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Python 14. Weld

14.1. Setting Welding Process Curve Parameters

New in version python: SDK-v2.0.5

Prototype	WeldingSetProcessParam(id, startCurrent, startVoltage, startTime, weldCurrent, weldVoltage, endCurrent, endVoltage, endTime)
Description	Set weld process profile parameters
Mandatory parameters	id: Welding process number (1-99) startCurrent: Arc starting current (A) startVoltage: startVoltage Arc-starting voltage (V) startTime: startTime Arc start time (ms) weldCurrent: weldCurrent Welding current (A) weldVoltage: weldVoltage Welding voltage (V) endCurrent: endCurrent Arc recovery current (A) endVoltage: endVoltage Arc charging voltage (V) endTime: endTime closing time (ms)
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

14.2. Obtaining Welding Process Curve Parameters

New in version python: SDK-v2.0.5

Prototype	WeldingGetProcessParam(id)
Description	Get welding process curve parameters
Mandatory parameters	id: Welding process number (1-99)
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode startCurrent: arc starting current (A) startVoltage: Arc starting voltage (V) startTime: start time (ms) weldCurrent: welding current (A) weldVoltage: welding voltage (V) endCurrent: arc closing current (A) endVoltage: arc closing voltage (V) endTime: arc closing time (ms)

14.3. Setting of welding current and output analog correspondences

Changed in version python: SDK-v2.0.5

Prototype	WeldingSetCurrentRelation(currentMin, currentMax, outputVoltageMin, outputVoltageMax)
Description	Setting the welding current to correspond to the output analog
Mandatory parameters	currentMin: Welding current - analog output linear relationship left point current value (A) currentMax: Welding current - analog output linear relationship right point current value (A) outputVoltageMin: analog output voltage value (V) at the left point of the welding current-analog output linear relationship. outputVoltageMax: analog output voltage value (V) at the point on the right side of the weld current-analog output linear relationship. AOIndex: analog output port for welding current
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

14.4. Setting the welding voltage and output analog correspondence

Changed in version python: SDK-v2.0.5

Prototype	WeldingSetVoltageRelation(weldVoltageMin, weldVoltageMax, outputVoltageMin, outputVoltageMax)
Description	Setting the weld voltage to correspond to the output analog
Mandatory parameters	weldVoltageMin: Welding voltage - analog output linear relationship left point welding voltage value (A) weldVoltageMax: Welding voltage - analog output linear relationship right point welding voltage value (A) outputVoltageMin: analog output voltage value (V) at the left point of the welding voltage-analog output linear relationship. outputVoltageMax: analog output voltage value (V) at the point on the right side of the weld voltage-analog output linear relationship. AOIndex: welding voltage analog output port
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

14.5. Acquiring the correspondence between welding current and output analog quantity

Changed in version python: SDK-v2.0.5

Prototype	WeldingGetCurrentRelation()
Description	Get weld current to output analog correspondence
Mandatory parameters	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode currentMin: welding current - analog output linear relationship left point current value (A) currentMax: welding current - analog output linear relationship right point current value (A) outputVoltageMin: analog output voltage value at the left point of the welding current-analog output linear relationship (V) outputVoltageMax: analog output voltage value (V) at the point on the right side of the weld current-analog output linear relationship. AOIndex: welding voltage analog output port

14.6. Getting welding voltage and output analog correspondence

Changed in version python: SDK-v2.0.5

Prototype	WeldingGetVoltageRelation()
Description	Get weld voltage to output analog correspondence
Mandatory parameters	NULL
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode weldVoltageMin: Welding voltage - analog output linear relationship left point welding voltage value (V) weldVoltageMax: Welding voltage - analog output linear relationship of the right point welding voltage value (V) outputVoltageMin: Analog output voltage value at the left point of the welding voltage-analog output linear relationship (V) outputVoltageMax: Analog output voltage value (V) at the right point of the weld current-analog output linear relationship AOIndex: welding voltage analog output port

14.7. Setting the welding current

Changed in version python: SDK-v2.0.5

Prototype	WeldingSetCurrent(ioType, current, AOIndex, blend)
Description	Setting the welding current
Mandatory parameters	ioType: type 0 - controller IO; 1 - extended IO current: Welding current value (A) AOIndex: Analog output port (0-1) of the welding current control box blend: smooth or not 0 - not smooth, 1 - smooth
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

14.8. Setting the welding voltage

Changed in version python: SDK-v2.0.5

Prototype	WeldingSetVoltage(ioType, voltage, AOIndex, blend)
Description	Set weld voltage
Mandatory parameters	ioType: type 0 - controller IO; 1 - extended IO voltage: Welding voltage value (V) AOIndex: Analog output port (0-1) of the welding current control box blend: smooth or not 0 - not smooth, 1 - smooth
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

14.9. Setting Oscillation Parameters

Changed in version python: SDK-v2.0.5

Prototype	WeaveSetPara(weaveNum, weaveType, weaveFrequency, weaveIncStayTime, weaveRange, weaveLeftRange, weaveRightRange. additionalStayTime, weaveLeftStayTime, weaveRightStayTime, weaveCircleRadio, weaveStationary, weaveYawAngle=0)
Description	Setting swing parameters
Mandatory parameters	weaveNum: Pendulum welding parameter configuration number weaveType: type of oscillation 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. weaveFrequency: swing frequency (Hz) weaveIncStayTime: wait mode 0-cycle without wait time; 1-cycle with wait time mandatory parameter weaveRange: swing range (mm) weaveLeftRange: vertical triangle swing left chord length(mm) weaveRightRange: vertical triangle swing right chord length(mm) additionalStayTime: vertical triangle swing vertical triangle point residence time(mm) weaveLeftStayTime: wave left stay time (ms) weaveRightStayTime: wave right stay time (ms) weaveCircleRadio: Circle swing-back ratio (0-100%) weaveStationary: swing position wait, 0 - position continues to move during wait time; 1 - position is stationary during wait time
Default parameters	weaveYawAngle: azimuth angle of the swing direction (rotation around the swing Z-axis) in °, default 0 weaveRotAngle: Swing direction azimuth (rotation around the X-axis of the swing), unit °, default 0
Return Value	Error Code Success-0 Failure- errcode

14.10. Example code for setting welding parameters

from fairino import Robot
import time
# Establish a connection with the robot controller and return a robot object if the connection is successful
robot = Robot.RPC('192.168.58.2')
robot.WeldingSetProcessParam(1, 177, 27, 1000, 178, 28, 176, 26, 1000)
robot.WeldingSetProcessParam(2, 188, 28, 555, 199, 29, 133, 23, 333)
start_current = 0
start_voltage = 0
start_time = 0
weld_current = 0
weld_voltage = 0
end_current = 0
end_voltage = 0
end_time = 0
error, start_current, start_voltage, start_time, weld_current, weld_voltage, end_current,end_voltage, end_time = robot.WeldingGetProcessParam(1)
print(f"the Num 1 process param is {start_current} {start_voltage} {start_time} {weld_current} {weld_voltage} {end_current} {end_voltage} {end_time}")
error, start_current, start_voltage, start_time, weld_current, weld_voltage, end_current,end_voltage, end_time = robot.WeldingGetProcessParam(2)
print(f"the Num 2 process param is {start_current} {start_voltage} {start_time} {weld_current} {weld_voltage} {end_current} {end_voltage} {end_time}")
rtn = robot.WeldingSetCurrentRelation(0, 400, 0, 10, 0)
print(f"WeldingSetCurrentRelation rtn is: {rtn}")
rtn = robot.WeldingSetVoltageRelation(0, 40, 0, 10, 1)
print(f"WeldingSetVoltageRelation rtn is: {rtn}")
current_min = 0
current_max = 0
vol_min = 0
vol_max = 0
output_vmin = 0
output_vmax = 0
cur_index = 0
vol_index = 0
rtn,current_min, current_max, output_vmin, output_vmax, cur_index = robot.WeldingGetCurrentRelation()
print(f"WeldingGetCurrentRelation rtn is: {rtn}")
print(f"current min {current_min} current max {current_max} output vol min {output_vmin} output vol max {output_vmax}")
rtn,vol_min, vol_max, output_vmin, output_vmax, vol_index = robot.WeldingGetVoltageRelation()
print(f"WeldingGetVoltageRelation rtn is: {rtn}")
print(f"vol min {vol_min} vol max {vol_max} output vol min {output_vmin} output vol max {output_vmax}")
rtn = robot.WeldingSetCurrent(1, 100, 0, 0)
print(f"WeldingSetCurrent rtn is: {rtn}")
time.sleep(3)
rtn = robot.WeldingSetVoltage(1, 10, 0, 0)
print(f"WeldingSetVoltage rtn is: {rtn}")
rtn = robot.WeaveSetPara(0, 0, 2.000000, 0, 10.000000, 0.000000, 0.000000, 0, 0, 0, 0, 0,0.0, 60.000000)
print(f"rtn is: {rtn}")
robot.WeaveOnlineSetPara(0, 0, 1, 0, 20, 0, 0, 0, 0)
rtn = robot.WeldingSetCheckArcInterruptionParam(1, 200)
print(f"WeldingSetCheckArcInterruptionParam {rtn}")
rtn = robot.WeldingSetReWeldAfterBreakOffParam(1, 5.7, 98.2, 0)
print(f"WeldingSetReWeldAfterBreakOffParam {rtn}")
enable = 0
length = 0
velocity = 0
move_type = 0
check_enable = 0
arc_interrupt_time_length = 0
rtn,check_enable, arc_interrupt_time_length = robot.WeldingGetCheckArcInterruptionParam()
print(f"WeldingGetCheckArcInterruptionParam checkEnable {check_enable} arcInterruptTimeLength {arc_interrupt_time_length}")
rtn,enable, length, velocity, move_type = robot.WeldingGetReWeldAfterBreakOffParam()
print(f"WeldingGetReWeldAfterBreakOffParam enable = {enable}, length = {length}, velocity = {velocity}, moveType = {move_type}")
robot.SetWeldMachineCtrlModeExtDoNum(17)
for i in range(5):
    robot.SetWeldMachineCtrlMode(0)
    time.sleep(1)
    robot.SetWeldMachineCtrlMode(1)
    time.sleep(1)
robot.CloseRPC()

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