Python 14.11. Instant setup of swing parameters

New in version python: SDK-v2.0.1

Prototype	WeaveOnlineSetPara (weaveNum, weaveType, weaveFrequency, weaveIncStayTime, weaveRange, weaveLeftStayTime, weaveRightStayTime. weaveCircleRadio, weaveStationary)
Description	Set swing parameters on the fly
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) 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	NULL
Return Value	Error Code Success-0 Failure- errcode

14.12. The detection parameters of unexpected interruption of robot welding arc were obtained

New in version python: SDK-v2.0.8

Prototype	WeldingGetCheckArcInterruptionParam()
Description	The detection parameters of unexpected interruption of robot welding arc were obtained
Mandatory parameters	NULL
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode checkEnable: Whether to enable detection. 0: Indicates that the function is disabled. 1- Enable arcInterruptTimeLength:Arc break confirmation time (ms)

14.13. Set the detection parameters of robot welding arc unexpected interruption

New in version python: SDK-v2.0.8

Prototype	WeldingSetCheckArcInterruptionParam(checkEnable, arcInterruptTimeLength)
Description	Set the detection parameters of robot welding arc unexpected interruption
Mandatory parameters	checkEnable: Whether to enable detection. 0: Indicates that the function is disabled. 1- Enable arcInterruptTimeLength:Arc break confirmation time (ms)
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

14.14. Obtain the robot welding interrupt recovery parameters

New in version python: SDK-v2.0.8

Prototype	WeldingGetReWeldAfterBreakOffParam()
Description	Obtain the robot welding interrupt recovery parameters
Mandatory parameters	NULL
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode enable: Whether to enable recovery from welding interruption length: weld overlap distance (mm) velocity: Percentage of robot return to rearcing point (0-100) moveType: The way the robot moves to the rearcing point; 0-LIN; 1-PTP

14.15. Set the robot welding interrupt recovery parameters

New in version python: SDK-v2.0.8

Prototype	WeldingSetReWeldAfterBreakOffParam(enable, length, velocity, moveType)
Description	Set the robot welding interrupt recovery parameters
Mandatory parameters	enable:Whether to enable recovery from welding interruption length: weld overlap distance (mm) velocity: Percentage of robot return to rearcing point (0-100) moveType: The way the robot moves to the rearcing point; 0-LIN; 1-PTP
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

14.16. Set welder control mode to expand DO port

New in version python: SDK-v2.0.5

Prototype	SetWeldMachineCtrlModeExtDoNum(DONum)
Description	Set welder control mode to extend DO port
Mandatory parameters	DONum: welder control mode DO port (0-127)
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

14.17. Setting the welder control mode

New in version python: SDK-v2.0.5

Prototype	SetWeldMachineCtrlMode(mode)
Description	Set welder control mode
Mandatory parameters	mode: welder control mode; 0 - unitary
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

14.18. Welding Start

New in version python: SDK-v2.0.1

Prototype	ARCStart(ioType, arcNum, timeout)
Description	Welding Start
Required Parameters	ioType: io type 0 - controller IO; 1 - extended IO arcNum: Welder profile number timeout: timeout for starting an arc
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

14.19. End of welding

New in version python: SDK-v2.0.1

prototype	ARCEnd(ioType, arcNum, timeout)
Description	End of welding
Mandatory parameters	ioType: type 0 - controller IO; 1 - extended IO arcNum: Welder profile number timeout: timeout for starting an arc
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

14.20. swing start

New in version python: SDK-v2.0.1

Prototype	WeaveStart(weaveNum)
Description	Swing Start
Mandatory parameters	weaveNum: type 0 - controller IO; 1 - extended IO
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

14.21. end of swing (math.)

New in version python: SDK-v2.0.1

Prototype	WeaveEnd(weaveNum)
description	end of swing
Mandatory parameter	weaveNum: Pendulum welding parameter configuration number
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

14.22. Positive wire feed

New in version python: SDK-v2.0.1

Prototype	SetForwardWireFeed(ioType, wireFeed)
Description	Positive Wire Feed
Mandatory parameters	ioType: 0 - controller IO; 1 - extended IO wireFeed: wire feed control 0 - stop wire feed; 1 - wire feed.
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

14.23. Reverse wire feed

New in version python: SDK-v2.0.1

Prototype	SetReverseWireFeed(ioType, wireFeed)
Description	Reverse Wire Feed
Mandatory parameters	ioType: 0 - controller IO; 1 - extended IO wireFeed: wire feed control 0 - stop wire feed; 1 - wire feed.
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

14.24. aspiration

New in version python: SDK-v2.0.1

Prototype	SetAspirated(ioType, airControl)
Description	Air delivery
Mandatory parameters	ioType: 0 - controller IO; 1 - extended IO airControl: air delivery control 0 - stop air delivery; 1 - air delivery
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

14.25. Set the robot to resume welding after welding interruption

New in version python: SDK-v2.0.8

Prototype	WeldingStartReWeldAfterBreakOff()
Description	Set the robot to resume welding after welding interruption
Mandatory parameters	NULL
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

14.26. Set the robot to exit welding after welding interruption

New in version python: SDK-v2.0.8

Prototype	WeldingAbortWeldAfterBreakOff()
Description	Set the robot to exit welding after welding interruption
Mandatory parameters	NULL
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

14.27. Sample code for robot welding control

from fairino import Robot
# 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.SetForwardWireFeed(0, 1)
time.sleep(1)
robot.SetForwardWireFeed(0, 0)
robot.SetReverseWireFeed(0, 1)
time.sleep(1)
robot.SetReverseWireFeed(0, 0)
robot.SetAspirated(0, 1)
time.sleep(1)
robot.SetAspirated(0, 0)
robot.WeldingSetCurrent(1, 230, 0, 0)
robot.WeldingSetVoltage(1, 24, 0, 1)
p1Desc = [228.879, -503.594, 453.984, -175.580, 8.293, 171.267]
p1Joint = [102.700, -85.333, 90.518, -102.365, -83.932, 22.134]
p2Desc = [-333.302, -435.580, 449.866, -174.997, 2.017, 109.815]
p2Joint = [41.862, -85.333, 90.526, -100.587, -90.014, 22.135]
exaxisPos = [0, 0, 0, 0]
offdese = [0, 0, 0, 0, 0, 0]
robot.MoveJ(joint_pos=p1Joint, tool=13, user=0)
robot.ARCStart(1, 0, 10000)
robot.WeaveStart(0)
robot.MoveL(desc_pos=p2Desc, tool=13, user=0)
robot.ARCEnd(1, 0, 10000)
robot.WeaveEnd(0)
robot.WeldingStartReWeldAfterBreakOff()
robot.WeldingAbortWeldAfterBreakOff()
robot.CloseRPC()