Python 14.28. Segmented welding startup

New in version python: SDK-v2.0.1

Prototype	SegmentWeldStart(startDesePos, endDesePos, startJPos, endJPos, weldLength, noWeldLength, weldIOType, arcNum, weldTimeout, isWeave. weaveNum,tool,user,vel=20.0, acc=0.0, ovl=100.0, blendR=-1.0,exaxis_pos=[0.0, 0.0, 0.0, 0.0], search=0, offset_flag=0, offset_pos=[0.0, 0.0, 0.0, 0.0, 0.0, 0.0])
Description	Segmented Welding Initiation
Mandatory parameters	startDesePos: Initial Cartesian position in [mm][°]. endDesePos: target Cartesian position in [mm][°]. startJPos: initial joint position in [°]. endJPos: target joint position in [°] weldLength: weld length in [mm] noWeldLength: non-weld length in [mm] weldIOType: weld IO type (0-control box IO; 1-expansion IO) arcNum welder profile number timeout: timeout for arc extinguishing isWeave: welded False – not welded weaveNum: Pendulum welding parameter configuration number tool: tool number, [0 to 14] user: artifact number, [0 to 14]
Default parameters	vel: percentage of speed, [0~100] default 20.0 acc: acceleration [0~100] Not open Default 0.0 ovl: velocity scaling factor, [0~100] default 100.0 blendR: [-1.0] - motion in place (blocking), [0~1000] - smoothing radius (non-blocking), unit [mm] default -1.0 exaxis_pos: external axis 1 position ~ external axis 4 position Default [0.0,0.0,0.0,0.0] search: [0] - no wire seek, [1] - wire seek offset_flag: [0] - no offset, [1] - offset in workpiece/base coordinate system, [2] - offset in tool coordinate system Default 0 offset_pos: position offset in [mm][°] default [0.0,0.0,0.0,0.0,0.0,0.0]
Return Value	errcode Success-0 Failure- errcode

14.29. Sample robot segment welding code

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.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]
rtn = robot.SegmentWeldStart(p1Desc, p2Desc, p1Joint, p2Joint, 20, 20, 0, 0, 5000, 0, 0, 0, 0)
print(f"SegmentWeldStart rtn is {rtn}")
robot.CloseRPC()

14.30. Simulated swing start

New in version python: SDK-v2.0.5

Prototype	WeaveStartSim(weaveNum)
Description	Simulation of swing start
Mandatory parameters	weaveNum: swing parameter number
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

14.31. End of simulation swing

New in version python: SDK-v2.0.5

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

14.32. Start trajectory detection warning (no movement)

New in version python: SDK-v2.0.5

Prototype	WeaveInspectStart(weaveNum)
Description	Start Trajectory Detection Warning (No Movement)
Mandatory parameters	weaveNum: swing parameter number
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

14.33. End trajectory detection warning (no movement)

New in version python: SDK-v2.0.5

Prototype	WeaveInspectEnd(weaveNum)
Description	End Trajectory Detection Warning (No Movement)
Mandatory parameters	weaveNum: swing parameter number
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

14.34. Wobble start

New in version python: SDK-v2.1.2

Prototype	WeaveChangeStart(weaveNum)
Description	Wobble start
Mandatory parameters	weaveChangeFlag: Swing number 1- Variable swing parameters; 2- Variable swing parameters + welding speed weaveNum: Swing number velStart: Welding start speed, (cm/min) velEnd: Welding end speed, (cm/min)
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

14.35. Robot swing gradient welding code example

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')
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.WeaveStartSim(0)
robot.MoveL(desc_pos= p2Desc,tool= 13,user= 0)
robot.WeaveEndSim(0)
robot.MoveJ(joint_pos= p1Joint,tool= 13,user= 0)
robot.WeaveInspectStart(0)
robot.MoveL(desc_pos= p2Desc,tool= 13,user= 0,)
robot.WeaveInspectEnd(0)
robot.WeldingSetVoltage(1, 19, 0, 0)
robot.WeldingSetCurrent(1, 190, 0, 0)
robot.MoveL(desc_pos= p1Desc,tool= 1,user= 1,vel= 100,acc= 100,ovl= 50)
robot.ARCStart(1, 0, 10000)
robot.ArcWeldTraceControl(1, 0, 1, 0.06, 5, 5, 60, 1, 0.06, 5, 5, 80, 0, 0, 4, 1, 10, 0, 0)
robot.WeaveStart(0)
robot.WeaveChangeStart(1, 0, 50, 30)
robot.MoveL(desc_pos= p2Desc,tool= 1,user= 1,vel= 100)
robot.WeaveChangeEnd()
robot.WeaveEnd(0)
robot.ArcWeldTraceControl(0, 0, 1, 0.06, 5, 5, 60, 1, 0.06, 5, 5, 80, 0, 0, 4, 1, 10, 0, 0)
robot.ARCEnd(1, 0, 10000)
robot.CloseRPC()

14.36. Wobble end

New in version python: SDK-v2.0.9-3.7.9

Prototype	WeaveChangeEnd()
Description	Wobble end
Mandatory parameters	NULL
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

14.37. Extended IO-Configuration Welder Gas Detection Signal

New in version python: SDK-v2.0.5

Prototype	SetAirControlExtDoNum(DONum)
Description	Extended IO-Configuration Welder Gas Detection Signal
Mandatory parameters	DONum: gas detection signal extension DO number
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

