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public static void WeldTraceControlWithCtrlBoxAI(Robot robot)
{
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 safedescPose = new DescPose(-504.043, 275.181, 40.908, -28.002, -42.025, -14.044);
JointPos safejointPos = new JointPos(-39.078, -76.732, 87.227, -99.47, -94.301, 18.714);
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);
// Move to safe point
robot.MoveJ(safejointPos, safedescPose, 1, 0, 5, 20, 100, exaxisPos, -1, 0, offdese);
WeldCurrentAORelation current = new WeldCurrentAORelation(0, 495, 1, 10, 0);
WeldVoltageAORelation voltage = new WeldVoltageAORelation(10, 45, 1, 10, 1);
robot.WeldingSetCurrentRelation(current); // Current to analog output relation
robot.WeldingSetVoltageRelation(voltage); // Voltage to analog output relation
robot.WeldingSetVoltage(0, 25, 1, 0); // Set voltage
robot.WeldingSetCurrent(0, 260, 0, 0); // Set current
int rtn = robot.ArcWeldTraceAIChannelCurrent(4);
System.out.println("ArcWeldTraceAIChannelCurrent rtn is " + rtn);
rtn = robot.ArcWeldTraceAIChannelVoltage(5);
System.out.println("ArcWeldTraceAIChannelVoltage rtn is " + rtn);
rtn = robot.ArcWeldTraceCurrentPara(0.0, 5, 0, 500);
System.out.println("ArcWeldTraceCurrentPara rtn is " + rtn);
rtn = robot.ArcWeldTraceVoltagePara(1.018, 10, 0, 50);
System.out.println("ArcWeldTraceVoltagePara rtn is " + rtn);
robot.MoveJ(startjointPos, startdescPose, 1, 0, 20, 20, 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, 0, exaxisPos, 0, 0, offdese, 0, 10);
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(safejointPos, safedescPose, 1, 0, 20, 20, 100, exaxisPos, -1, 0, offdese);
}
14.56. Set Wire Search Extension IO Ports
/**
* @brief Sets the wire search extension IO ports
* @param [in] searchDoneDINum Wire search success DO port (0-127)
* @param [in] searchStartDONum Wire search start/stop control DO port (0-127)
* @return Error code
*/
int SetWireSearchExtDIONum(int searchDoneDINum, int searchStartDONum);
14.57. Wire search start
/**
* @brief Wire search start
* @param [in] refPos 1-Reference point; 0-Contact point
* @param [in] searchVel Search speed %
* @param [in] searchDis Search distance mm
* @param [in] autoBackFlag Auto return flag: 0-No auto; 1-Auto
* @param [in] autoBackVel Auto return speed %
* @param [in] autoBackDis Auto return distance mm
* @param [in] offectFlag 1-Search with offset; 0-Teach point search
* @return Error code
*/
int WireSearchStart(int refPos, double searchVel, int searchDis, int autoBackFlag, double autoBackVel, int autoBackDis, int offectFlag);
14.58. Wire search end
/**
* @brief Wire search end
* @param [in] refPos 1-Reference point; 2-Contact point
* @param [in] searchVel Search speed %
* @param [in] searchDis Search distance mm
* @param [in] autoBackFlag Auto return flag: 0-No auto; 1-Auto
* @param [in] autoBackVel Auto return speed %
* @param [in] autoBackDis Auto return distance mm
* @param [in] offectFlag 1-Search with offset; 2-Teach point search
* @return Error code
*/
int WireSearchEnd(int refPos, double searchVel, int searchDis, int autoBackFlag, double autoBackVel, int autoBackDis, int offectFlag);
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