FanucBotGui

FanucBotGui

GUI for move and controll laser-bot

Technologies:

1. C++ language
2. Qt + opencascade
3. qmake build system

Build:

1. Add CSF_OCCTIncludePath - path to opencascade include files; example: /usr/include/opencascade
2. Add CSF_OCCTLibPath - path to opencascade lib files; example: /usr/lib
3. Add EIGEN_INCLUDE_DIRS - path to eigen3 includes (libeigen3-dev.deb in Debian) example: /usr/include/eigen3

Using:
General interface requirements

1. The interface should have three modes:
   • editing a task;
   • processing of the part (laser on the robot);
   • processing of the part (the laser is stationary);
2. By default, the task editing mode is launched.
3. Upon completion of processing or when it is forced to stop, the interface switches to editing mode.
4. To control the processing process, the interface should have buttons:
• transition to processing modes (“Start 1”, “Start 2”);
• pausing the processing process (“Pause”);
• stopping the processing mode and returning to the editing mode (“Stop”).

In the JOB EDIT mode, the following functions are available in the interface:

1. Displaying a part model (loaded from a file)
2. Disabled display of the equipment model (the file is specified in the settings).
3. Display equipment on/off with a flag in the settings.
4. Setting the relative position of the part and the equipment:
   • from the keyboard, by setting the offset and rotation values.
   • using the mouse.
5. Arrangement of “anchor points”:
1. Each anchor point has the following displayed in a separate window:
   • model coordinates;
   • world coordinates of the robot (XYZ).
2. Recording the robot's current coordinates to the selected anchor point.
3. Resetting the robot's world coordinates at the anchor point.
4. Anchor points with established coordinates must be marked when displayed on the 3D scene.
6. Arrangement of “processing points”:
   1. Each processing point has the following displayed in a separate window:
      • model coordinates;
      • beam direction in the form of three angles;
      • file name for the laser control program (MaxiGraf);
      • delay at point [ms].
   2. When creating a processing point, the direction is determined by the normal to the model surface.
7. Optional installation of one “grip point” with the ability to remove it.

In PROCESSING modes the following functions are available in the interface:

1. Display models of parts and equipment (if enabled).
2. Display the model of the tool (laser head or gripper) according to the actual position.
3. Indication of laser operation.
4. Possibility to adjust the orientation and starting point of the laser beam.
5. Displays a message indicating that the processing process is complete.