Python 14.57. code example

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')
toolCoord = [0, 0, 200, 0, 0, 0]
robot.SetToolCoord(1, toolCoord, 0, 0, 1, 0)
wobjCoord = [0, 0, 0, 0, 0, 0]
robot.SetWObjCoord(1, wobjCoord, 0)
robot.ExtDevSetUDPComParam("192.168.58.88", 2021, 2, 50, 5, 50, 1, 50, 10)
robot.ExtDevLoadUDPDriver()
robot.SetWireSearchExtDIONum(0, 0)
exaxisPos = [0, 0, 0, 0]
offdese = [0, 0, 0, 0, 0, 0]
descStart = [216.543, 445.175, 93.465, 179.683, 1.757, -112.641]
jointStart = [-128.345, -86.660, 114.679, -119.625, -89.219, 74.303]
descEnd = [111.143, 523.384, 87.659, 179.703, 1.835, -97.750]
jointEnd = [-113.454, -81.060, 109.328, -119.954, -89.218, 74.302]
error = robot.MoveL(desc_pos=descStart,tool= 1,user= 1,vel= 100)
print(f"MoveL return: {error}")
error = robot.MoveL(desc_pos=descEnd,tool= 1,user= 1,vel= 100)
print(f"MoveL return: {error}")
descREF0A = [142.135, 367.604, 86.523, 179.728, 1.922, -111.089]
jointREF0A = [-126.794, -100.834, 128.922, -119.864, -89.218, 74.302]
descREF0B = [254.633, 463.125, 72.604, 179.845, 2.341, -114.704]
jointREF0B = [-130.413, -81.093, 112.044, -123.163, -89.217, 74.303]
descREF1A = [92.556, 485.259, 47.476, -179.932, 3.130, -97.512]
jointREF1A = [-113.231, -83.815, 119.877, -129.092, -89.217, 74.303]
descREF1B = [203.103, 583.836, 63.909, 179.991, 2.854, -103.372]
jointREF1B = [-119.088, -69.676, 98.692, -121.761, -89.219, 74.303]
error = robot.WireSearchStart(0, 10, 100, 0, 10, 100, 0)
print(f"WireSearchStart return: {error}")
error = robot.MoveL(desc_pos=descREF0A,tool= 1,user= 1,vel= 100)
print(f"MoveL return: {error}")
error = robot.MoveL(desc_pos=descREF0B,tool= 1,user= 1,vel= 100,search=1)
print(f"MoveL return: {error}")
error = robot.WireSearchWait("REF0")
print(f"WireSearchWait return: {error}")
error = robot.WireSearchEnd(0, 10, 100, 0, 10, 100, 0)
print(f"WireSearchEnd return: {error}")
error = robot.WireSearchStart(0, 10, 100, 0, 10, 100, 0)
print(f"WireSearchStart return: {error}")
error = robot.MoveL(desc_pos= descREF1A,tool= 1,user= 1,vel= 100)
print(f"MoveL return: {error}")
error = robot.MoveL(desc_pos= descREF1B,tool= 1,user= 1,vel= 100,search=1)
print(f"MoveL return: {error}")
error = robot.WireSearchWait("REF1")
print(f"WireSearchWait return: {error}")
error = robot.WireSearchEnd(0, 10, 100, 0, 10, 100, 0)
error = robot.WireSearchStart(0, 10, 100, 0, 10, 100, 0)
print(f"WireSearchStart return: {error}")
error = robot.MoveL(desc_pos= descREF0A,tool= 1,user= 1,vel= 100)
print(f"MoveL return: {error}")
error = robot.MoveL(desc_pos= descREF0B,tool= 1,user= 1,vel= 100,search=1)
print(f"MoveL return: {error}")
error = robot.WireSearchWait("RES0")
print(f"WireSearchWait return: {error}")
error = robot.WireSearchEnd(0, 10, 100, 0, 10, 100, 0)
print(f"WireSearchEnd return: {error}")
error = robot.WireSearchStart(0, 10, 100, 0, 10, 100, 0)
print(f"WireSearchStart return: {error}")
error = robot.MoveL(desc_pos= descREF1A,tool= 1,user= 1,vel= 100)
print(f"MoveL return: {error}")
error = robot.MoveL(desc_pos= descREF1B,tool= 1,user= 1,vel= 100,search=1)
print(f"MoveL return: {error}")
error = robot.WireSearchWait("RES1")
print(f"WireSearchWait return: {error}")
error = robot.WireSearchEnd(0, 10, 100, 0, 10, 100, 0)
print(f"WireSearchEnd return: {error}")
varNameRef = ["REF0", "REF1", "#", "#", "#", "#"]
varNameRes = ["RES0", "RES1", "#", "#", "#", "#"]
offectFlag = 0
offectPos = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
error, offectFlag, offectPos = robot.GetWireSearchOffset(0, 0, varNameRef, varNameRes)
print(f"GetWireSearchOffset return: {error}")
error = robot.PointsOffsetEnable(0, offectPos)
print(f"PointsOffsetEnable return: {error}")
error = robot.MoveL(desc_pos= descStart,tool= 1,user= 1,vel= 100)
print(f"MoveL return: {error}")
error = robot.MoveL(desc_pos= descEnd,tool= 1,user= 1,vel= 100,search=1)
print(f"MoveL return: {error}")
error = robot.PointsOffsetDisable()
robot.CloseRPC()

14.58. Welding wire position finding start

New in version python: SDK-v2.0.5

Prototype	WireSearchStart(refPos,searchVel,searchDis,autoBackFlag,autoBackVel,autoBackDis,offectFlag)
Description	Welding wire seek start
Mandatory parameters	refPos: 1 - reference point 0 - contact point searchVel: search velocity % searchDis: search distance mm autoBackFlag: autoBackFlag, 0 - not auto; - auto autoBackVel: Automatic Back Velocity % autoBackDis: automatic back distance mm offectFlag: 1 - seek with offset; 0 - teach point seek
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

14.59. End of wire position finding

New in version python: SDK-v2.0.5

Prototype	WireSearchEnd(refPos,searchVel,searchDis,autoBackFlag,autoBackVel,autoBackDis,offectFlag)
Description	Welding wire seek end
Mandatory parameters	refPos: 1 - reference point 2 - contact point searchVel: search velocity % searchDis: search distance mm autoBackFlag: autoBackFlag, 0 - not auto; - auto autoBackVel: Automatic Back Velocity % autoBackDis: automatic back distance mm offectFlag: 1 - seek with offset; 2 - teach point seek
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

14.60. Calculate the wire finding offset

New in version python: SDK-v2.0.5

Prototype	GetWireSearchOffset(seamType, method,varNameRef,varNameRes)
Description	Calculate the welding wire seek offset
Mandatory parameters	seamType: weld type method: method of calculation varNameRef: datums 1-6, “#” denotes a pointless variable varNameRes: Contacts 1-6, “#” for dotless variables
Default parameters	NULL
Return Value	errorcode Success-0 Failure- errcode offsetFlag: 0 - the offset is superimposed directly on the instruction point; 1 - the offset requires a coordinate transformation of the instruction point offset: offset position [x, y, z, a, b, c]

14.61. Waiting for wire seek to complete

New in version python: SDK-v2.0.5

Prototype	WireSearchWait(varname)
Description	Waiting for wire seek to complete.
Mandatory parameters	varName: contact name “RES0” ~ “RES99”
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

14.62. Wire seek contact points written to database

New in version python: SDK-v2.0.5

Prototype	SetPointToDatabase(varName,pos)
Description	Welding wire seeker contact points written to database
Mandatory parameters	varName: contact name “RES0” ~ “RES99” pos: contact point data [x, y, x, a, b, c]
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode