Python 14.48. Arc Tracking + Multi-Layer Multi-Channel Compensation Off

New in version python: SDK-v2.0.5

Prototype	ArcWeldTraceReplayEnd()
Description	Arc Tracking + Multi-Layer Multi-Channel Compensation Shutdown
Mandatory parameters	NULL
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

14.49. Offset Coordinate Change - Multi-layer Multi-pass Welding

New in version python: SDK-v2.0.5

Prototype	MultilayerOffsetTrsfToBase(pointo, pointX, pointZ, dx, dy, db)
Description	Offset Coordinate Change - Multi-Layer Multi-Pass Welding
Mandatory parameters	pointo: datum Cartesian orientation pointX: Cartesian position of point X in the offset direction from the reference point X. pointZ: Cartesian position of point Z in the direction of offset from datum Z. dx: x-direction offset (mm) dz: z-direction offset (mm) dry: offset around the y-axis (°)
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode offset: the offset of the result of the calculation

14.50. Example code for multi-layer multi-pass welding arc tracking

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')
mulitilineorigin1_joint = [-24.090, -63.501, 84.288, -111.940, -93.426, 57.669]
mulitilineorigin1_desc = [-677.559, 190.951, -1.205, 1.144, -41.482, -82.577]
mulitilineX1_desc = [-677.556, 211.949, -1.206]
mulitilineZ1_desc = [-677.564, 190.956, 19.817]
mulitilinesafe_joint = [-25.734, -63.778, 81.502, -108.975, -93.392, 56.021]
mulitilinesafe_desc = [-677.561, 211.950, 19.812, 1.144, -41.482, -82.577]
mulitilineorigin2_joint = [-29.743, -75.623, 101.241, -116.354, -94.928, 55.735]
mulitilineorigin2_desc = [-563.961, 215.359, -0.681, 2.845, -40.476, -87.443]
mulitilineX2_desc = [-563.965, 220.355, -0.680]
mulitilineZ2_desc = [-563.968, 215.362, 4.331]
epos = [0, 0, 0, 0]
offset = [0, 0, 0, 0, 0, 0]
time.sleep(0.01)
error = robot.MoveJ(joint_pos= mulitilinesafe_joint,tool= 13,user= 0,vel= 10)
print(f"MoveJ return: {error}")
error = robot.MoveL(desc_pos= mulitilineorigin1_desc,tool= 13,user= 0,vel= 10,speedPercent=100)
print(f"MoveL return: {error}")
error = robot.MoveJ(joint_pos= mulitilinesafe_joint,tool= 13,user= 0,vel= 10)
print(f"MoveJ return: {error}")
error = robot.MoveL(desc_pos= mulitilineorigin2_desc,tool= 13,user= 0,vel= 10,speedPercent=100)
print(f"MoveL return: {error}")
error = robot.MoveJ(joint_pos= mulitilinesafe_joint,tool= 13,user= 0,vel= 10)
print(f"MoveJ return: {error}")
error = robot.MoveL(desc_pos= mulitilineorigin1_desc,tool= 13,user= 0,vel= 10,speedPercent=100)
print(f"MoveL return: {error}")
error = robot.ARCStart(1, 0, 3000)
print(f"ARCStart return: {error}")
error = robot.WeaveStart(0)
print(f"WeaveStart return: {error}")
error = robot.ArcWeldTraceControl(1, 0, 1, 0.06, 5, 5, 50, 1, 0.06, 5, 5, 55, 0, 0, 4, 1, 10,0,0)
print(f"ArcWeldTraceControl return: {error}")
error = robot.MoveL(desc_pos= mulitilineorigin2_desc,tool= 13,user= 0,vel= 1,speedPercent=100)
print(f"MoveL return: {error}")
error = robot.ArcWeldTraceControl(0, 0, 1, 0.06, 5, 5, 50, 1, 0.06, 5, 5, 55, 0, 0, 4, 1, 10,0,0)
print(f"ArcWeldTraceControl return: {error}")
error = robot.WeaveEnd(0)
print(f"WeaveEnd return: {error}")
error = robot.ARCEnd(1, 0, 10000)
print(f"ARCEnd return: {error}")
error = robot.MoveJ(joint_pos= mulitilinesafe_joint,tool= 13,user= 0,vel= 10)
print(f"MoveJ return: {error}")
error,offset = robot.MultilayerOffsetTrsfToBase(mulitilineorigin1_desc[:3], mulitilineX1_desc, mulitilineZ1_desc, 10.0, 0.0, 0.0)
print(f"MultilayerOffsetTrsfToBase return: {error}")
error = robot.MoveL(desc_pos= mulitilineorigin1_desc,tool= 13,user= 0,vel= 10,speedPercent=100)
print(f"MoveL return: {error}")
error = robot.ARCStart(1, 0, 3000)
print(f"ARCStart return: {error}")
error, offset = robot.MultilayerOffsetTrsfToBase(mulitilineorigin2_desc[:3], mulitilineX2_desc, mulitilineZ2_desc, 10, 0, 0)
print(f"MultilayerOffsetTrsfToBase return: {error}")
error = robot.ArcWeldTraceReplayStart()
print(f"ArcWeldTraceReplayStart return: {error}")
error = robot.MoveL(desc_pos= mulitilineorigin2_desc,tool= 13,user= 0,vel= 2,speedPercent=100)
print(f"MoveL return: {error}")
error = robot.ArcWeldTraceReplayEnd()
print(f"ArcWeldTraceReplayEnd return: {error}")
error = robot.ARCEnd(1, 0, 10000)
print(f"ARCEnd return: {error}")
error = robot.MoveJ(joint_pos= mulitilinesafe_joint,tool= 13,user= 0,vel= 10)
print(f"MoveJ return: {error}")
error, offset = robot.MultilayerOffsetTrsfToBase(mulitilineorigin1_desc[:3], mulitilineX1_desc, mulitilineZ1_desc, 0, 10, 0)
print(f"MultilayerOffsetTrsfToBase return: {error}")
error = robot.MoveL(desc_pos= mulitilineorigin1_desc,tool= 13,user= 0,vel= 10,speedPercent=100)
print(f"MoveL return: {error}")
error = robot.ARCStart(1, 0, 3000)
print(f"ARCStart return: {error}")
error, offset = robot.MultilayerOffsetTrsfToBase(mulitilineorigin2_desc[:3], mulitilineX2_desc, mulitilineZ2_desc, 0, 10, 0)
error = robot.ArcWeldTraceReplayStart()
print(f"ArcWeldTraceReplayStart return: {error}")
error = robot.MoveL(desc_pos= mulitilineorigin2_desc,tool= 13,user= 0,vel= 2,speedPercent=100)
print(f"MoveL return: {error}")
error = robot.ArcWeldTraceReplayEnd()
print(f"ArcWeldTraceReplayEnd return: {error}")
error = robot.ARCEnd(1, 0, 3000)
print(f"ARCEnd return: {error}")
error = robot.MoveJ(joint_pos= mulitilinesafe_joint,tool= 13,user= 0,vel= 10)
print(f"MoveJ return: {error}")
robot.CloseRPC()

14.51. Selection of AI channels for current feedback in arc tracking welding machines

New in version python: SDK-v2.1.2

Prototype	ArcWeldTraceAIChannelCurrent(channel)
Description	Selection of AI channels for current feedback in arc tracking welding machines
Mandatory parameters	channel: Passage 0- Expand AI0; 1- Expand AI1; 2- Expand AI2; 3- Expand AI3; 4- Control Box AI0 5- Control Box AI1
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

14.52. Selection of AI channel for voltage feedback of arc tracking welding machine

New in version python: SDK-v2.1.2

Prototype	ArcWeldTraceAIChannelVoltage(channel)
Description	Selection of AI channel for voltage feedback of arc tracking welding machine
Mandatory parameters	channel: Passage 0- Expand AI0; 1- Expand AI1; 2- Expand AI2; 3- Expand AI3; 4- Control Box AI0 5- Control Box AI1
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

14.53. Current feedback conversion parameters of arc tracking welding machine

New in version python: SDK-v2.1.2

Prototype	ArcWeldTraceCurrentPara(AILow, AIHigh, currentLow, currentHigh)
Description	Current feedback conversion parameters of arc tracking welding machine
Mandatory parameters	NULL
Default parameters	AILow: Lower limit of AI channel, default value 0V, range [0-10V] AIHigh: AI channel upper limit, default value 10V, range [0-10V] currentLow: The lower limit of the AI channel corresponds to the current value of the welding machine. The default value is 0V, and the range is [0-200V] currentHigh: The upper limit of the AI channel corresponds to the current value of the welding machine. The default value is 100V, and the range is [0-200V]
Return Value	Error Code Success-0 Failure- errcode

14.54. Voltage feedback conversion parameters of arc tracking welding machine

New in version python: SDK-v2.1.2

Prototype	ArcWeldTraceVoltagePara(AILow, AIHigh, voltageLow, voltageHigh)
Description	Voltage feedback conversion parameters of arc tracking welding machine
Mandatory parameters	NULL
Default parameters	AILow: Lower limit of AI channel, default value 0V, range [0-10V] AIHigh: AI channel upper limit, default value 10V, range [0-10V] voltageLow: The lower limit of the AI channel corresponds to the welding machine voltage value. The default value is 0V, and the range is [0-200V] voltageHigh: The upper limit of the AI channel corresponds to the voltage value of the welding machine. The default value is 100V, and the range is [0-200V]
Return Value	Error Code Success-0 Failure- errcode

14.55. Example arc tracking code

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')

safetydescPose = [-504.043,275.181,40.908,-28.002,-42.025,-14.044]
safetyjointPos = [-39.078,-76.732,87.227,-99.47,-94.301,18.714]
startdescPose = [-473.86,257.879,-20.849,-37.317,-42.021,2.543]
startjointPos = [-43.487,-76.526,95.568,-104.445,-89.356,3.72]
enddescPose = [-499.844,141.225,7.72,-34.856,-40.17,13.13]
endjointPos = [-31.305,-82.998,99.401,-104.426,-89.35,3.696]
exaxisPos = [0, 0, 0, 0]
offdese = [0, 0, 0, 0, 0, 0]
robot.MoveJ(joint_pos=safetyjointPos, tool=1, user=0, vel=20, acc=100)
robot.WeldingSetCurrentRelation(0, 495, 1, 10, 0)
robot.WeldingSetVoltageRelation(10, 45, 1, 10, 1)
robot.WeldingSetVoltage(0, 25, 1, 0)
robot.WeldingSetCurrent(0, 260, 0, 0)
rtn = robot.ArcWeldTraceAIChannelCurrent(4)
print("ArcWeldTraceAIChannelCurrent rtn is", rtn)
rtn = robot.ArcWeldTraceAIChannelVoltage(5)
print("ArcWeldTraceAIChannelVoltage rtn is", rtn)
rtn = robot.ArcWeldTraceCurrentPara(0, 5, 0, 500)
print("ArcWeldTraceCurrentPara rtn is", rtn)
rtn = robot.ArcWeldTraceVoltagePara(1.018, 10, 0, 50)
print("ArcWeldTraceVoltagePara rtn is", rtn)
robot.MoveJ(joint_pos=startjointPos, tool=1, user=0, vel=20, acc=100)
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(desc_pos=enddescPose, tool=1, user=0, vel=100, ovl= 2, acc=100)
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(joint_pos=safetyjointPos, tool=1, user=0, vel=20, acc=100)

14.56. Setting Up the Weld Wire Seek Expansion IO Port

New in version python: SDK-v2.0.5

Prototype	SetWireSearchExtDIONum(searchDoneDINum, searchStartDONum)
Description	Setting up the Weld Wire Seeker Expansion IO Port
Mandatory parameter	searchDoneDINum: weld wire seek success DO port (0-127) searchStartDONum: wire seek start/stop control DO port (0-127)
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode