top of page
New in version C#SDK-V1.1.3: Web-3.8.2
/**
* @brief Arc tracking welder current feedback AI channel selection
* @param [in] channel channel; 0-extension AI0; 1-extension AI1; 2-extension AI2; 3-extension AI3; 4-control box AI0; 5-control box AI1
* @return error code
*/
int ArcWeldTraceAIChannelCurrent(int channel).
14.52. Arc tracking welder voltage feedback AI channel selection
New in version C#SDK-V1.1.3: Web-3.8.2
/**
* @brief Arc Tracking Welder Voltage Feedback AI Channel Selection
* @param [in] channel channel; 0-extension AI0; 1-extension AI1; 2-extension AI2; 3-extension AI3; 4-control box AI0; 5-control box AI1
* @return error code
*/
int ArcWeldTraceAIChannelVoltage(int channel).
14.53. Arc tracking welder current feedback conversion parameters
New in version C#SDK-V1.1.3: Web-3.8.2
/**
* @brief Arc tracking welder current feedback conversion parameters
* @param [in] AILow AI channel lower limit, default value 0V, range [0-10V].
* @param [in] AIHigh AI channel upper limit, default value 10V, range [0-10V]
* @param [in] currentLow AI channel lower limit corresponds to the welder current value, default value 0V, range [0-200V].
* @param [in] currentHigh AI channel upper limit corresponds to the welder current value, default value 100V, range [0-200V].
* @return Error code
*/
int ArcWeldTraceCurrentPara(float AILow, float AIHigh, float currentLow, float currentHigh);
14.54. Arc Trace Welder Voltage Feedback Conversion Parameters
New in version C#SDK-V1.1.3: Web-3.8.2
/**
* @brief Arc Tracker Welder Voltage Feedback Conversion Parameters
* @param [in] AILow AI channel lower limit, default value 0V, range [0-10V].
* @param [in] AIHigh AI channel upper limit, default value 10V, range [0-10V].
* @param [in] voltageLow AI channel lower limit corresponds to the welder voltage value, default value 0V, range [0-200V].
* @param [in] voltageHigh AI channel upper limit corresponds to the welder voltage value, default value 100V, range [0-200V] * @param [in] voltageHigh AI channel upper limit corresponds to the welder voltage value, default value 100V, range [0-200V
* @return Error code
*/
int ArcWeldTraceVoltagePara(float AILow, float AIHigh, float voltageLow, float voltageHigh);
14.55. Arc Trace Code Example
New in version C#SDK-V1.1.3: Web-3.8.2
private void btnweld_Click(object sender, EventArgs e)
{
DescPose safetydescPose = new DescPose(-504.043, 275.181, 40.908, -28.002, -42.025, -14.044);
JointPos safetyjointPos = new JointPos(-39.078, -76.732, 87.227, -99.47, -94.301, 18.714);
DescPose startdescPose = new DescPose(-473.86, 257.879, -20.849, -37.317, -42.021, 2.543);
JointPos startjointPos = new JointPos(-43.487, -76.526, 95.568, -104.445, -89.356, 3.72);
DescPose enddescPose = new DescPose(-499.844, 141.225, 7.72, -34.856, -40.17, 13.13);
JointPos endjointPos = new JointPos(-31.305, -82.998, 99.401, -104.426, -89.35, 3.696);
ExaxisPos exaxisPos = new ExaxisPos(0, 0, 0, 0);
DescPose offdese = new DescPose(0, 0, 0, 0, 0, 0);
robot.MoveJ(safetyjointPos, safetydescPose, 1, 0, 20, 100, 100, exaxisPos, -1, 0, offdese);
robot.WeldingSetCurrentRelation(0, 495, 1, 10, 0);
robot.WeldingSetVoltageRelation(10, 45, 1, 10, 1);
robot.WeldingSetVoltage(0, 25, 1, 0);// ----设置电压
robot.WeldingSetCurrent(0, 260, 0, 0);// ----设置电流
int rtn = robot.ArcWeldTraceAIChannelCurrent(4);
Console.WriteLine("ArcWeldTraceAIChannelCurrent rtn is " + rtn);
rtn = robot.ArcWeldTraceAIChannelVoltage(5);
Console.WriteLine("ArcWeldTraceAIChannelVoltage rtn is " + rtn);
rtn = robot.ArcWeldTraceCurrentPara((float)0, (float)5, (float)0, (float)500);
Console.WriteLine("ArcWeldTraceCurrentPara rtn is " + rtn);
rtn = robot.ArcWeldTraceVoltagePara((float)1.018, (float)10, (float)0, (float)50);
Console.WriteLine("ArcWeldTraceVoltagePara rtn is " + rtn);
robot.MoveJ(startjointPos, startdescPose, 1, 0, 20, 100, 100, exaxisPos, -1, 0, offdese);
robot.ArcWeldTraceControl(1, 0, 1, 0.08, 5, 5, 300, 1, 0.06, 4, 4, 300, 1, 0, 4, 1, 10, 0, 0);
robot.ARCStart(0, 0, 10000);
robot.WeaveStart(0);
// robot.MoveL(endjointPos, enddescPose, 1, 0, 100, 100, 2, -1, exaxisPos, 0, 0, offdese);
robot.ARCEnd(0, 0, 10000);
robot.WeaveEnd(0);
robot.ArcWeldTraceControl(0, 0, 1, 0.08, 5, 5, 300, 1, 0.06, 4, 4, 300, 1, 0, 4, 1, 10, 0, 0);
robot.MoveJ(safetyjointPos, safetydescPose, 1, 0, 20, 100, 100, exaxisPos, -1, 0, offdese);
}
14.56. Start of wire position finding
/**
* @brief Welding wire seek start.
* @param [in] refPos 1-datum point 0-contact point
* @param [in] searchVel SearchVelocity %.
* @param [in] searchDis Search distance mm
* @param [in] autoBackFlag autoBackFlag, 0 - not auto; - auto
* @param [in] autoBackVel autoBackVelocity % * @param [in] searchDis searchDistance mm
* @param [in] autoBackDis autoBack distance mm
* @param [in] offectFlag 1-with offset seek; 0-teach point seek
* @return error code
*/
int WireSearchStart(int refPos, double searchVel, int searchDis, int autoBackFlag, double autoBackVel, int autoBackDis, int offectFlag);
14.57. End of wire search
/**
* @brief End of wire seek.
* @param [in] refPos 1-datum point 2-contact point
* @param [in] searchVel searchVelocity %
* @param [in] searchDis Search distance mm
* @param [in] autoBackFlag autoBackFlag, 0 - not auto; - auto
* @param [in] autoBackVel autoBackVelocity % * @param [in] searchDis searchDistance mm
* @param [in] autoBackDis autoBack distance mm
* @param [in] offectFlag 1-with offset seek; 2-teach point seek
* @return error code
*/
int WireSearchEnd(int refPos, double searchVel, int searchDis, int autoBackFlag, double autoBackVel, int autoBackDis, int offectFlag);
14.58. Calculate the wire seek offset
/**
* @brief Calculate wire-seeking offsets.
* @param [in] seamType weldType
* @param [in] method Calculate the method.
* @param [in] varNameRef datums 1-6, "#" means no point variable
* @param [in] varNameRes contact points 1-6, "#" means no point variable
* @param [out] offectFlag 0-offset directly superimposed on the command point; 1-offset requires a coordinate transformation of the command point
* @param [out] offect Offset pose [x, y, z, a, b, c]
* @return Error code
*/
int GetWireSearchOffset(int seamType, int method, string[] varNameRef, string[] varNameRes, ref int offsetFlag, ref DescPose offset);;
bottom of page