The FANUC robotic workstation is introduced for welding some steel components. Due to the large difference in the shape of the components and small batch,adopting teaching tracking method will take up a lot of operator’s time,which will cause the robot to work less efficiently than expectations or decreasing accuracy generated by frequent teaching. Now the stereo vision combining with CAD model data is tried to be used to quickly scan steel components,automatically identify welds,define welding direction and fillet height offline, realize teaching-free and verify the technical feasibility of FANUC robot.