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New in version Java: SDK-v1.0.5-3.8.2
/**
* @brief Set welding voltage gradual change start
* @param [in] IOType Control type:
* 0-Controller IO
* 1-Digital communication protocol (UDP)
* 2-Digital communication protocol (ModbusTCP)
* @param [in] voltageStart Starting welding voltage (V)
* @param [in] voltageEnd Ending welding voltage (V)
* @param [in] AOIndex Controller AO port number (0-1)
* @param [in] blend Smoothing: 0-No smoothing; 1-Smoothing
* @return Error code
*/
int WeldingSetVoltageGradualChangeStart(int IOType, double voltageStart, double voltageEnd, int AOIndex, int blend);
14.64. Set welding voltage gradual change end
New in version Java: SDK-v1.0.5-3.8.2
/**
* @brief Set welding voltage gradual change end
* @return Error code
*/
int WeldingSetVoltageGradualChangeEnd();
14.65. Set welding current gradual change start
New in version Java: SDK-v1.0.5-3.8.2
/**
* @brief Set welding current gradual change start
* @param [in] IOType Control type:
* 0-Controller IO
* 1-Digital communication protocol (UDP)
* 2-Digital communication protocol (ModbusTCP)
* @param [in] currentStart Starting welding current (A)
* @param [in] currentEnd Ending welding current (A)
* @param [in] AOIndex Controller AO port number (0-1)
* @param [in] blend Smoothing: 0-No smoothing; 1-Smoothing
* @return Error code
*/
int WeldingSetCurrentGradualChangeStart(int IOType, double currentStart, double currentEnd, int AOIndex, int blend);
14.66. Set welding current gradual change end
New in version Java: SDK-v1.0.5-3.8.2
/**
* @brief Set welding current gradual change end
* @return Error code
*/
int WeldingSetCurrentGradualChangeEnd();
14.67. Robot welding current/voltage gradual change code example
public static void WeldparamChange(Robot robot)
{
DescPose startdescPose = new DescPose(-484.707, 276.996, -14.013, -37.657, -40.508, -1.548);
JointPos startjointPos = new JointPos(-45.421, -75.673, 93.627, -104.302, -87.938, 6.005);
DescPose enddescPose = new DescPose(-508.767, 137.109, -13.966, -37.639, -40.508, -1.559);
JointPos endjointPos = new JointPos(-32.768, -80.947, 100.254, -106.201, -87.201, 18.648);
DescPose safedescPose = new DescPose(-484.709, 294.436, 13.621, -37.660, -40.508, -1.545);
JointPos safejointPos = new JointPos(-46.604, -75.410, 89.109, -100.003, -88.012, 4.823);
ExaxisPos exaxisPos = new ExaxisPos(0, 0, 0, 0);
DescPose offdese = new DescPose(0, 0, 0, 0, 0, 0);
WeldCurrentAORelation cur = new WeldCurrentAORelation(0, 495, 1, 10, 0);
WeldVoltageAORelation vol = new WeldVoltageAORelation(10, 45, 1, 10, 1);
robot.WeldingSetCurrentRelation(cur);
robot.WeldingSetVoltageRelation(vol);
robot.WeldingSetVoltage(0, 25, 1, 0);
robot.WeldingSetCurrent(0, 260, 0, 0);
robot.MoveJ(safejointPos, safedescPose, 1, 0, 5, 100, 100, exaxisPos, -1, 0, offdese);
robot.WeldingSetCurrentGradualChangeStart(0, 260, 220, 0, 0);
robot.WeldingSetVoltageGradualChangeStart(0, 25, 22, 1, 0);
int rtn = robot.ArcWeldTraceControl(1, 0, 1, 0.08, 5, 5, 300, 1, 0.06, 4, 4, 300, 1, 0, 4, 1, 10, 0, 0);
robot.MoveJ(startjointPos, startdescPose, 1, 0, 5, 100, 100, exaxisPos, -1, 0, offdese);
System.out.println("ArcWeldTraceControl rtn is " + rtn);
robot.ARCStart(0, 0, 10000);
robot.WeaveStart(0);
robot.WeaveChangeStart(2, 1, 24, 36);
robot.MoveL(endjointPos, enddescPose, 1, 0, 100, 100, 2, -1, 0, exaxisPos, 0, 0, offdese, 0, 10);
robot.ARCEnd(0, 0, 10000);
robot.WeaveChangeEnd();
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.WeldingSetCurrentGradualChangeEnd();
robot.WeldingSetVoltageGradualChangeEnd();
}
14.68. Set Custom Weaving Parameters
New in version Java: SDK-v1.0.9-3.8.6
/**
* @brief Set custom weaving parameters
* @param [in] id Custom weaving number: 0-2
* @param [in] pointNum Number of weaving points: 0-10
* @param [in] point Moving endpoint data x,y,z
* @param [in] stayTime Weaving dwell time in ms
* @param [in] frequency Weaving frequency in Hz
* @param [in] incStayType Wait mode: 0-cycle does not include wait time; 1-cycle includes wait time
* @param [in] stationary Weaving position wait: 0-continue motion during wait time; 1-position static during wait time
* @return Error code
*/
public int CustomWeaveSetPara(int id, int pointNum, DescTran[] point, double[] stayTime, double frequency, int incStayType, int stationary)
14.69. Get Custom Weaving Parameters
New in version Java: SDK-v1.0.9-3.8.6
/**
* @brief Get custom weaving parameters
* @param [in] id Custom weaving number: 0-2
* @param [out] pointNum Number of weaving points: 0-10
* @param [out] point Moving endpoint data x,y,z
* @param [out] stayTime Weaving dwell time in ms
* @param [out] frequency Weaving frequency in Hz
* @param [out] incStayType Wait mode: 0-cycle does not include wait time; 1-cycle includes wait time
* @param [out] stationary Weaving position wait: 0-continue motion during wait time; 1-position static during wait time
* @return Error code
*/
public int CustomWeaveGetPara(int id, int[] pointNum, DescTran[] point, double[] stayTime, double[] frequency, int[] incStayType, int[] stationary)
14.70. Custom Weaving Parameters Code Example
public static void TestCustomWeaveSetPara(Robot robot)
{
DescTran[] point = new DescTran[10];
point[0]=new DescTran();
point[0].x = -3;
point[0].y = -3;
point[0].z = 0;
point[1]=new DescTran();
point[1].x = -6;
point[1].y = 0;
point[1].z = 0;
point[2]=new DescTran();
point[2].x = -3;
point[2].y = 3;
point[2].z = 0;
point[3]=new DescTran();
point[3].x = 0;
point[3].y = 0;
point[3].z = 0;
point[4]=new DescTran(0,0,0);
point[5]=new DescTran(0,0,0);
point[6]=new DescTran(0,0,0);
point[7]=new DescTran(0,0,0);
point[8]=new DescTran(0,0,0);
point[9]=new DescTran(0,0,0);
double[] stayTime =new double[] { 0,0,0,0,0,0,0,0,0,0 };
int rtn = robot.CustomWeaveSetPara(2, 4, point, stayTime, 1.000, 0, 0);
System.out.println("CustomWeaveSetPara rtn is: "+ rtn);
robot.Sleep(1000);
int[] pointNum = new int[1];
double[] frequency=new double[1];
int[] incStayType=new int[1];
int[] stationary=new int[1];
robot.CustomWeaveGetPara(2, pointNum, point, stayTime, frequency, incStayType, stationary);
System.out.println("pointNum is: "+ pointNum[0]);
for (int i = 0; i < pointNum[0]; i++)
{
System.out.println("point: "+i+", "+ point[i].x+", "+ point[i].y+", "+ point[i].z);
}
System.out.println("frequency is: "+ frequency[0]+", incStayType is: "+ incStayType[0]+", stationary is: "+ stationary[0]);
robot.WeaveSetPara(0, 9, 1.000000, 1, 5.000000,
6.000000, 5.000000, 50, 100, 100,
0, 1, 0.000000, 0.000000);
DescPose desc_p1 =new DescPose(-288.650, 367.807, 288.404, 0.000, -0.001, 0.001 );
DescPose desc_p2 = new DescPose( -431.714, 367.815, 288.415, 0.001, 0.001, 0.000 );
DescPose desc_p3 = new DescPose( -348.666, 427.798, 288.404, -0.000, -0.000, 0.001 );
JointPos j1 = new JointPos( 140.656, -84.560, -91.707, -93.734, 90.000, 50.655 );
JointPos j2 = new JointPos( 149.873, -98.298, -77.599, -94.103, 90.000, 59.873 );
JointPos j3 = new JointPos( 139.773, -96.173, -80.014, -93.814, 90.000, 49.772 );
ExaxisPos epos = new ExaxisPos();
DescPose offset_pos = new DescPose();
robot.MoveJ(j1, desc_p1, 3, 0, 100, 100,100, epos, -1, 0, offset_pos);
robot.WeaveStart(0);
robot.Circle(j3, desc_p3, 3, 0, 100, 100, epos, j2, desc_p2, 3, 0, 100, 100, epos, 10, -1, offset_pos,0,-1,0);
robot.WeaveEnd(0);
robot.MoveJ(j1, desc_p1, 3, 0, 100, 100, 100, epos, -1, 0, offset_pos);
robot.WeaveStart(0);
robot.MoveC(j3, desc_p3, 3, 0, 100, 100, epos, 0, offset_pos, j2, desc_p2, 3, 0, 100, 100, epos, 0, offset_pos, 10, -1,0);
robot.WeaveEnd(0);
robot.MoveJ(j1, desc_p1, 3, 0, 100, 100, 100, epos, -1, 0, offset_pos);
robot.WeaveStart(0);
robot.MoveL(j2, desc_p2, 3, 0, 100, 100, 10, -1,epos, 0, 0, offset_pos, 0,0, 100);
robot.WeaveEnd(0);
robot.CloseRPC();
}
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