Java 14. Robot Welding

14.1. Set welding process curve parameters

/**
* @brief Set welding process curve parameters
* @param [in] id Welding process ID (1-99)
* @param [in] param Welding process parameters
* @return Error code
*/
int WeldingSetProcessParam(int id, WeldingProcessParam param);

14.2. Get welding process curve parameters

/**
* @brief Get welding process curve parameters
* @param [in] id Welding process ID (1-99)
* @param [out] param Welding process parameters
* @return Error code
*/
int WeldingGetProcessParam(int id, WeldingProcessParam param);

14.3. Set welding current to analog output relation

/**
* @brief Set welding current to analog output relation
* @param [in] relation Relation value
* @return Error code
*/
int WeldingSetCurrentRelation(WeldCurrentAORelation relation);

14.4. Set welding voltage to analog output relation

/**
* @brief Set welding voltage to analog output relation
* @param [in] relation Welding voltage-analog output relation value
* @return Error code
*/
int WeldingSetVoltageRelation(WeldVoltageAORelation relation);

14.5. Get welding current to analog output relation

/**
* @brief Get welding current to analog output relation
* @param [out] relation Relation value
* @return Error code
*/
int WeldingGetCurrentRelation(WeldCurrentAORelation relation);

14.6. Get welding voltage to analog output relation

/**
* @brief Get welding voltage to analog output relation
* @param [out] relation Welding voltage-analog output relation value
* @return Error code
*/
int WeldingGetVoltageRelation(WeldVoltageAORelation relation);

14.7. Set welding current

/**
* @brief Set welding current
* @param [in] ioType Control IO type: 0-Controller IO; 1-Extension IO
* @param [in] current Welding current value (A)
* @param [in] AOIndex Controller analog output port (0-1)
* @param [in] blend Smoothing: 0-No smoothing; 1-Smoothing
* @return Error code
*/
int WeldingSetCurrent(int ioType, double current, int AOIndex, int blend);

14.8. Set welding voltage

/**
* @brief Set welding voltage
* @param [in] ioType Control IO type: 0-Controller IO; 1-Extension IO
* @param [in] voltage Welding voltage value (V)
* @param [in] AOIndex Controller analog output port (0-1)
* @param [in] blend Smoothing: 0-No smoothing; 1-Smoothing
* @return Error code
*/
int WeldingSetVoltage(int ioType, double voltage, int AOIndex, int blend);

14.9. Set weaving parameters

Changed in version Java: SDK-v1.0.5-3.8.2

/**
* @brief Set weaving parameters
* @param [in] weaveNum Weaving parameter configuration ID
* @param [in] weaveType Weaving type:
*   0-Horizontal triangular wave
*   1-Vertical L-shaped triangular wave
*   2-Clockwise circular
*   3-Counter-clockwise circular
*   4-Horizontal sine wave
*   5-Vertical L-shaped sine wave
*   6-Vertical triangular wave
*   7-Vertical sine wave
* @param [in] weaveFrequency Weaving frequency (Hz)
* @param [in] weaveIncStayTime Wait mode:
*   0-Cycle excludes wait time
*   1-Cycle includes wait time
* @param [in] weaveRange Weaving amplitude (mm)
* @param [in] weaveLeftRange Vertical triangular wave left chord length (mm)
* @param [in] weaveRightRange Vertical triangular wave right chord length (mm)
* @param [in] additionalStayTime Vertical triangular wave apex dwell time (ms)
* @param [in] weaveLeftStayTime Left dwell time (ms)
* @param [in] weaveRightStayTime Right dwell time (ms)
* @param [in] weaveCircleRadio Circular weaving callback ratio (0-100%)
* @param [in] weaveStationary Position wait:
*   0-Continue moving during wait
*   1-Stationary during wait
* @param [in] weaveYawAngle Weaving direction azimuth angle (around Z-axis) in °
* @param [in] weaveRotAngle Weaving direction azimuth angle (around X-axis) in °
* @return Error code
*/
int WeaveSetPara(int weaveNum, int weaveType, double weaveFrequency, int weaveIncStayTime, double weaveRange, double weaveLeftRange, double weaveRightRange, int additionalStayTime, int weaveLeftStayTime, int weaveRightStayTime, int weaveCircleRadio, int weaveStationary, double weaveYawAngle, double weaveRotAngle);