14.38. Extended IO-Configuration of welder arc start signal

New in version python: SDK-v2.0.5

Prototype	SetArcStartExtDoNum(DONum)
Description	Extended IO-Configuration Welder Arc Start Signal
Mandatory parameters	DONum: gas detection signal extension DO number
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

14.39. Extended IO-Configuration of the welder’s reverse wire feed signal

New in version python: SDK-v2.0.5

Prototype	SetWireReverseFeedExtDoNum(DONum)
Description	Extended IO-Configuration Welder Reverse Wire Feed Signal
Mandatory parameters	DONum: gas detection signal extension DO number
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

14.40. Extended IO-Configuration of the welder’s forward wire feed signal

New in version python: SDK-v2.0.5

Prototype	SetWireForwardFeedExtDoNum(DONum)
Description	Extended IO-Configure welder positive wire feed signal
Mandatory parameters	DONum: gas detection signal extension DO number
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

14.41. Extended IO-Configuration of the welder’s arc start success signal

New in version python: SDK-v2.0.5

Prototype	SetArcDoneExtDiNum(DINum)
Description	Extended IO-Configuration Welder Arc Start Success Signal
Mandatory parameters	DINum: Welder Ready Signal Expansion DI Number
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

14.42. Extended IO-Configuration Welder Ready Signal

New in version python: SDK-v2.0.5

Prototype	SetArcDoneExtDiNum(DINum)
Description	Extended IO-Configuration Welder Ready Signal
Mandatory parameters	DINum: Welder Ready Signal Expansion DI Number
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

14.43. Extended IO-Configuration Weld Interrupt Recovery Signal

New in version python: SDK-v2.0.5

Prototype	SetExtDIWeldBreakOffRecover(reWeldDINum, abortWeldDINum)
description	Extended IO-Configuration Weld Interrupt Recovery Signal
Mandatory parameters	reWeldDINum: Weld signal extension DI number for resumption of welding after a weld interruption abortWeldDINum: exit weld signal extension DI number after weld interruption
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

14.44. Example code for setting up extended IO solder signals

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')
rtn = robot.SetArcStartExtDoNum(10)
print(f"SetArcStartExtDoNum rtn is {rtn}")
rtn = robot.SetAirControlExtDoNum(20)
print(f"SetAirControlExtDoNum rtn is {rtn}")
rtn = robot.SetWireForwardFeedExtDoNum(30)
print(f"SetWireForwardFeedExtDoNum rtn is {rtn}")
rtn = robot.SetWireReverseFeedExtDoNum(40)
rtn = robot.SetWeldReadyExtDiNum(50)
print(f"SetWeldReadyExtDiNum rtn is {rtn}")
rtn = robot.SetArcDoneExtDiNum(60)
print(f"SetArcDoneExtDiNum rtn is {rtn}")
rtn = robot.SetExtDIWeldBreakOffRecover(70, 80)
print(f"SetExtDIWeldBreakOffRecover rtn is {rtn}")
rtn = robot.SetWireSearchExtDIONum(0, 1)
print(f"SetWireSearchExtDIONum rtn is {rtn}")
robot.CloseRPC()

14.45. Arc tracking control

New in version python: SDK-v2.0.9-3.7.9

Prototype	ArcWeldTraceControl(flag,delaytime, isLeftRight, klr, tStartLr, stepMaxLr, sumMaxLr, isUpLow, kud, tStartUd, stepMaxUd, sumMaxUd. axisSelect, referenceType, referSampleStartUd, referSampleCountUd, referenceCurrent, offsetType, offsetParameter)
Description	Arc tracking control
Mandatory parameters	flag: switch, 0-off; 1-on delayTime: lag time in ms isLeftRight: left-right deviation compensation 0 - off, 1 - on klr: left/right adjustment factor (sensitivity) tStartLr: left and right start compensation time cyc stepMaxLr: Maximum compensation in mm for each left and right step. sumMaxLr: total maximum compensation left and right mm isUpLow: up and down deviation compensation 0 - off, 1 - on kud: upward and downward adjustment factor (sensitivity) tStartUd: up and down start compensation time cyc stepMaxUd: Maximum compensation per step up and down mm sumMaxUd: total maximum compensation up and down axisSelect: upper and lower coordinate system selection, 0 - swing; 1 - tool; 2 - base referenceType: upper and lower reference current setting mode, 0 - feedback; 1 - constant referSampleStartUd: upper and lower reference current sampling start count (feedback), cyc referSampleCountUd: upper and lower reference current sample cycle count (feedback), cyc referenceCurrent: upper and lower reference currents mA offsetType: bias tracking type, 0- no bias; 1- Sampling; 2- percent offsetParameter: bias parameter; Sampling (offset sampling start time, default sampling cycle); Percentage (offset percentage (-100 ~ 100))
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

14.46. Arc tracking AI passband selection

New in version python: SDK-v2.0.5

Prototype	ArcWeldTraceExtAIChannelConfig(channel)
Description	Arc Tracking AI Passband Selection
Mandatory parameters	channel: arc tracking AI passband selection, [0-3]
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

14.47. Arc tracking + multi-layer multi-channel compensation on

New in version python: SDK-v2.0.5

prototype	ArcWeldTraceReplayStart()
Description	Arc Tracking + Multi-Layer Multi-Channel Compensation On
Mandatory parameters	NULL
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode