| xCore-SDK 0.5.0 xCore SDK C# API

arcwelding_cli.hpp
1
8#pragma once
9#ifndef XCORESDK_SRC_MANAGED_ARCWELDING_CLI_HPP_
10#define XCORESDK_SRC_MANAGED_ARCWELDING_CLI_HPP_
11
12#include <unordered_map>
13#include "data_types_cli.hpp"
14#include "exception_cli.hpp"
15#include "data_types_cli.hpp"
16
17 using namespace System;
18 using namespace System::Collections::Generic;
19 using namespace System::Runtime::InteropServices;
20
21 namespace rokae {
22 class ArcWelding;
23}
24
25 namespace rokae::clr
26{
30 public
31 ref class ArcWelding
32 {
33 public:
34 ArcWelding(rokae::ArcWelding *arcwelding);
35 ~ArcWelding();
36
37 enum class WeldMode {
39 TestRun = 0,
41 Simu = 1,
43 Real = 2
44 };
45
49 value struct ReArcOnParam {
51 Boolean enable;
53 Int32 retry_time;
55 Int32 wire_retract_delay_time;
57 Int32 wire_retract_time; //<
59 Double current_step; //<
61 Double voltage_step; //<
62
64 static ReArcOnParam CreateDefault() {
65 ReArcOnParam param;
66 param.enable = false;
67 param.retry_time = 3;
68 param.wire_retract_delay_time = 50;
69 param.wire_retract_time = 200;
70 param.current_step = 0.0;
71 param.voltage_step = 0.0;
72 return param;
73 }
74 };
75
79 value struct ScratchArconParam {
81 Boolean enable;
83 Int32 distance;
85 Int32 back_speed;
87 Int32 step;
88
90 static ScratchArconParam CreateDefault() {
91 ScratchArconParam param;
92 param.enable = false;
93 param.distance = 20;
94 param.back_speed = 50;
95 param.step = 5;
96 return param;
97 }
98 };
99
103 value struct ArcOnData {
105 String ^ name;
107 String ^ annotation;
109 String ^ mode;
111 String ^ current_mode;
113 String ^ voltage_mode;
115 Double current;
117 Double voltage;
119 Int32 hold_time;
121 Int32 detect_time;
123 Int32 confirm_time;
125 Int32 preflow_time;
127 Int32 prearc_time;
129 Double slow_wire_feed_speed;
131 Int32 pre_wirefeed_time;
133 Int32 ramp_time;
135 ReArcOnParam re_arcon;
137 ScratchArconParam scratch_arcon;
138
140 static ArcOnData CreateDefault() {
141 ArcOnData param;
142 param.name = "default";
143 param.annotation = "";
144 param.mode = "flat_characteristic";
145 param.current_mode = "current";
146 param.voltage_mode = "unified";
147 param.current = 0;
148 param.voltage = 0;
149 param.hold_time = 200;
150 param.detect_time = 2000;
151 param.confirm_time = 200;
152 param.preflow_time = 200;
153 param.prearc_time = 200;
154 param.slow_wire_feed_speed = 1;
155 param.pre_wirefeed_time = 200;
156 param.ramp_time = 200;
157 param.re_arcon = ReArcOnParam::CreateDefault();
158 param.scratch_arcon = ScratchArconParam::CreateDefault();
159 return param;
160 }
161 };
162
166 value struct ArcBreakParam {
168 Int32 detect_time;
170 String ^ arc_break_option;
172 Int32 restart_back_distance;
173
175 static ArcBreakParam CreateDefault() {
176 ArcBreakParam param;
177 param.detect_time = 200;
178 param.arc_break_option = "stop_and_alarm";
179 param.restart_back_distance = 10;
180 return param;
181 }
182 };
183
187 value struct ArcData {
189 String ^ name;
191 String ^ annotation;
193 String ^ mode;
195 String ^ current_mode;
197 String ^ voltage_mode;
199 Double current;
201 Double voltage;
203 Double weld_speed;
205 Int32 ramp_time;
207 ArcBreakParam arc_break_param;
208
210 static ArcData CreateDefault() {
211 ArcData param;
212 param.name = "default";
213 param.annotation = "";
214 param.mode = "flat_characteristic";
215 param.current_mode = "current";
216 param.voltage_mode = "unified";
217 param.current = 0;
218 param.voltage = 0;
219 param.weld_speed = 10;
220 param.ramp_time = 200;
221 param.arc_break_param = ArcBreakParam::CreateDefault();
222 return param;
223 }
224 };
225
229 value struct AntiWireStickParam {
231 Boolean enable;
233 Double current;
235 Double voltage;
237 Int32 time;
238
240 static AntiWireStickParam CreateDefault() {
241 AntiWireStickParam param;
242 param.enable = false;
243 param.current = 30;
244 param.voltage = 10;
245 param.time = 500;
246 return param;
247 }
248 };
249
253 value struct ArcOffData {
255 String ^ name;
257 String ^ annotation;
259 String ^ mode;
261 String ^ current_mode;
263 String ^ voltage_mode;
265 Double current;
267 Double voltage;
269 Int32 hold_time;
271 Int32 delay_gasoff_time;
273 Int32 detect_time;
275 Int32 retract_time;
277 Int32 wire_stick_detection_time;
279 AntiWireStickParam anti_wire_stick_param;
280
282 static ArcOffData CreateDefault() {
283 ArcOffData param;
284 param.name = "default";
285 param.annotation = "";
286 param.mode = "flat_characteristic";
287 param.current_mode = "current";
288 param.voltage_mode = "unified";
289 param.current = 0;
290 param.voltage = 0;
291 param.hold_time = 500;
292 param.delay_gasoff_time = 200;
293 param.detect_time = 5000;
294 param.retract_time = 100;
295 param.wire_stick_detection_time = 500;
296 param.anti_wire_stick_param = AntiWireStickParam::CreateDefault();
297 return param;
298 }
299 };
300
304 value struct Amplitude {
306 Double left;
308 Double right;
309
311 static Amplitude CreateDefault() {
312 Amplitude param;
313 param.left = 0.1;
314 param.right = 0.1;
315 return param;
316 }
317 };
318
322 value struct ElevationAngle {
324 Double left;
326 Double right;
327
329 static ElevationAngle CreateDefault() {
330 ElevationAngle param;
331 param.left = 0;
332 param.right = 0;
333 return param;
334 }
335 };
336
340 value struct WeaveData {
342 String ^ name;
344 String ^ annotation;
346 String ^ weaving_reference;
348 String ^ pattern;
350 Double weave_length_frequency;
352 Amplitude amplitude;
354 String ^ dwell_type;
356 array<Int32> ^ dwell_time;
358 Double radius;
360 Boolean phase_invert;
362 String ^ elevation_type;
364 ElevationAngle elevation_angle;
366 Double inclination_angle;
368 Double acc;
370 Double jerk;
371
373 static WeaveData CreateDefault() {
374 WeaveData param;
375 param.name = "default";
376 param.annotation = "";
377 param.weaving_reference = "cycle";
378 param.pattern = "triangular";
379 param.weave_length_frequency = 0.1;
380 param.amplitude = Amplitude::CreateDefault();
381 param.dwell_type = "robot_stay";
382 param.dwell_time = gcnew array<Int32>{0, 0, 0};
383 param.radius = 0.1;
384 param.phase_invert = false;
385 param.elevation_type = "v_pattern";
386 param.elevation_angle = ElevationAngle::CreateDefault();
387 param.inclination_angle = 0;
388 param.acc = 0.5;
389 param.jerk = 5;
390 return param;
391 }
392 };
393
397 value struct SegData {
399 String ^ name;
401 String ^ annotation;
403 String ^ seg_type;
405 String ^ non_welded_speed;
407 Double welded_distance;
409 Double non_welded_distance;
410
412 static SegData CreateDefault() {
413 SegData param;
414 param.name = "default";
415 param.annotation = "";
416 param.seg_type = "normal";
417 param.non_welded_speed = "v5";
418 param.welded_distance = 0.1;
419 param.non_welded_distance = 0.1;
420 return param;
421 }
422 };
423
427 value struct LaserTrackData {
429 String ^ name;
431 Int32 job_number;
433 Boolean y_comp;
435 Double y_offset;
437 Boolean z_comp;
439 Double z_offset;
440
442 static LaserTrackData CreateDefault() {
443 LaserTrackData param;
444 param.name = "default";
445 param.job_number = 0;
446 param.y_comp = false;
447 param.y_offset = 20;
448 param.z_comp = false;
449 param.z_offset = 20;
450 return param;
451 }
452 };
453
457 value struct LaserSearchData {
459 String ^ name;
461 Int32 job_number;
463 String ^ search_type;
465 String ^ search_mode;
467 Double step_length;
469 String ^ joint_type;
470
472 static LaserSearchData CreateDefault() {
473 LaserSearchData param;
474 param.name = "default";
475 param.job_number = 0;
476 param.search_type = "point";
477 param.search_mode = "continuous";
478 param.step_length = 2.0;
479 param.joint_type = "corner_joint";
480 return param;
481 }
482 };
483
487 value struct IOData {
489 String ^ name;
491 Int32 type;
493 Int32 bias;
495 Boolean enable;
496
498 static IOData CreateDefault() {
499 IOData param;
500 param.name = "";
501 param.type = 0;
502 param.bias = 0;
503 param.enable = false;
504 return param;
505 }
506 };
507
511 value struct IOSetting {
513 IOData arc_on;
515 IOData wire_feed;
517 IOData wire_feed_back;
519 IOData gas_test;
521 IOData positioning_enable;
523 IOData arc_on_success;
525 IOData positioning_feedback;
527 IOData current_set;
529 IOData voltage_set;
531 IOData current_get;
533 IOData voltage_get;
535 IOData robot_ready;
537 IOData error;
538
540 static IOSetting CreateDefault() {
541 IOSetting param;
542 param.arc_on = IOData::CreateDefault();
543 param.wire_feed = IOData::CreateDefault();
544 param.wire_feed_back = IOData::CreateDefault();
545 param.gas_test = IOData::CreateDefault();
546 param.positioning_enable = IOData::CreateDefault();
547 param.arc_on_success = IOData::CreateDefault();
548 param.positioning_feedback = IOData::CreateDefault();
549 param.current_set = IOData::CreateDefault();
550 param.voltage_set = IOData::CreateDefault();
551 param.current_get = IOData::CreateDefault();
552 param.voltage_get = IOData::CreateDefault();
553 param.robot_ready = IOData::CreateDefault();
554 param.error = IOData::CreateDefault();
555 return param;
556 }
557 };
558
562 value struct CharacteristicCurveData {
564 String ^ name;
566 Double intercept;
568 List<Tuple<Double, Double> ^> ^ points;
570 Double slope;
571
573 static CharacteristicCurveData CreateDefault() {
574 CharacteristicCurveData param;
575 param.name = "default";
576 param.intercept = 0;
577 param.points = gcnew List<Tuple<Double, Double> ^>();
578 param.slope = 0;
579 return param;
580 }
581 };
582
586 value struct ArcWeldRunningParam {
588 Double test_run_speed;
590 Double wire_feed_speed;
592 Int32 gas_detect_time;
593
595 static ArcWeldRunningParam CreateDefault() {
596 ArcWeldRunningParam param;
597 param.test_run_speed = 200;
598 param.wire_feed_speed = 1;
599 param.gas_detect_time = 15;
600 return param;
601 }
602 };
603
607 value struct WelderStatus {
609 Double current;
611 Double voltage;
613 String ^ state;
615 Int32 speed;
617 ErrorCode ^ running_error;
619 String ^ welding_name;
621 Int32 arc_welding;
625 Double welding_distance;
629 Int32 welding_path_num;
630
632 static WelderStatus CreateDefault() {
633 WelderStatus param;
634 param.current = 0;
635 param.voltage = 0;
636 param.state = "disabled";
637 param.speed = 0;
638 param.running_error = gcnew ErrorCode(0, "操作成功完成");
639 param.welding_name = "";
640 param.arc_welding = -1;
641 param.welding_distance = 0;
642 param.welding_path_num = 0;
643 return param;
644 }
645 };
646
650 value struct WelderSetting {
652 String ^ mfr;
654 String ^ model;
656 String ^ protocol;
658 Int32 current_type;
660 String ^ current_file;
662 String ^ voltage_file;
663
665 static WelderSetting CreateDefault() {
666 WelderSetting param;
667 param.mfr = "";
668 param.model = "";
669 param.protocol = "";
670 param.current_type = 0;
671 param.current_file = "";
672 param.voltage_file = "";
673 return param;
674 }
675 };
676
680 value struct HandeyeData {
682 String ^ name;
684 Boolean mode;
686 array<Double> ^ xyz_abc;
688 array<Double> ^ rotMatrix;
690 array<Double> ^ transVector;
691
693 static HandeyeData CreateDefault() {
694 HandeyeData param;
695 param.name = "";
696 param.mode = false;
697 param.xyz_abc = gcnew array<Double>{0.0, 0.0, 0.0, 0.0, 0.0, 0.0};
698 param.rotMatrix = gcnew array<Double>{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0};
699 param.transVector = gcnew array<Double>{0.0, 0.0, 0.0};
700 return param;
701 }
702 };
703
705 value struct CalibrationResult{
707 int id;
709 List<double>^ p_robot;
711 List<double>^ p_laser;
712
714 static CalibrationResult CreateDefault(){
715 CalibrationResult param;
716 param.id = 0;
717 param.p_robot = gcnew List<double>();
718 param.p_laser = gcnew List<double>();
719 return param;
720 }
721 };
722
726 enum class LaserSensorType {
728 CRNT = 0,
730 SMART_IMAGE = 1
731 };
732
736 value struct LaserSensorCfg {
738 String ^ name;
740 String ^ ip;
742 Int32 port;
744 LaserSensorType type;
746 Int32 overtime;
748 Int32 communication_cycle;
749
751 static LaserSensorCfg CreateDefault() {
752 LaserSensorCfg param;
753 param.name = "sensor0";
754 param.ip = "192.168.2.3";
755 param.port = 502;
756 param.type = LaserSensorType::CRNT;
757 param.overtime = 1000;
758 param.communication_cycle = 70;
759 return param;
760 }
761 };
762
766 value struct ArcSetOpt {
768 String ^ arc_data;
770 Boolean ref_start;
772 Double distance;
773
775 static ArcSetOpt CreateDefault() {
776 ArcSetOpt param;
777 param.arc_data = "";
778 param.ref_start = true;
779 param.distance = 0;
780 return param;
781 }
782 };
783
787 value struct AnticollisionState{
788 String^ signal;
789 Boolean enable;
790 Boolean block;
791 Int32 countdown;
792
793 static AnticollisionState CreateDefault() {
794 AnticollisionState param;
795 param.signal = "";
796 param.enable = false;
797 param.block = false;
798 param.countdown = 60;
799 return param;
800 }
801 };
802
809 ArcOnData getArcOnData(String ^ arconDataName, [Out] ErrorCode ^ % ec);
810
816 void setArcOnData(ArcOnData arconData, [Out] ErrorCode ^ % ec);
817
823 void removeArcOnData(String ^ arconDataName, [Out] ErrorCode ^ % ec);
824
830 void removeArcOnData(List<String ^> ^ arconDataNames, [Out] ErrorCode ^ % ec);
831
838 ArcData getArcData(String ^ arcDataName, [Out] ErrorCode ^ % ec);
839
845 void setArcData(ArcData arcData, [Out] ErrorCode ^ % ec);
846
852 void removeArcData(String ^ arcDataName, [Out] ErrorCode ^ % ec);
853
859 void removeArcData(List<String ^> ^ arcDataNames, [Out] ErrorCode ^ % ec);
860
867 void enableArcData(ArcData arcData, [Out] ErrorCode ^ % ec);
868
875 ArcOffData getArcOffData(String ^ arcoffDataName, [Out] ErrorCode ^ % ec);
876
882 void setArcOffData(ArcOffData arcoffData, [Out] ErrorCode ^ % ec);
883
889 void removeArcOffData(String ^ arcoffDataName, [Out] ErrorCode ^ % ec);
890
896 void removeArcOffData(List<String ^> ^ arcoffDataNames, [Out] ErrorCode ^ % ec);
897
904 WeaveData getWeaveData(String ^ weaveDataName, [Out] ErrorCode ^ % ec);
905
911 void setWeaveData(WeaveData weaveData, [Out] ErrorCode ^ % ec);
912
918 void removeWeaveData(String ^ weaveDataName, [Out] ErrorCode ^ % ec);
919
925 void removeWeaveData(List<String ^> ^ weaveDataNames, [Out] ErrorCode ^ % ec);
926
933 SegData getSegData(String^ segDataName, [Out] ErrorCode ^ % ec);
934
940 void setSegData(SegData segData, [Out] ErrorCode ^ % ec);
941
947 void removeSegData(String^ segDataName, [Out] ErrorCode ^ % ec);
948
954 void removeSegData(List<String^>^ segDataNames, [Out] ErrorCode ^ % ec);
955
962 LaserTrackData getLaserTrackData(String^ laserTrackDataName, [Out] ErrorCode ^ % ec);
963
969 void setLaserTrackData(LaserTrackData laserTrackData, [Out] ErrorCode ^ % ec);
970
976 void removeLaserTrackData(String^ laserTrackDataName, [Out] ErrorCode ^ % ec);
977
983 void removeLaserTrackData(List<String^>^ laserTrackDataNames, [Out] ErrorCode ^ % ec);
984
991 LaserSearchData getLaserSearchData(String^ laserSearchDataName, [Out] ErrorCode ^ % ec);
992
998 void setLaserSearchData(LaserSearchData laserSearchData, [Out] ErrorCode ^ % ec);
999
1005 void removeLaserSearchData(String^ laserSearchDataName, [Out] ErrorCode ^ % ec);
1006
1012 void removeLaserSearchData(List<String^>^ laserSearchDataNames, [Out] ErrorCode ^ % ec);
1013
1019 IOSetting getIOSetting([Out] ErrorCode ^ % ec);
1020
1026 void setIOSetting(IOSetting ioSetting, [Out] ErrorCode ^ % ec);
1027
1034 CharacteristicCurveData getCurrentCharacteristicCurveData(String^ name, [Out] ErrorCode ^ % ec);
1035
1041 void setCurrentCharacteristicCurveData(CharacteristicCurveData data, [Out] ErrorCode ^ % ec);
1042
1049 CharacteristicCurveData getVoltageCharacteristicCurveData(String^ name, [Out] ErrorCode ^ % ec);
1050
1056 void setVoltageCharacteristicCurveData(CharacteristicCurveData data, [Out] ErrorCode ^ % ec);
1057
1064 CharacteristicCurveData calculateCurrentCurve(CharacteristicCurveData data, [Out] ErrorCode ^ % ec);
1065
1072 CharacteristicCurveData calculateVoltageCurve(CharacteristicCurveData data, [Out] ErrorCode ^ % ec);
1073
1079 WelderStatus getWelderStatus([Out] ErrorCode ^ % ec);
1080
1089 void setWelder(String^ protocol, String^ mfr, String^ type, Int32 current, [Out] ErrorCode ^ % ec);
1090
1096 void setWelder(ArcWelding::WelderSetting welderSetting, [Out] ErrorCode ^ % ec);
1097
1103 WelderSetting getWelderSetting([Out] ErrorCode ^ % ec);
1104
1109 void connectToWelder([Out] ErrorCode ^ % ec);
1110
1115 void disconnectFromWelder([Out] ErrorCode ^ % ec);
1116
1122 Boolean isEniHaveWeld([Out] ErrorCode ^ % ec);
1123
1132 void setIsEniHaveWeld(Boolean isEniHaveWeld, [Out] ErrorCode ^ % ec);
1133
1139 WeldMode getWeldMode([Out] ErrorCode ^ % ec);
1140
1146 void setWeldMode(WeldMode weldMode, [Out] ErrorCode ^ % ec);
1147
1153 ArcWeldRunningParam getRunningParam([Out] ErrorCode ^ % ec);
1154
1160 void setRunningParam(ArcWeldRunningParam data, [Out] ErrorCode ^ % ec);
1161
1168 void feedOnWire(Double time, Boolean enable, [Out] ErrorCode ^ % ec);
1169
1176 void feedBackWire(Double time, Boolean enable, [Out] ErrorCode ^ % ec);
1177
1184 void detectGas(Double time, Boolean enable, [Out] ErrorCode ^ % ec);
1185
1192 void setCurrentAndVoltage(Double current, Double voltage, [Out] ErrorCode ^ % ec);
1193
1200 void saveCurrentAndVoltage(Double current, Double voltage, [Out] ErrorCode ^ % ec);
1201
1209 void startWelding(Double current, Double voltage, String^ voltage_mode, [Out] ErrorCode ^ % ec);
1210
1215 void stopWelding([Out] ErrorCode ^ % ec);
1216
1222 void setHandeyeData(HandeyeData handeyedata, [Out] ErrorCode ^ % ec);
1223
1230 HandeyeData getHandeyeData(String^ name, [Out] ErrorCode ^ % ec);
1231
1237 void removeHandeyeData(String^ name, [Out] ErrorCode ^ % ec);
1238
1244 void removeHandeyeData(List<String^>^ names, [Out] ErrorCode ^ % ec);
1245
1252 void startHandeyeCalibration(String ^ name, int type, [Out] ErrorCode ^ % ec);
1253
1260 CalibrationResult calibratePoint(int id, [Out] ErrorCode ^ % ec);
1261
1268 List<double> ^ calibrateEnd(HandeyeData% handeyedata, [Out] ErrorCode ^ % ec);
1269
1275 void setLaserSensorCfg(LaserSensorCfg cfg, [Out] ErrorCode ^ % ec);
1276
1283 LaserSensorCfg getLaserSensorCfg(String^ name, [Out] ErrorCode ^ % ec);
1284
1290 void removeLaserSensorCfg(String^ device_name, [Out] ErrorCode ^ % ec);
1291
1297 void removeLaserSensorCfg(List<String^>^ device_names, [Out] ErrorCode ^ % ec);
1298
1304 void connLaserSensorDev(String^ device_name, [Out] ErrorCode ^ % ec);
1305
1311 void disconnLaserSensorDev(String^ device_name, [Out] ErrorCode ^ % ec);
1312
1318 void openLaserTrack(String^ device_name, [Out] ErrorCode ^ % ec);
1319
1325 void closeLaserTrack(String^ device_name, [Out] ErrorCode ^ % ec);
1326
1335 void setAnticollision(String^ signal, Boolean enable, Boolean block, Int32 countdown, [Out] ErrorCode ^ % ec);
1336
1342 AnticollisionState getAnticollisionState([Out] ErrorCode ^ % ec);
1343
1344 ref class ArcWeldingCommand{};
1345
1349 ref class ArcOnCommand : public ArcWeldingCommand
1350 {
1351 public:
1355 ArcOnCommand();
1356
1362 ArcOnCommand(String^ arcOnData, String^ arcData);
1363
1369 void setArcOnData(String^ arcOnData, [Out] ErrorCode ^ % ec);
1370
1375 String^ getArcOnData();
1376
1382 void setArcData(String^ arcData, [Out] ErrorCode ^ % ec);
1383
1388 String^ getArcData();
1389
1390 private:
1391 String^ m_arcOnData{"default"};
1392 String^ m_arcData{"default"};
1393 };
1394
1398 ref class ArcOffCommand : public ArcWeldingCommand
1399 {
1400 public:
1404 ArcOffCommand();
1405
1410 ArcOffCommand(String^ arcOffData);
1411
1417 void setArcOffData(String^ arcOffData, [Out] ErrorCode ^ % ec);
1418
1423 String^ getArcOffData();
1424
1425 private:
1426 String^ m_arcOffData{"default"};
1427 };
1428
1432 ref class WMoveLCommand : public ArcWeldingCommand
1433 {
1434 public:
1438 WMoveLCommand();
1439
1447 WMoveLCommand(CartesianPosition ^ target, Int32 speed, Int32 zone, String ^ weaveData);
1448
1454 void setWeaveData(String ^ weaveData, [Out] ErrorCode ^ % ec);
1455
1460 String ^ getWeaveData();
1461
1463 CartesianPosition ^ target = gcnew CartesianPosition();
1465 Int32 speed = -1;
1467 Int32 zone = -1;
1469 CartesianPosition::Offset ^ cartTargetOffset = gcnew CartesianPosition::Offset();
1472 double rotSpeed = -1;
1474 String ^ customInfo = "";
1476 ArcSetOpt arc_set_opt = ArcSetOpt::CreateDefault();
1477
1478 private:
1480 String ^ m_weaveData = "";
1481 };
1482
1486 ref class WMoveCCommand : public ArcWeldingCommand
1487 {
1488 public:
1492 WMoveCCommand();
1493
1502 WMoveCCommand(CartesianPosition ^ target, CartesianPosition ^ aux, Int32 speed, Int32 zone, String ^ weaveData);
1503
1509 void setWeaveData(String ^ weaveData, [Out] ErrorCode ^ % ec);
1510
1515 String ^ getWeaveData();
1516
1518 CartesianPosition ^ target = gcnew CartesianPosition();
1520 CartesianPosition ^ aux = gcnew CartesianPosition();
1522 CartesianPosition::Offset ^ cartTargetOffset = gcnew CartesianPosition::Offset();
1524 CartesianPosition::Offset ^ auxPointOffset = gcnew CartesianPosition::Offset();
1526 Int32 speed = -1;
1528 Int32 zone = -1;
1531 double rotSpeed = -1;
1533 String ^ customInfo = "";
1535 ArcSetOpt arc_set_opt = ArcSetOpt::CreateDefault();
1536
1537 private:
1539 String ^ m_weaveData = "";
1540 };
1541
1545 ref class WeaveOnCommand : public ArcWeldingCommand
1546 {
1547 public:
1551 WeaveOnCommand();
1552
1557 WeaveOnCommand(String^ weaveData);
1558
1564 void setWeaveData(String^ weaveData, [Out] ErrorCode ^ % ec);
1565
1570 String^ getWeaveData();
1571
1572 private:
1574 String^ m_weaveData{"default"};
1575 };
1576
1580 ref class WeaveOffCommand : public ArcWeldingCommand
1581 {
1582 };
1583
1587 ref class LaserTrackOnCommand : public ArcWeldingCommand
1588 {
1589 public:
1593 LaserTrackOnCommand();
1594
1600 LaserTrackOnCommand(String^ handEyeData, String^ laserTrackData);
1601
1607 void setHandEyeData(String^ handEyeData, [Out] ErrorCode ^ % ec);
1608
1613 String^ getHandEyeData();
1614
1620 void setLaserTrackData(String^ laserTrackData, [Out] ErrorCode ^ % ec);
1621
1626 String^ getLaserTrackData();
1627
1628 private:
1630 String^ m_handEyeData{"default"};
1632 String^ m_laserTrackData{"default"};
1633 };
1634
1638 ref class LaserTrackOffCommand : public ArcWeldingCommand
1639 {
1640 };
1641
1645 ref class LaserSearchCommand : public ArcWeldingCommand
1646 {
1647 public:
1651 LaserSearchCommand();
1652
1661 LaserSearchCommand(String^ laserHandEyeData, String^ laserSearchData, CartesianPosition^ endPoint, Int32 speed, Int32 zone);
1662
1663 public:
1665 String^ laserHandEyeData = "default";
1667 String^ laserSearchData = "default";
1669 CartesianPosition^ endPoint = gcnew CartesianPosition();
1671 Int32 speed = -1;
1673 Int32 zone = -1;
1674 };
1675
1679 ref class SegOnCommand : public ArcWeldingCommand
1680 {
1681 public:
1685 SegOnCommand();
1686
1691 SegOnCommand(String^ segData);
1692
1694 String^ segData = "default";
1695 };
1696
1700 ref class SegOffCommand : public ArcWeldingCommand{};
1701
1713 Tuple<Boolean, CartesianPosition^>^ executeLaserSearch(ArcWelding::LaserSearchCommand^ cmd, Boolean isMove, System::TimeSpan^ timeout, [Out] ErrorCode ^ % ec);
1714
1715 private:
1716 rokae::ArcWelding *_arcwelding;
1717 };
1718}
1719
1720#endif // XCORESDK_SRC_MANAGED_ARCWELDING_CLI_HPP_
rokae::clr::ArcWelding::ArcOffCommand
焊接指令 - 收弧，收弧参数默认为default
Definition: arcwelding_cli.hpp:1399
rokae::clr::ArcWelding::ArcOffCommand::ArcOffCommand
ArcOffCommand()
Constructor，默认收弧参数名为default
rokae::clr::ArcWelding::ArcOffCommand::setArcOffData
void setArcOffData(String^ arcOffData, [Out] ErrorCode ^ % ec)
设置收弧参数
rokae::clr::ArcWelding::ArcOffCommand::getArcOffData
String getArcOffData()
获取收弧参数
rokae::clr::ArcWelding::ArcOffCommand::ArcOffCommand
ArcOffCommand(String^ arcOffData)
Constructor
rokae::clr::ArcWelding::ArcOnCommand
焊接指令 - 起弧，起弧参数和焊接参数默认都为default
Definition: arcwelding_cli.hpp:1350
rokae::clr::ArcWelding::ArcOnCommand::setArcData
void setArcData(String^ arcData, [Out] ErrorCode ^ % ec)
设置焊接参数
rokae::clr::ArcWelding::ArcOnCommand::getArcData
String getArcData()
获取焊接参数
rokae::clr::ArcWelding::ArcOnCommand::ArcOnCommand
ArcOnCommand(String^ arcOnData, String^ arcData)
Constructor
rokae::clr::ArcWelding::ArcOnCommand::setArcOnData
void setArcOnData(String^ arcOnData, [Out] ErrorCode ^ % ec)
设置起弧参数
rokae::clr::ArcWelding::ArcOnCommand::getArcOnData
String getArcOnData()
获取起弧参数
rokae::clr::ArcWelding::ArcOnCommand::ArcOnCommand
ArcOnCommand()
Constructor，默认起弧参数名和焊接参数名为default
rokae::clr::ArcWelding::ArcWeldingCommand
Definition: arcwelding_cli.hpp:1344
rokae::clr::ArcWelding::LaserSearchCommand
焊接指令 - 激光寻位
Definition: arcwelding_cli.hpp:1646
rokae::clr::ArcWelding::LaserSearchCommand::zone
Int32 zone
转弯区大小, 单位mm
Definition: arcwelding_cli.hpp:1673
rokae::clr::ArcWelding::LaserSearchCommand::LaserSearchCommand
LaserSearchCommand()
Constructor
rokae::clr::ArcWelding::LaserSearchCommand::laserHandEyeData
String laserHandEyeData
手眼标定参数名称
Definition: arcwelding_cli.hpp:1665
rokae::clr::ArcWelding::LaserSearchCommand::LaserSearchCommand
LaserSearchCommand(String^ laserHandEyeData, String^ laserSearchData, CartesianPosition^ endPoint, Int32 speed, Int32 zone)
Constructor
rokae::clr::ArcWelding::LaserSearchCommand::laserSearchData
String laserSearchData
激光寻位参数名称
Definition: arcwelding_cli.hpp:1667
rokae::clr::ArcWelding::LaserSearchCommand::speed
Int32 speed
末端线速度, 单位mm/s
Definition: arcwelding_cli.hpp:1671
rokae::clr::ArcWelding::LaserSearchCommand::endPoint
