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New in version C#SDK-v1.0.4.
/**
* @brief Instant setup of swing parameters
* @param [in] weaveNum The configuration number of the weave parameter.
* @param [in] weaveType Oscillation type 0-planar triangular oscillation; 1-vertical L-shaped triangular oscillation; 2-clockwise circular oscillation; 3-counterclockwise circular oscillation; 4-planar sinusoidal oscillation; 5-vertical L-shaped sinusoidal oscillation; 6-vertical triangular oscillation; 7-vertical sinusoidal oscillation
* @param [in] weaveFrequency swing frequency (Hz)
* @param [in] weaveIncStayTime wait mode 0-cycle without wait time; 1-cycle with wait time
* @param [in] weaveRange Weave range (mm)
* @param [in] weaveLeftStayTime weaveLeftStayTime (ms)
* @param [in] weaveRightStayTime weaveRightStayTime(ms)
* @param [in] weaveCircleRadio Circle swing-back ratio (0-100%)
* @param [in] weaveStationary swing position wait, 0 - wait time for position to continue moving; 1 - wait time for position to be stationary
* @return error code
*/
int WeaveOnlineSetPara(int weaveNum, int weaveType, double weaveFrequency, int weaveIncStayTime, double weaveRange, int weaveLeftStayTime, int weaveRightStayTime, int weaveCircleRadio, int weaveStationary).
14.12. Set parameters for detecting unexpected interruptions of the robot’s welding arc
/**
* @brief Setting parameters for detecting unexpected interruptions of a robotic welding arc.
* @param [in] checkEnable whether or not to enable detection; 0-don't enable; 1-enable
* @param [in] arcInterruptTimeLength arcInterruptAcknowledgmentTimeLength(ms)
* @return Error code
*/
int WeldingSetCheckArcInterruptionParam(int checkEnable, int arcInterruptTimeLength)
14.13. Get parameters for detecting accidental interruptions of the robot’s welding arc
/**
* @brief Get parameters for detecting unexpected interruptions of a robotic welding arc.
* @param [out] checkEnable Whether to enable detection; 0-don't enable; 1-enable
* @param [out] arcInterruptTimeLength arcInterruptAcknowledgmentTimeLength(ms)
* @return Error code
*/
int WeldingGetCheckArcInterruptionParam(ref int checkEnable, ref int arcInterruptTimeLength)
14.14. Set the robot welding interruption recovery parameter
/**
* @brief Setting the robot weld interrupt recovery parameters
* @param[in] enable Whether to enable weld interrupt recovery or not.
* @param[in] length The overlap distance of the weld (mm).
* @param[in] velocity the speed of the robot to return to the restart point (0-100)
* @param[in] moveType Robot movement to restart point type; 0-LIN; 1-PTP
* @return Error code
*/
int WeldingSetReWeldAfterBreakOffParam(int enable, double length, double velocity, int moveType)
14.15. Get the robot welding break recovery parameter
/**
* @brief Get robot weld interrupt recovery parameters.
* @param [out] enable Whether to enable weld interrupt recovery.
* @param [out] length The overlap distance of the weld (mm).
* @param [out] velocity the speed of the robot to return to the restart point (0-100)
* @param [out] moveType the way the robot moves to the restart point; 0-LIN; 1-PTP
* @return Error code
*/
int WeldingGetReWeldAfterBreakOffParam(ref int enable, ref double length, ref double velocity, ref int moveType)
14.16. Set welder control mode extension DO port
/**
* @brief Set welder control mode extended DO port.
* @param DONum Welder control mode DO port (0-127)
* @return Error code
*/
int SetWeldMachineCtrlModeExtDoNum(int DONum).
14.17. Set weld machine control mode
/**
* @brief Set welder control mode
* @param mode Welder control mode; 0-unitary; 1-binary
* @return Error code
*/
int SetWeldMachineCtrlMode(int mode).
14.18. Weld start
New in version C#SDK-v1.0.4.
/**
* @brief Welding start
* @param [in] ioType io type 0-controller IO; 1-extended IO
* @param [in] arcNum Welder profile number
* @param [in] timeout Arc start timeout
* @return Error code
*/
int ARCStart(int ioType, int arcNum, int timeout);
14.19. Weld End
New in version C#SDK-v1.0.4.
/**
* @brief End of welding.
* @param [in] ioType io type 0-controller IO; 1-extended IO
* @param [in] arcNum Welder profile number
* @param [in] timeout Arc-off timeout timeout
* @return Error code
*/
int ARCEnd(int ioType, int arcNum, int timeout).
14.20. Oscillation start
New in version C#SDK-v1.0.4.
/**
* @brief The start of the swing.
* @param [in] weaveNum Pendulum weld parameter configuration number
* @return ErrorCode
*/
int WeaveStart(int weaveNum).
14.21. WeaveStart(int weaveNum); int WeaveStart(int weaveNum).
New in version C#SDK-v1.0.4.
/**
* @brief End of swing
* @param [in] weaveNum Pendulum weld parameter configuration number
* @return ErrorCode
*/
int WeaveEnd(int weaveNum).
14.22. Forward Wire Feed
New in version C#SDK-v1.0.4.
/**
* @brief Forward wire feed
* @param [in] ioType io type 0-controller IO; 1-extended IO
* @param [in] wireFeed wire feed control 0-stop wire feed; 1-wire feed
* @return Error code
*/
int SetForwardWireFeed(int ioType, int wireFeed).
14.23. Reverse wire feed
New in version C#SDK-v1.0.4.
/**
* @brief Reverse wire feed
* @param [in] ioType ioType 0-Controller IO; 1-Extended IO
* @param [in] wireFeed wireFeedControl 0-Stop wire feed; 1-Wire feed
* @return Error code
*/
int SetReverseWireFeed(int ioType, int wireFeed).
14.24. Wire Feed
New in version C#SDK-v1.0.4.
/**
* @brief air delivery
* @param [in] ioType io type 0-controller IO; 1-extended IO
* @param [in] airControl airControl 0-stop air delivery; 1-feed air
* @return Error code
*/
int SetAspirated(int ioType, int airControl).
14.25. Setting the robot to resume welding after an interruption
/**
* @brief Set the robot to resume welding after a weld interruption.
* @return Error code
*/
int WeldingStartReWeldAfterBreakOff()
14.26. Sets the robot to exit welding after a weld break
/**
* @brief Set the robot to quit welding after a weld interruption.
* @return Error code
*/
int WeldingAbortWeldAfterBreakOff()
14.27. Code example
private void button7_Click(object sender, EventArgs e)
{
robot.WeldingSetCurrent(1, 230, 0, 0);
robot.WeldingSetVoltage(1, 24, 0, 1);
DescPose p1Desc = new DescPose(228.879, -503.594, 453.984, -175.580, 8.293, 171.267);
JointPos p1Joint = new JointPos(102.700, -85.333, 90.518, -102.365, -83.932, 22.134);
DescPose p2Desc = new DescPose(-333.302, -435.580, 449.866, -174.997, 2.017, 109.815);
JointPos p2Joint = new JointPos(41.862, -85.333, 90.526, -100.587, -90.014, 22.135);
ExaxisPos exaxisPos = new ExaxisPos(0, 0, 0, 0);
DescPose offdese = new DescPose(0, 0, 0, 0, 0, 0);
robot.MoveJ(p1Joint, p1Desc, 13, 0, 20, 100, 100, exaxisPos, -1, 0, offdese);
robot.ARCStart(1, 0, 10000);
robot.WeaveStart(0);
robot.MoveL (p2Joint, p2Desc, 13, 0, 20, 100, 100, -1, 0, exaxisPos, 0, 0, offdese);
robot.ARCEnd(1, 0, 10000);
robot.WeaveEnd(0);
}
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