Python 14.63. Example of robot wire locating 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')
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)
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()

14.64. Set the welding voltage to start gradually

New in version python: SDK-v2.1.2

Prototype	WeldingSetVoltageGradualChangeStart(IOType, voltageStart, voltageEnd, AOIndex, blend)
Description	Set the welding voltage to start gradually
Mandatory parameters	IOType: Control type 0- Control Box IO 1- Digital Communication Protocol (UDP) 2- Digital Communication Protocol (ModbusTCP) voltageStart: Initial welding voltage (V) voltageEnd: Termination welding voltage (V) AOIndex: The AO port number of the control box (0-1) blend: Whether smooth 0- Not smooth; 1- Smooth
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

14.65. Set the welding voltage gradient to end

New in version python: SDK-v2.1.2

Prototype	WeldingSetVoltageGradualChangeEnd()
Description	Set the welding voltage gradient to end
Mandatory parameters	NULL
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

14.66. Set the welding current to start gradually

New in version python: SDK-v2.1.2

Prototype	WeldingSetCurrentGradualChangeStart(IOType, currentStart, currentEnd, AOIndex, blend)
Description	Set the welding current to start gradually
Mandatory parameters	IOType: Control type 0- Control Box IO 1- Digital Communication Protocol (UDP) 2- Digital Communication Protocol (ModbusTCP) currentStart: Initial welding current (A) currentEnd: Termination welding current (A) AOIndex: The AO port number of the control box (0-1) blend: Whether smooth 0- Not smooth; 1- Smooth
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode

14.67. Set the welding current to gradually end

New in version python: SDK-v2.1.2

Prototype	WeldingSetCurrentGradualChangeEnd()
Description	Set the welding current to gradually end
Mandatory parameters	NULL
Default parameters	NULL
Return Value	Error Code Success-0 Failure- errcode