane.
2、The characteristic points are the external tangent point of the circle, the external tangent point to the plane
perpendicular point, two are the center point.
Note:
1、The round tube to ensure a certain degree of roundness
2、The default BP point for the flat plate that is P3B
Laser line physical diagram: Physical picture：
8.13 Two Round Splices

Joint Name: Two round splices
Definition: When two round tubes or bars are spliced together
CAD schematic：
The midpoint of the line connecting the tangent points of two adjacent circular planes
Width: The maximum and minimum diameter of the circular tube allowed on the figure "W. Round calculation
results will be greater than the true value, so the minimum close to the true value is required, while the maximum
value is greater than 1.5 times the true value.
1. No weld joint filtering function for multi-circular tubes.
Note: The gap between two adjacent circles should not be too large
- 81 -
Physical picture：Actual workpiece diagram.
Laser line physical map:
8.14 Three Round Splices

Joint Name: Three round splices
Definition: When the three circular tubes or steel bars are spliced together
CAD schematic：
Midpoint of the line connecting the tangents of two Midpoint of the line connecting the tangents of two
adjacent circles Left point adjacent circles Right point
Width: "W" on the graph, the maximum and minimum diameter of the allowed round tube. The result of the
round calculation will be greater than the true value, so the minimum close to the true value is required, while the
maximum value is greater than 1.5 times the true value.
Tips for filtering welded joints.
1、multi-circle tube without weld joint filtering function.
Other notes.
1、The round tube needs to meet certain roundness.
2、The calculation error of the round tube is large, so the results are bound to have jitter, need to be used
3、If you set three round tubes/rebar detection, you must find three round tubes/rebar with the same diameter
before output, more or less will not be output.
1、Center point between round tubes
2、Support 2~6 round tubes/rebar center point calculation
Caution: The gap between two adjacent circles cannot be too large
- 82 -
8.15 Four Round Splices

Joint Name: Four round splices
Definition: When four round tubes or bars are spliced together
CAD schematic：
Weld feature description:
Midpoint of the line connecting the The midpoint of the line connecting Midpoint of the line connecting the
tangents of two adjacent circles the tangents of two adjacent tangents of two adjacent circles
Left point circles The middle point Right point
round calculation will be greater than the true value, so the minimum close to the true value is required, while
the maximum value is greater than 1.5 times the true value.
1、 multi-circle tube without weld joint filtering function.
Other notes.
3、If you set four round tubes/rebar detection, you must find four round tubes/rebar that meet the diameter
Laser line physical diagram： Physical picture：Actual workpiece diagram.
- 83 -
8.16 Five Round Splices

Joint name: Five round splices
Definition: When five round tubes or bars are spliced together
CAD schematic：
Midpoint of the line connecting the tangents of two The midpoint of the line connecting the tangent
adjacent circles Leftmost point points of two adjacent circles Off-left point
The midpoint of the line connecting the tangents of two Midpoint of the line connecting the tangents of two
adjacent circles The point to the right adjacent circles Rightmost point
Tips for filtering welded joints：
1、multi-circle tube without weld joint filtering function.
Other notes：
3、If you set five round tubes/rebar detection, you must find five round tubes/rebar that meet the diameter
Calculation process：
- 84 -

Physical picture：Actual workpiece diagram.
Laser line physical diagram：
8.17 Six Round Splices

Joint name: Six round splices
Definition: When six round tubes or steel bars are spliced together
CAD schematic：
The midpoint of the line connecting

Midpoint of the line connecting the The midpoint of the line connecting
the tangents of two adjacent circles
tangents of two adjacent circles the tangent points of two adjacent
The middle point
Leftmost point circles Off-left point
The midpoint of the line connecting the tangents of Midpoint of the line connecting the tangents of two
two adjacent circles The point to the right adjacent circles Rightmost point
1、 No weld joint filtering function for multi-circle tubes.
Other considerations.
1、 the round tube needs to meet a certain roundness.
2、 the calculation error of the round tube is large, so the results are bound to have jitter, and need to be used
3、If you set six round tubes/rebar detection, you must find six round tubes/rebar that meet the diameter
- 85 -
Caution: The gap between two adjacent circles should not be too large
- 86 -
9 Authorization Management
9.1 Authorization Atatus Display
Official release status The trial condition Lock machine status
Software to start Status Bar Prompt Software functions Operation of robot

The final No hint Tips Official Edition unlimited unlimited
version
A trial Tips Trial version Hint trial version, unlimited unlimited
version yellow
The remaining time of
the trial is displayed
Lock Tip lock machine Prompt lock machine, You can only import Laser on and off, but no
machine shown in red authorization weld coordinates
9.2 Authorization Time Query
The remaining trial time shown on the title bar The remaining trial time shown on the status bar
9.3 Obtaining Authorization

Contact business personnel to obtain authorization documents,
Authorization files are distributed manually or through an online update server.
The name format of the authorization file is license-12345678.crt. 12345678 is the unique serial number of the 8-bit
sensor.
Note:
1. The authorization file takes effect only after it is imported to the sensor.
2. Do not modify the content or name of the license file.
3. Authorization files with different serial numbers cannot be used together.
4. Wrong authorization file will cause the machine to be locked or the trial period to end.
5. It can only be tried for three times. After locking the machine for three times, it needs to be returned to the factory
to replace the chip for maintenance.
- 87 -
9.4 Manually Update Authorization

The process and precautions for manually updating entitlements are the same as those for upgrading firmware.
Click Upgrade Sensor Firmware on the device

management page to manually update the sensor
firmware
Find the certificate of the local file and open it.

Restart the system to check whether the authorization
takes effect.
- 88 -
9.5 Automatic Renewal of Licenses
In the device management interface, click

"Check online authorization update" when
there is an authorization certificate, it will pop
up to get permanent authorization! Click on the
confirmation
Click on 1, 2, 3, 4 and then click OK to grant

the sensor permanent authorization
- 89 -
10 Debug Function
In order to facilitate the technical support personnel in the field debugging, record data, problem tracking. There are
several levels of data
Local debugging Remote debugging Record the YUV
Record debugging Debugging information is recorded in Recording the original
information on the the built-in space of laser weld image
computer or HMI tracking sensor
Robot support support --
communication
debugging
Inspection support support --
records
Algorithm support support --
debugging
information
Complete support --- --
information of
algorithm
The original -- -- support
image
10.1 Switch User Permissions

1. Click "Operator" on the lower part of the main page,
and the page for switching safety levels will appear.
2. Click Technical Support Engineer. For the required

password, contact the company personnel.
- 90 -
10.2 How to Add and Create a New Weld Type

In the use of the process clock, some different weld types need to be saved and newly created to achieve the
recognition function of different welds under different circumstances. The specific process is as follows
In the main screen, find the "Task
Management" option, click "▼", find the
"task number" option and click "▼"
A total of 256 task numbers are available for

selection in the software, among which the
first 15 items with images are commonly
used weld types that have been saved by
default. The task number with the black
square behind represents the "blank task
number".
Move the mouse pointer to the task number

you want to change and click
Click and find the "Load" option. Click and

switch the weld configuration parameters of
this task number.
- 91 -
If you want to save the parameter

configuration of the previous weld type,
select a new task number and click "Save".
(Note: Click "Save" first)
If you want to directly create a new weld

type, select a blank task number. After
clicking the "Load" option, it will prompt
that "this operation will overwrite the
unsaved parameter Settings of the previous
task number".
After confirming the parameters of the

previous task number are saved, click "Yes"
Otherwise, the previous task parameter

Settings will be overwritten.
After loading, click "Unlock" option, and
various parameter setting functions below
will be opened. Click "Weld configuration"
option to select the required weld type. Once
selected, click the "Save" option to complete
the creation.
- 92 -
10.3 Local Debugging

Debugging Data File Name Default Save Path Use
Robot communication robot_********.csv D:\Full-V\fv-lwt\debug\data Record the
debugging communication between
sensor and robot.
Recognition result DSP_********.csv D:\Full-V\fv-lwt\debug\data The recognition result of
debugging the algorithm is recorded.
Algorithm debugging pt-********.bin.zst D:\Full-V\fv- Record the whole
information lwt\debug\pointclouds algorithm process.
10.4 Screen Record

The current version supports quick opening of the screen recording software on the home screen. In this operation,
the operation permission of the software must be changed to "Technical Support Personnel".
. The specific operation process is as follows
In the top right corner of the home
screen, locate the "Screen Record"
option and tap. The screen
recording software installed in the
computer will automatically pop up
(currently only "EV screen
recording" shortcut), you can also
manually open other software other
than EV screen recording
If there is no EV screen recording
software, this function cannot be
used and has no effect after
clicking. It is recommended to
download from the official website
EV screen recording software
download
Address:https://www.ieway.cn/
- 93 -
10.5 Remote Control

Change the software operation permission to Technical Support Personnel.
1. Click Remote Assistance in the upper
right corner of the home page. The
installed remote control software is
displayed. Currently, it supports
Sunflower remote control software and
ToDesk.
2. Click the "Small Eyes" option below the
verification code on the local device to
display the verification code.
3. Send the current page shot to the

technical personnel for remote assistance.
- 94 -
10.6 Installation of Air Cooling System

Connect Schematic Diagram Instructions
The sensor needs to be cooled by compressed air from
a 6mm outer diameter trachea.
10.6.1 The Role of the Air Cooling System
(1) The power consumption of the sensor is only 3~5 watts, and its own heat is low. The main heat source is the heat
radiation of molten pool in the welding process. In the application of multi-layer and multi-pass welding, air cooling
system must be installed
(2) The air cooling system can greatly extend the service life of the protective sheet.
(3) The air cooling system exhauts from the side, which has little influence on the welding protection gas
(4) Solenoid valve is controlled by robot controller or special plane controller. Turn on sensor before working.
Level Effect Test Model

Primary filtration Primary oil and water removal, GC300-10-F1
filtration accuracy 5um GC400-10-F1
Precision filtering Precision adsorption of oil and CTA three-stage adsorption filtration
water, filtration accuracy 0.5um CTAA four-stage adsorption filtration
- 95 -
10.6.2 Selection of Triples
The Serial Number Whether Available Reason

1 × Insufficient filtering accuracy
4 √ Primary oil and water removal,
filtration accuracy 5um
Selection of triplet type
Level Role Test Model

Primary filter Primary oil and water removal, GC300-10-F1
filtration accuracy 5um GC400-10-F1
Precision filter Precision adsorption of oil and water, CTAT hree stage adsorption filtration
filtration accuracy 0.5um CTAA Four-stage adsorption filtration
- 96 -
10.7 Switch Connection

The Serial
Define Use
Number
All interfaces
Five full
are the same,
Gigabit
1
network
Any
ports
connection.
The Serial
Define Use
Number
Connect to
1 Sensor
sensor
network port
Connect to the
Controller robot
2
network port controller or
special plane
Connect to a
3 Computer so
computer
The Serial
Define Use
Number
Both ends are
24V+, and the
middle is
24V-. In use,
only one 24V
Dual power
1 power supply
supply input
can be
connected, and
the sensor can
be connected
together.
Use Keep
Function of
2 OFF, do not
the switch
dial to ON!
Connect to
Shielded
protection
3 ground
ground (must
terminal
be grounded)
- 97 -
The Serial
Define Use
Number
1 DC24V+ Is 24 v
2 DV24V- Negative 24 v
A protected
Protected
3 area shared
area
with a system
10.8 Sensor Installation Instructions and Precautions
10.8.1 Installation Instructions
The mounting height of the sensor is 160mm -- 180mm at the welding gun tip, and the laser line is parallel to the
welding gun tip 30-40MM horizontally.
On the welding gun, perpendicular to the weld. If real-time tracking is required, it must be installed in front of the
welding direction.
10.8.2 Installation Notes
1. Sensor in the use of the process as far as possible to avoid vibration and knock!!
2. When the sensor is used, it must have a protection piece to work normally!!
3. The sensor normal power supply voltage must be controlled in (12V-24V) current is greater than 1A!!
4. The sensor must be well grounded before normal use!!
5. The sensor must be insulated to prevent leakage when arc welding to burn out the sensor, the factory supporting
fixture has done the insulation isolation module, if the fixture designed and manufactured by the customer must do
insulation processing!
6. The sensor must be insulated with the workpiece and welding gun, and must be grounded with a resistance smaller
than 4 ohms.
10.9 Sensor Lens Protector

1. The protection plate needs to be replaced regularly, otherwise it will cause unrecognized instability.
2. If not inserted, the lens will be damaged and must be returned to the factory for maintenance.
- 98 -
10.9.1 Replacing the Protective Sheet
1. Conditions for replacing the protection plate

(1) Prepare a clean dust-free cloth or paper towel
(2) Have a bottle of absolute alcohol ready
(3) Prepare the protective glass to be replaced
2. Operation diagram for replacing the protection plate
Schematic diagram Steps
Remove the protective plate for the sensor to be
replaced
Wipe the new protective sheet clean
Install the clean protective sheet
10.10 Installation of Pneumatic Protective Cover

FV-160, FV240, FV400 can be optional pneumatic protective cover, in the laser sensor non-working hours, protective
cover closed. Not only prolong the service life of protective glass, and improve the reliability of detection.
The pneumatic cover needs to be driven with 0.6Mbp compressed air and controlled by a double-acting solenoid
valve.
11 Frequently Asked Questions

11.1 The Client cannot Find the Device
1. Check whether the power cable of the sensor is properly connected and can be powered on successfully. Check
whether the 24V or 0V sensor is correctly inserted.
2. When connecting to the switch, check whether the switch is powered on and whether the computer and sensor
network cables are plugged into the switch.
- 99 -
11.2 Client Black Screen

During the use of the client, a black screen may appear after the client is opened.
This situation only occurs when the computer graphics software is not opened or the computer graphics hardware is
not up to the minimum configuration of the client
The solution:1. Locate the location of the video card driver and enable the video card
2. Replace the graphics card configuration of the adapter
11.3 The Client Finds the Device but cannot Connect
1. The computer and sensor have different network

segments or identical IP addresses, resulting in IP
conflicts.
2. The firmware version is not in the same period

as the client version. As a result, the client is
incompatible.
3. The authorization expires. As a result, the device

is locked and can be searched but cannot be
connected.
4. The computer and sensor can successfully ping

the robot, but if the connection is not successful,
power off and restart the robot, sensor and close
the software to restart.
- 100 -
11.4 The Robot cannot Communicate with the Sensor

1. Check whether the IP address segment of the robot is the same as that of the sensor, and the four digits of the IP
address are different.
Correct Case:
The robot IP address is 192.168.2.152
Sensor IP address: 192.168.2.153
The computer IP address is 192.168.2.154
2. Whether the network cables of the robot and sensor are plugged into the same switch or control cabinet.
11.5 Weld Recognition is not Stable

1. The actual length of the laser line does not represent the actual working length. Try to make the weld in the center
of the laser.
(It is better to use a computer to monitor the problem in real time.)
2. See whether the material of the workpiece changes and whether the task number and parameters need to be
reconfigured.
3. Observe whether there are other interfering factors around the weld. (such as solder joints, shielding, etc.)
4. Check whether the width, height, and Angle of the client are properly set
The international value.
11.6 When the Offset or Deviation is Relatively Large

1. Observe the surrounding interference factors, whether there is any shelter during the movement, and whether there
is any wrong weld.
2. Whether the workpiece has a big change.
3. Whether the TCP accuracy of the robot meets the specified requirements and whether the laser calibration is
accurate.
4. The use of four-point translation when the benchmark is accurate, is not the benchmark when there is already a
deviation.
5. Check whether the welding torch is loose. As a result, the TCP or coordinate system is incorrect.
- 101 -
12 Support and Contact Information
Technical Support Business Support Service Complaint Online Training

Manager Hao Manager Han Manager Ren
+86 18964141098 +86 18626298056 +86 18626298029
Address: Building 1, Phase 5, Creative Industrial Park, No. 328 Xinghu Street, Suzhou Industrial Park, Jiangsu
Province
- 102 -

001 Full-V Weld Configuration Software - 1R2 - 221031

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Date Author Version Description

3 HOW THE SENSOR WORKS ···································································- 13 -

4 USING THE OPERATION FLOW·······························································- 16 -

5 SENSOR HARDWARE INSTALLATION ······················································- 17 -

6 THE USE OF THE CLIENT ······································································- 18 -

6.8 Online Upgrade of Client ·························································································- 28 -

7 WELD DEFINITION AND CONFIGURATION ···············································- 47 -

7.2.10 Weld Parameter Configuration Interface ·····································································- 56 -

8 DETAILED EXPLANATION OF JOINT FORM ··············································- 67 -

9 AUTHORIZATION MANAGEMENT ····························································- 87 -

9.4 Manually Update Authorization ··················································································- 88 -

10 DEBUG FUNCTION ·············································································- 90 -

11 FREQUENTLY ASKED QUESTIONS ·······················································- 99 -

12 SUPPORT AND CONTACT INFORMATION ·············································- 102 -

1.2 System Configuration

Category Effect Model

2.1 Applicable Hardware

2.2 Applicable Software Version

Sensor Firmware Automatic Updates Requirements

2.2.2 Client Software Requirements

Sensor Firmware Automatic Updates Requirements

The fourth generation sensor is equipped with

The third generation sensor is compatible with

Third generation sensor, when using 22.X client

2.3 Software Operating Environment

2.3.1 Operating System Requirements

Operating system tested and supported: Windows 8.1/10/11 64-bit version。

2.3.2 Hardware Requirements

Project Minimum Requirements Recommended Requirements

2.3.3 View the Operating System Version

Take Windows 10, for example

Click Start windows in the left corner of the taskbar. On the

In the windows Settings window that pops up, click System.

In System Settings, find the System Type in About and

2.4 Obtain Customer Software and Sensor Firmware

3 How the Sensor Works

3.2 Workflow of the Sensor

3.3 Identify the Relationship between Feature Points or Welding

Detect feature points

The arc starting point required by the process

4 Using the Operation Flow

Modify the sensor IP

Select task Configure Weld Configure Weld Save task

5 Sensor Hardware Installation

6 The Use of the Client

Open the installation package and click Next to install

Read the license terms and click I Accept to proceed

Click Next for the next step of installing the software

Select the installation directory and click Next to

Finally, confirm the installation

Complete installation of weld software

Desktop icon, click to run

6.2 The Concept and Relationship of IP Address

6.3 Configure the Computer IP Address

6.3.1 Configure the Windows 10 System Computer IP

Click windows Start in the left corner of

Click on Network and Internet

Click on the Status on the left and change

With the adapter options open, right-click

After turning on Ethernet properties, left-

After enabling the properties of Internet

6.3.2 Configure the Windows11 System Computer IP