CartesianPosition endPoint
激光寻位终点, 工具工件坐标系下的
Definition: arcwelding_cli.hpp:1669
rokae::clr::ArcWelding::LaserTrackOffCommand
焊接指令 - 停止激光跟踪
Definition: arcwelding_cli.hpp:1639
rokae::clr::ArcWelding::LaserTrackOnCommand
焊接指令 - 开始激光跟踪
Definition: arcwelding_cli.hpp:1588
rokae::clr::ArcWelding::LaserTrackOnCommand::getLaserTrackData
String getLaserTrackData()
获取激光跟踪参数名称
rokae::clr::ArcWelding::LaserTrackOnCommand::LaserTrackOnCommand
LaserTrackOnCommand()
Constructor
rokae::clr::ArcWelding::LaserTrackOnCommand::LaserTrackOnCommand
LaserTrackOnCommand(String^ handEyeData, String^ laserTrackData)
Constructor
rokae::clr::ArcWelding::LaserTrackOnCommand::setHandEyeData
void setHandEyeData(String^ handEyeData, [Out] ErrorCode ^ % ec)
设置手眼标定参数名称
rokae::clr::ArcWelding::LaserTrackOnCommand::getHandEyeData
String getHandEyeData()
获取手眼标定参数名称
rokae::clr::ArcWelding::LaserTrackOnCommand::setLaserTrackData
void setLaserTrackData(String^ laserTrackData, [Out] ErrorCode ^ % ec)
设置激光跟踪参数名称
rokae::clr::ArcWelding::SegOffCommand
焊接指令 - 关闭间断焊
Definition: arcwelding_cli.hpp:1700
rokae::clr::ArcWelding::SegOnCommand
焊接指令 - 开启间断焊
Definition: arcwelding_cli.hpp:1680
rokae::clr::ArcWelding::SegOnCommand::SegOnCommand
SegOnCommand(String^ segData)
Constructor
rokae::clr::ArcWelding::SegOnCommand::segData
String segData
间断焊参数名称
Definition: arcwelding_cli.hpp:1694
rokae::clr::ArcWelding::SegOnCommand::SegOnCommand
SegOnCommand()
Constructor
rokae::clr::ArcWelding::WMoveCCommand
焊接指令 - 圆弧轨迹，摆动参数默认为空
Definition: arcwelding_cli.hpp:1487
rokae::clr::ArcWelding::WMoveCCommand::rotSpeed
double rotSpeed
空间旋转速度，用于末端类型指令，单位rad/s。 大于等于0时生效；小于0时旋转速度默认为200°/s
Definition: arcwelding_cli.hpp:1531
rokae::clr::ArcWelding::WMoveCCommand::setWeaveData
void setWeaveData(String ^ weaveData, [Out] ErrorCode ^ % ec)
设置摆动参数
rokae::clr::ArcWelding::WMoveCCommand::cartTargetOffset
CartesianPosition::Offset cartTargetOffset
笛卡尔目标点偏移选项
Definition: arcwelding_cli.hpp:1522
rokae::clr::ArcWelding::WMoveCCommand::getWeaveData
String getWeaveData()
获取摆动参数
rokae::clr::ArcWelding::WMoveCCommand::speed
Int32 speed
机器人末端最大线速度, 单位mm/s。
Definition: arcwelding_cli.hpp:1526
rokae::clr::ArcWelding::WMoveCCommand::target
CartesianPosition target
目标笛卡尔点位
Definition: arcwelding_cli.hpp:1518
rokae::clr::ArcWelding::WMoveCCommand::aux
CartesianPosition aux
辅助点
Definition: arcwelding_cli.hpp:1520
rokae::clr::ArcWelding::WMoveCCommand::WMoveCCommand
WMoveCCommand()
Constructor
rokae::clr::ArcWelding::WMoveCCommand::arc_set_opt
ArcSetOpt arc_set_opt
设置焊接参数选项。
Definition: arcwelding_cli.hpp:1535
rokae::clr::ArcWelding::WMoveCCommand::zone
Int32 zone
转弯区半径，单位mm
Definition: arcwelding_cli.hpp:1528
rokae::clr::ArcWelding::WMoveCCommand::auxPointOffset
CartesianPosition::Offset auxPointOffset
辅助点偏移选项
Definition: arcwelding_cli.hpp:1524
rokae::clr::ArcWelding::WMoveCCommand::customInfo
String customInfo
自定义信息，可在运动信息反馈中返回出来
Definition: arcwelding_cli.hpp:1533
rokae::clr::ArcWelding::WMoveCCommand::WMoveCCommand
WMoveCCommand(CartesianPosition ^ target, CartesianPosition ^ aux, Int32 speed, Int32 zone, String ^ weaveData)
Constructor
rokae::clr::ArcWelding::WMoveLCommand
焊接指令 - 直线轨迹，摆动参数默认为空
Definition: arcwelding_cli.hpp:1433
rokae::clr::ArcWelding::WMoveLCommand::zone
Int32 zone
转弯区半径，单位mm
Definition: arcwelding_cli.hpp:1467
rokae::clr::ArcWelding::WMoveLCommand::target
CartesianPosition target
目标笛卡尔点位
Definition: arcwelding_cli.hpp:1463
rokae::clr::ArcWelding::WMoveLCommand::cartTargetOffset
CartesianPosition::Offset cartTargetOffset
笛卡尔目标点偏移选项
Definition: arcwelding_cli.hpp:1469
rokae::clr::ArcWelding::WMoveLCommand::getWeaveData
String getWeaveData()
获取摆动参数
rokae::clr::ArcWelding::WMoveLCommand::speed
Int32 speed
机器人末端最大线速度，单位mm/s
Definition: arcwelding_cli.hpp:1465
rokae::clr::ArcWelding::WMoveLCommand::rotSpeed
double rotSpeed
空间旋转速度，用于末端类型指令，单位rad/s。 大于等于0时生效；小于0时旋转速度默认为200°/s
Definition: arcwelding_cli.hpp:1472
rokae::clr::ArcWelding::WMoveLCommand::customInfo
String customInfo
自定义信息，可在运动信息反馈中返回出来
Definition: arcwelding_cli.hpp:1474
rokae::clr::ArcWelding::WMoveLCommand::arc_set_opt
ArcSetOpt arc_set_opt
设置焊接参数选项
Definition: arcwelding_cli.hpp:1476
rokae::clr::ArcWelding::WMoveLCommand::setWeaveData
void setWeaveData(String ^ weaveData, [Out] ErrorCode ^ % ec)
设置摆动参数
rokae::clr::ArcWelding::WMoveLCommand::WMoveLCommand
WMoveLCommand(CartesianPosition ^ target, Int32 speed, Int32 zone, String ^ weaveData)
Constructor
rokae::clr::ArcWelding::WMoveLCommand::WMoveLCommand
WMoveLCommand()
Constructor，默认摆动参数名为空
rokae::clr::ArcWelding::WeaveOffCommand
焊接指令 - 停止摆动
Definition: arcwelding_cli.hpp:1581
rokae::clr::ArcWelding::WeaveOnCommand
焊接指令 - 开始摆动
Definition: arcwelding_cli.hpp:1546
rokae::clr::ArcWelding::WeaveOnCommand::WeaveOnCommand
WeaveOnCommand()
Constructor
rokae::clr::ArcWelding::WeaveOnCommand::getWeaveData
String getWeaveData()
获取摆动参数
rokae::clr::ArcWelding::WeaveOnCommand::WeaveOnCommand
WeaveOnCommand(String^ weaveData)
Constructor
rokae::clr::ArcWelding::WeaveOnCommand::setWeaveData
void setWeaveData(String^ weaveData, [Out] ErrorCode ^ % ec)
设置摆动参数
rokae::clr::ArcWelding
焊接工艺包指令
Definition: arcwelding_cli.hpp:32
rokae::clr::ArcWelding::getLaserSensorCfg
LaserSensorCfg getLaserSensorCfg(String^ name, [Out] ErrorCode ^ % ec)
获取激光传感器配置参数
rokae::clr::ArcWelding::setIsEniHaveWeld
void setIsEniHaveWeld(Boolean isEniHaveWeld, [Out] ErrorCode ^ % ec)
设置是否连接物理焊机（仅EtherCAT焊机，切换ENI文件，重启控制器生效）
rokae::clr::ArcWelding::removeArcData
void removeArcData(String ^ arcDataName, [Out] ErrorCode ^ % ec)
删除焊接参数
rokae::clr::ArcWelding::connectToWelder
void connectToWelder([Out] ErrorCode ^ % ec)
连接焊机，启用弧焊功能
rokae::clr::ArcWelding::getLaserTrackData
LaserTrackData getLaserTrackData(String^ laserTrackDataName, [Out] ErrorCode ^ % ec)
获取激光跟踪参数
rokae::clr::ArcWelding::feedBackWire
void feedBackWire(Double time, Boolean enable, [Out] ErrorCode ^ % ec)
退丝
rokae::clr::ArcWelding::removeLaserTrackData
void removeLaserTrackData(String^ laserTrackDataName, [Out] ErrorCode ^ % ec)
删除激光跟踪参数
rokae::clr::ArcWelding::feedOnWire
void feedOnWire(Double time, Boolean enable, [Out] ErrorCode ^ % ec)
送丝
rokae::clr::ArcWelding::openLaserTrack
void openLaserTrack(String^ device_name, [Out] ErrorCode ^ % ec)
打开焊缝跟踪器，开始获取激光器焊缝数据
rokae::clr::ArcWelding::setAnticollision
void setAnticollision(String^ signal, Boolean enable, Boolean block, Int32 countdown, [Out] ErrorCode ^ % ec)
设置防碰撞传感器
rokae::clr::ArcWelding::calibratePoint
CalibrationResult calibratePoint(int id, [Out] ErrorCode ^ % ec)
手眼标定添加点位
rokae::clr::ArcWelding::setLaserTrackData
void setLaserTrackData(LaserTrackData laserTrackData, [Out] ErrorCode ^ % ec)
设置激光跟踪参数
rokae::clr::ArcWelding::setVoltageCharacteristicCurveData
void setVoltageCharacteristicCurveData(CharacteristicCurveData data, [Out] ErrorCode ^ % ec)
设置电压特性曲线参数，同时执行计算并保存
rokae::clr::ArcWelding::removeArcData
void removeArcData(List< String ^> ^ arcDataNames, [Out] ErrorCode ^ % ec)
批量删除焊接参数
rokae::clr::ArcWelding::getArcData
ArcData getArcData(String ^ arcDataName, [Out] ErrorCode ^ % ec)
获取焊接参数
rokae::clr::ArcWelding::getArcOnData
ArcOnData getArcOnData(String ^ arconDataName, [Out] ErrorCode ^ % ec)
获取起弧参数
rokae::clr::ArcWelding::getWelderStatus
WelderStatus getWelderStatus([Out] ErrorCode ^ % ec)
获取焊机状态
rokae::clr::ArcWelding::getRunningParam
ArcWeldRunningParam getRunningParam([Out] ErrorCode ^ % ec)
读取焊接运行参数
rokae::clr::ArcWelding::calculateVoltageCurve
CharacteristicCurveData calculateVoltageCurve(CharacteristicCurveData data, [Out] ErrorCode ^ % ec)
计算电压特性曲线参数，只计算，不保存
rokae::clr::ArcWelding::getCurrentCharacteristicCurveData
CharacteristicCurveData getCurrentCharacteristicCurveData(String^ name, [Out] ErrorCode ^ % ec)
获取电流特性曲线参数
rokae::clr::ArcWelding::disconnectFromWelder
void disconnectFromWelder([Out] ErrorCode ^ % ec)
断开焊机连接，关闭弧焊功能
rokae::clr::ArcWelding::setLaserSearchData
void setLaserSearchData(LaserSearchData laserSearchData, [Out] ErrorCode ^ % ec)
设置激光寻位参数
rokae::clr::ArcWelding::setArcOffData
void setArcOffData(ArcOffData arcoffData, [Out] ErrorCode ^ % ec)
设置收弧参数
rokae::clr::ArcWelding::closeLaserTrack
void closeLaserTrack(String^ device_name, [Out] ErrorCode ^ % ec)
关闭焊缝跟踪器，停止获取激光器焊缝数据
rokae::clr::ArcWelding::setArcOnData
void setArcOnData(ArcOnData arconData, [Out] ErrorCode ^ % ec)
设置起弧参数
rokae::clr::ArcWelding::getVoltageCharacteristicCurveData
CharacteristicCurveData getVoltageCharacteristicCurveData(String^ name, [Out] ErrorCode ^ % ec)
获取电压特性曲线参数
rokae::clr::ArcWelding::removeArcOffData
void removeArcOffData(List< String ^> ^ arcoffDataNames, [Out] ErrorCode ^ % ec)
批量删除收弧参数
rokae::clr::ArcWelding::setWelder
void setWelder(ArcWelding::WelderSetting welderSetting, [Out] ErrorCode ^ % ec)
设置焊机
rokae::clr::ArcWelding::getHandeyeData
HandeyeData getHandeyeData(String^ name, [Out] ErrorCode ^ % ec)
获得目前设置的手眼标定结果
rokae::clr::ArcWelding::removeArcOnData
void removeArcOnData(String ^ arconDataName, [Out] ErrorCode ^ % ec)
删除起弧参数
rokae::clr::ArcWelding::WeldMode
WeldMode
Definition: arcwelding_cli.hpp:37
rokae::clr::ArcWelding::calibrateEnd
List< double > calibrateEnd(HandeyeData% handeyedata, [Out] ErrorCode ^ % ec)
手眼标定结束，计算标定结果
rokae::clr::ArcWelding::removeLaserSearchData
void removeLaserSearchData(String^ laserSearchDataName, [Out] ErrorCode ^ % ec)
删除激光寻位参数
rokae::clr::ArcWelding::removeLaserSearchData
void removeLaserSearchData(List< String^>^ laserSearchDataNames, [Out] ErrorCode ^ % ec)
批量删除激光寻位参数
rokae::clr::ArcWelding::setHandeyeData
void setHandeyeData(HandeyeData handeyedata, [Out] ErrorCode ^ % ec)
添加设置手眼标定结果参数
rokae::clr::ArcWelding::setCurrentAndVoltage
void setCurrentAndVoltage(Double current, Double voltage, [Out] ErrorCode ^ % ec)
在线设置电流和电压，只有在焊接状态才生效
rokae::clr::ArcWelding::getWelderSetting
WelderSetting getWelderSetting([Out] ErrorCode ^ % ec)
获取焊机设置
rokae::clr::ArcWelding::enableArcData
void enableArcData(ArcData arcData, [Out] ErrorCode ^ % ec)
生效焊接参数 在未运行时将焊接参数发送给焊机，观察焊机面板显示，用于检查通讯是否建立，设置是否准确，不保存
rokae::clr::ArcWelding::setSegData
void setSegData(SegData segData, [Out] ErrorCode ^ % ec)
设置间断焊参数
rokae::clr::ArcWelding::stopWelding
void stopWelding([Out] ErrorCode ^ % ec)
停止铆焊
rokae::clr::ArcWelding::disconnLaserSensorDev
void disconnLaserSensorDev(String^ device_name, [Out] ErrorCode ^ % ec)
断开连接激光传感器
rokae::clr::ArcWelding::getAnticollisionState
AnticollisionState getAnticollisionState([Out] ErrorCode ^ % ec)
获取防碰撞传感器设置或状态
rokae::clr::ArcWelding::getArcOffData
ArcOffData getArcOffData(String ^ arcoffDataName, [Out] ErrorCode ^ % ec)
获取收弧参数
rokae::clr::ArcWelding::setIOSetting
void setIOSetting(IOSetting ioSetting, [Out] ErrorCode ^ % ec)
设置IO设置，必须在未启用焊接时才能设置
rokae::clr::ArcWelding::setWelder
void setWelder(String^ protocol, String^ mfr, String^ type, Int32 current, [Out] ErrorCode ^ % ec)
设置焊机
rokae::clr::ArcWelding::startWelding
void startWelding(Double current, Double voltage, String^ voltage_mode, [Out] ErrorCode ^ % ec)
开始铆焊。工作模式为直流，电流模式为电流，电压模式为一元化或分别模式
rokae::clr::ArcWelding::getIOSetting
IOSetting getIOSetting([Out] ErrorCode ^ % ec)
获取IO设置
rokae::clr::ArcWelding::setLaserSensorCfg
void setLaserSensorCfg(LaserSensorCfg cfg, [Out] ErrorCode ^ % ec)
添加设置激光传感器配置参数
rokae::clr::ArcWelding::getSegData
SegData getSegData(String^ segDataName, [Out] ErrorCode ^ % ec)
获取间断焊参数
rokae::clr::ArcWelding::LaserSensorType
LaserSensorType
激光传感器品牌选择
Definition: arcwelding_cli.hpp:726
rokae::clr::ArcWelding::LaserSensorType::CRNT
@ CRNT
创想激光器
rokae::clr::ArcWelding::isEniHaveWeld
Boolean isEniHaveWeld([Out] ErrorCode ^ % ec)
读取当前是否连接物理焊机（仅EthreCAT焊机，由当前使用ENI文件确定）
rokae::clr::ArcWelding::calculateCurrentCurve
CharacteristicCurveData calculateCurrentCurve(CharacteristicCurveData data, [Out] ErrorCode ^ % ec)
计算电流特性曲线参数，只计算，不保存
rokae::clr::ArcWelding::detectGas
void detectGas(Double time, Boolean enable, [Out] ErrorCode ^ % ec)
检气
rokae::clr::ArcWelding::removeSegData
void removeSegData(String^ segDataName, [Out] ErrorCode ^ % ec)
删除间断焊参数
rokae::clr::ArcWelding::connLaserSensorDev
void connLaserSensorDev(String^ device_name, [Out] ErrorCode ^ % ec)
连接激光传感器
rokae::clr::ArcWelding::setWeldMode
void setWeldMode(WeldMode weldMode, [Out] ErrorCode ^ % ec)
设置焊接模式
rokae::clr::ArcWelding::removeWeaveData
void removeWeaveData(List< String ^> ^ weaveDataNames, [Out] ErrorCode ^ % ec)
批量删除摆焊参数
rokae::clr::ArcWelding::getWeaveData
WeaveData getWeaveData(String ^ weaveDataName, [Out] ErrorCode ^ % ec)
获取摆焊参数
rokae::clr::ArcWelding::removeLaserSensorCfg
void removeLaserSensorCfg(List< String^>^ device_names, [Out] ErrorCode ^ % ec)
删除多个激光传感器配置参数
rokae::clr::ArcWelding::removeLaserSensorCfg
void removeLaserSensorCfg(String^ device_name, [Out] ErrorCode ^ % ec)
删除激光传感器配置参数
rokae::clr::ArcWelding::executeLaserSearch
Tuple< Boolean, CartesianPosition^> executeLaserSearch(ArcWelding::LaserSearchCommand^ cmd, Boolean isMove, System::TimeSpan^ timeout, [Out] ErrorCode ^ % ec)
激光寻位
rokae::clr::ArcWelding::getWeldMode
WeldMode getWeldMode([Out] ErrorCode ^ % ec)
获取焊接模式
rokae::clr::ArcWelding::setArcData
void setArcData(ArcData arcData, [Out] ErrorCode ^ % ec)
设置焊接参数
rokae::clr::ArcWelding::removeLaserTrackData
void removeLaserTrackData(List< String^>^ laserTrackDataNames, [Out] ErrorCode ^ % ec)
批量删除激光跟踪参数
rokae::clr::ArcWelding::setRunningParam
void setRunningParam(ArcWeldRunningParam data, [Out] ErrorCode ^ % ec)
设置焊接运行参数
rokae::clr::ArcWelding::removeHandeyeData
void removeHandeyeData(String^ name, [Out] ErrorCode ^ % ec)
删除手眼标定结果
rokae::clr::ArcWelding::setWeaveData
void setWeaveData(WeaveData weaveData, [Out] ErrorCode ^ % ec)
设置摆焊参数
rokae::clr::ArcWelding::removeArcOffData
void removeArcOffData(String ^ arcoffDataName, [Out] ErrorCode ^ % ec)
删除收弧参数
rokae::clr::ArcWelding::startHandeyeCalibration
void startHandeyeCalibration(String ^ name, int type, [Out] ErrorCode ^ % ec)
开始手眼标定，需要已经连接激光传感器
rokae::clr::ArcWelding::removeWeaveData
void removeWeaveData(String ^ weaveDataName, [Out] ErrorCode ^ % ec)
删除摆焊参数
rokae::clr::ArcWelding::removeSegData
void removeSegData(List< String^>^ segDataNames, [Out] ErrorCode ^ % ec)
批量删除间断焊参数
rokae::clr::ArcWelding::removeArcOnData
void removeArcOnData(List< String ^> ^ arconDataNames, [Out] ErrorCode ^ % ec)
批量删除起弧参数
rokae::clr::ArcWelding::saveCurrentAndVoltage
void saveCurrentAndVoltage(Double current, Double voltage, [Out] ErrorCode ^ % ec)
在线保存电流和电压，只有在焊接状态才生效
rokae::clr::ArcWelding::setCurrentCharacteristicCurveData
void setCurrentCharacteristicCurveData(CharacteristicCurveData data, [Out] ErrorCode ^ % ec)
设置电流特性曲线参数，同时执行计算并保存
rokae::clr::ArcWelding::getLaserSearchData
LaserSearchData getLaserSearchData(String^ laserSearchDataName, [Out] ErrorCode ^ % ec)
获取激光寻位参数
rokae::clr::ArcWelding::removeHandeyeData
void removeHandeyeData(List< String^>^ names, [Out] ErrorCode ^ % ec)
删除多个手眼标定结果
rokae::clr::CartesianPosition::Offset
偏移
Definition: data_types_cli.hpp:330
rokae::clr::CartesianPosition
笛卡尔点位
Definition: data_types_cli.hpp:325
rokae::clr::ErrorCode
xCoreSDK错误码
Definition: data_types_cli.hpp:23
data_types_cli.hpp
rokae::clr::ArcWelding::Amplitude
摆动幅度
Definition: arcwelding_cli.hpp:304
rokae::clr::ArcWelding::Amplitude::left
Double left
左幅度。单位：mm，范围：[ 0.1, 50 ]
Definition: arcwelding_cli.hpp:306
rokae::clr::ArcWelding::Amplitude::CreateDefault
static Amplitude CreateDefault()
Amplitude默认值
Definition: arcwelding_cli.hpp:311
rokae::clr::ArcWelding::Amplitude::right
Double right
右幅度。单位：mm，范围：[ 0.1, 50 ]
Definition: arcwelding_cli.hpp:308
rokae::clr::ArcWelding::AntiWireStickParam
防粘丝参数
Definition: arcwelding_cli.hpp:229
rokae::clr::ArcWelding::AntiWireStickParam::enable
Boolean enable
防粘丝开关
Definition: arcwelding_cli.hpp:231
rokae::clr::ArcWelding::AntiWireStickParam::current
Double current
防粘丝电流。单位：A，范围：[0 - 100] A
Definition: arcwelding_cli.hpp:233
rokae::clr::ArcWelding::AntiWireStickParam::time
Int32 time
防粘丝时间。单位：ms，范围：[0 - 10000] ms
Definition: arcwelding_cli.hpp:237
rokae::clr::ArcWelding::AntiWireStickParam::CreateDefault
static AntiWireStickParam CreateDefault()
AntiWireStickParam默认值
Definition: arcwelding_cli.hpp:240
rokae::clr::ArcWelding::AntiWireStickParam::voltage
Double voltage
防粘丝电压。一元化：单位：，范围：[0 - 50] ；分别：单位：V，范围：[0 - 20] V
Definition: arcwelding_cli.hpp:235
rokae::clr::ArcWelding::AnticollisionState
防碰撞状态
Definition: arcwelding_cli.hpp:787
rokae::clr::ArcWelding::ArcBreakParam
断弧和再起弧参数
Definition: arcwelding_cli.hpp:166
rokae::clr::ArcWelding::ArcBreakParam::restart_back_distance
Int32 restart_back_distance
再启动回退距离。单位：mm，范围：[0 - 100] mm
Definition: arcwelding_cli.hpp:172
rokae::clr::ArcWelding::ArcBreakParam::CreateDefault
static ArcBreakParam CreateDefault()
ArcBreakParam默认值
Definition: arcwelding_cli.hpp:175
rokae::clr::ArcWelding::ArcBreakParam::arc_break_option
String arc_break_option
断弧选项。继续运行："continue_running"，停机并告警："stop_and_alarm"，自动再起弧："auto_arc_reignition"
Definition: arcwelding_cli.hpp:170
rokae::clr::ArcWelding::ArcBreakParam::detect_time
Int32 detect_time
断弧检测时间。单位：ms，范围：[0 - 10000] ms
Definition: arcwelding_cli.hpp:168
rokae::clr::ArcWelding::ArcData
焊接参数
Definition: arcwelding_cli.hpp:187
rokae::clr::ArcWelding::ArcData::annotation
String annotation
文件号注释
Definition: arcwelding_cli.hpp:191
rokae::clr::ArcWelding::ArcData::arc_break_param
ArcBreakParam arc_break_param
断弧和再起弧参数
Definition: arcwelding_cli.hpp:207
rokae::clr::ArcWelding::ArcData::name
String name
文件号名
Definition: arcwelding_cli.hpp:189
rokae::clr::ArcWelding::ArcData::voltage_mode
String voltage_mode
电压模式。分别："separate"，一元化："unified"
Definition: arcwelding_cli.hpp:197
rokae::clr::ArcWelding::ArcData::CreateDefault
static ArcData CreateDefault()
ArcData默认值
Definition: arcwelding_cli.hpp:210
rokae::clr::ArcWelding::ArcData::mode
String mode
焊机工作模式。平特性："flat_characteristic"，低飞溅："low_spatter"，脉冲： "pulse"，双脉冲："Double_pulse"，直流点焊："dc_spot_weldi...
Definition: arcwelding_cli.hpp:193
rokae::clr::ArcWelding::ArcData::weld_speed
Double weld_speed
焊接速度.单位：mm/s
Definition: arcwelding_cli.hpp:203
rokae::clr::ArcWelding::ArcData::current_mode
String current_mode
电流模式。电流："current"，送丝速度："wire_feed"
Definition: arcwelding_cli.hpp:195
rokae::clr::ArcWelding::ArcData::ramp_time
Int32 ramp_time
渐变时间。单位：ms，范围：[1 - 10000] ms
Definition: arcwelding_cli.hpp:205
rokae::clr::ArcWelding::ArcData::current
Double current
起弧电流. 单位：电流下为 A，送丝速度下为 mm/s
Definition: arcwelding_cli.hpp:199
rokae::clr::ArcWelding::ArcData::voltage
Double voltage
起弧电压。单位：分别下为 V，一元化下为 V 或者 %
Definition: arcwelding_cli.hpp:201
rokae::clr::ArcWelding::ArcOffData
收弧参数
Definition: arcwelding_cli.hpp:253
rokae::clr::ArcWelding::ArcOffData::hold_time
Int32 hold_time
收弧保持时间。单位：ms，范围：[0 - 10000] ms
Definition: arcwelding_cli.hpp:269
rokae::clr::ArcWelding::ArcOffData::name
String name
文件号名
Definition: arcwelding_cli.hpp:255
rokae::clr::ArcWelding::ArcOffData::voltage
Double voltage
起弧电压。单位：分别下为 V，一元化下为 V 或者 %
Definition: arcwelding_cli.hpp:267
rokae::clr::ArcWelding::ArcOffData::current_mode
String current_mode
电流模式。电流："current"，送丝速度："wire_feed"
Definition: arcwelding_cli.hpp:261
rokae::clr::ArcWelding::ArcOffData::mode
String mode
焊机工作模式。平特性："flat_characteristic"，低飞溅："low_spatter"，脉冲： "pulse"，双脉冲："Double_pulse"，直流点焊："dc_spot_weldi...
Definition: arcwelding_cli.hpp:259
rokae::clr::ArcWelding::ArcOffData::delay_gasoff_time
Int32 delay_gasoff_time
滞后关气时间。单位：ms，范围：[0 - 10000] ms
Definition: arcwelding_cli.hpp:271
rokae::clr::ArcWelding::ArcOffData::annotation
String annotation
文件号注释
Definition: arcwelding_cli.hpp:257
rokae::clr::ArcWelding::ArcOffData::CreateDefault
static ArcOffData CreateDefault()
ArcOffData默认值
Definition: arcwelding_cli.hpp:282
rokae::clr::ArcWelding::ArcOffData::wire_stick_detection_time
Int32 wire_stick_detection_time
粘丝检测时间。单位：ms
Definition: arcwelding_cli.hpp:277
rokae::clr::ArcWelding::ArcOffData::retract_time
Int32 retract_time
收弧退丝时间。单位：ms，范围：[0 - 10000] ms
Definition: arcwelding_cli.hpp:275
rokae::clr::ArcWelding::ArcOffData::current
Double current
起弧电流. 单位：电流下为 A，送丝速度下为 mm/s
Definition: arcwelding_cli.hpp:265
rokae::clr::ArcWelding::ArcOffData::anti_wire_stick_param
AntiWireStickParam anti_wire_stick_param
防粘丝参数
Definition: arcwelding_cli.hpp:279
rokae::clr::ArcWelding::ArcOffData::detect_time
Int32 detect_time
收弧检测时间。单位：ms，范围：[0 - 10000] ms
Definition: arcwelding_cli.hpp:273
rokae::clr::ArcWelding::ArcOffData::voltage_mode
String voltage_mode
电压模式。分别："separate"，一元化："unified"
Definition: arcwelding_cli.hpp:263
rokae::clr::ArcWelding::ArcOnData
起弧参数
Definition: arcwelding_cli.hpp:103
rokae::clr::ArcWelding::ArcOnData::current
Double current
起弧电流. 单位：电流下为 A，送丝速度下为 mm/s
Definition: arcwelding_cli.hpp:115
rokae::clr::ArcWelding::ArcOnData::voltage_mode
String voltage_mode
电压模式。分别："separate"，一元化："unified"
Definition: arcwelding_cli.hpp:113
rokae::clr::ArcWelding::ArcOnData::scratch_arcon
ScratchArconParam scratch_arcon
刮擦起弧参数
Definition: arcwelding_cli.hpp:137
rokae::clr::ArcWelding::ArcOnData::pre_wirefeed_time
Int32 pre_wirefeed_time
提前送丝时间。单位：ms
Definition: arcwelding_cli.hpp:131
rokae::clr::ArcWelding::ArcOnData::voltage
Double voltage
起弧电压。单位：分别下为 V，一元化下为 V 或者 %
Definition: arcwelding_cli.hpp:117
rokae::clr::ArcWelding::ArcOnData::re_arcon
ReArcOnParam re_arcon
再起弧参数
Definition: arcwelding_cli.hpp:135
rokae::clr::ArcWelding::ArcOnData::prearc_time
Int32 prearc_time
提前起弧时间。单位：ms
Definition: arcwelding_cli.hpp:127
rokae::clr::ArcWelding::ArcOnData::preflow_time
Int32 preflow_time
提前送气时间。单位：ms，范围：[1 - 10000] ms
Definition: arcwelding_cli.hpp:125
rokae::clr::ArcWelding::ArcOnData::slow_wire_feed_speed
Double slow_wire_feed_speed
慢送丝速度。单位：m/min，范围：[1 - 21] m/min
Definition: arcwelding_cli.hpp:129
rokae::clr::ArcWelding::ArcOnData::name
String name
文件号名
Definition: arcwelding_cli.hpp:105
rokae::clr::ArcWelding::ArcOnData::mode
String mode
焊机工作模式。平特性："flat_characteristic"，低飞溅："low_spatter"，脉冲： "pulse"，双脉冲："Double_pulse"，直流点焊："dc_spot_weldi...
Definition: arcwelding_cli.hpp:109
rokae::clr::ArcWelding::ArcOnData::CreateDefault
static ArcOnData CreateDefault()
ArcOnData默认值
Definition: arcwelding_cli.hpp:140
rokae::clr::ArcWelding::ArcOnData::ramp_time
Int32 ramp_time
渐变时间。单位：ms，范围：[1 - 10000] ms
Definition: arcwelding_cli.hpp:133
rokae::clr::ArcWelding::ArcOnData::detect_time
Int32 detect_time
起弧检测时间。单位：ms，范围：[0 - 10000] ms
Definition: arcwelding_cli.hpp:121
rokae::clr::ArcWelding::ArcOnData::annotation
String annotation
注释
Definition: arcwelding_cli.hpp:107
rokae::clr::ArcWelding::ArcOnData::confirm_time
Int32 confirm_time
起弧确认时间。单位：ms，范围：[0 - 10000] ms
Definition: arcwelding_cli.hpp:123
rokae::clr::ArcWelding::ArcOnData::hold_time
Int32 hold_time
起弧保持时间。单位：ms，范围：[0 - 10000] ms
Definition: arcwelding_cli.hpp:119
rokae::clr::ArcWelding::ArcOnData::current_mode
String current_mode
电流模式。电流："current"，送丝速度："wire_feed"
Definition: arcwelding_cli.hpp:111
rokae::clr::ArcWelding::ArcSetOpt
焊接参数设置，用于WMoveLCommand/WMoveCCommand运行时调整焊接参数，不断弧
Definition: arcwelding_cli.hpp:766
rokae::clr::ArcWelding::ArcSetOpt::distance
Double distance
焊接参数在路径上开始发生变化的位置, 单位毫米。注：如果比路径长，则调整发生在路径的端点；对于有转弯区的情形，调整发生在转弯区中点
Definition: arcwelding_cli.hpp:772
rokae::clr::ArcWelding::ArcSetOpt::ref_start
Boolean ref_start
true - 相对下一条路径起点执行焊接参数修改 | false - 相对下一条路径终点
Definition: arcwelding_cli.hpp:770
rokae::clr::ArcWelding::ArcSetOpt::arc_data
String arc_data
焊接参数名称, 非空时代表需要调整焊接参数
Definition: arcwelding_cli.hpp:768
rokae::clr::ArcWelding::ArcSetOpt::CreateDefault
static ArcSetOpt CreateDefault()
焊接参数默认值
Definition: arcwelding_cli.hpp:775
rokae::clr::ArcWelding::ArcWeldRunningParam
运行参数
Definition: arcwelding_cli.hpp:586
rokae::clr::ArcWelding::ArcWeldRunningParam::gas_detect_time
Int32 gas_detect_time
气体检测时间。单位：s，范围：[ 1, 30 ]
Definition: arcwelding_cli.hpp:592
rokae::clr::ArcWelding::ArcWeldRunningParam::wire_feed_speed
Double wire_feed_speed
手动点动送/退丝速度。单位：m/min。跟焊机本身有关，范围(0, +∞]
Definition: arcwelding_cli.hpp:590
rokae::clr::ArcWelding::ArcWeldRunningParam::CreateDefault
static ArcWeldRunningParam CreateDefault()
运行参数默认值
Definition: arcwelding_cli.hpp:595
rokae::clr::ArcWelding::ArcWeldRunningParam::test_run_speed
Double test_run_speed
空运行笛卡尔速度。单位：mm/s，范围：[ 1, 250 ]
Definition: arcwelding_cli.hpp:588
rokae::clr::ArcWelding::CalibrationResult
自动标定点位结果
Definition: arcwelding_cli.hpp:705
rokae::clr::ArcWelding::CalibrationResult::CreateDefault
static CalibrationResult CreateDefault()
自动标定点位结果默认值
Definition: arcwelding_cli.hpp:714
rokae::clr::ArcWelding::CalibrationResult::p_laser
List< double > p_laser
激光相机坐标
Definition: arcwelding_cli.hpp:711
rokae::clr::ArcWelding::CalibrationResult::id
int id
点位序号
Definition: arcwelding_cli.hpp:707
rokae::clr::ArcWelding::CalibrationResult::p_robot
List< double > p_robot
机器人坐标
Definition: arcwelding_cli.hpp:709
rokae::clr::ArcWelding::CharacteristicCurveData
特性曲线参数
Definition: arcwelding_cli.hpp:562
rokae::clr::ArcWelding::CharacteristicCurveData::slope
Double slope
斜率
Definition: arcwelding_cli.hpp:570
rokae::clr::ArcWelding::CharacteristicCurveData::name
String name
文件号名
Definition: arcwelding_cli.hpp:564
rokae::clr::ArcWelding::CharacteristicCurveData::points
List< Tuple< Double, Double > ^> points
点位数组
Definition: arcwelding_cli.hpp:568
rokae::clr::ArcWelding::CharacteristicCurveData::CreateDefault
static CharacteristicCurveData CreateDefault()
特性曲线参数默认值
Definition: arcwelding_cli.hpp:573
rokae::clr::ArcWelding::CharacteristicCurveData::intercept
Double intercept
截距
Definition: arcwelding_cli.hpp:566
rokae::clr::ArcWelding::ElevationAngle
仰角
Definition: arcwelding_cli.hpp:322
rokae::clr::ArcWelding::ElevationAngle::right
Double right
右仰角。单位：°，范围：[ -90, 90 ]
Definition: arcwelding_cli.hpp:326
rokae::clr::ArcWelding::ElevationAngle::CreateDefault
static ElevationAngle CreateDefault()
ElevationAngle默认值
Definition: arcwelding_cli.hpp:329
rokae::clr::ArcWelding::ElevationAngle::left
Double left
左仰角。单位：°，范围：[ -90, 90 ]
Definition: arcwelding_cli.hpp:324
rokae::clr::ArcWelding::HandeyeData
手眼标定结果
Definition: arcwelding_cli.hpp:680
rokae::clr::ArcWelding::HandeyeData::xyz_abc
array< Double > xyz_abc
笛卡尔空间位姿形式 单位：mm rad
Definition: arcwelding_cli.hpp:686
rokae::clr::ArcWelding::HandeyeData::rotMatrix
array< Double > rotMatrix
旋转矩阵的行优先向量
Definition: arcwelding_cli.hpp:688
rokae::clr::ArcWelding::HandeyeData::transVector
array< Double > transVector
平移向量
Definition: arcwelding_cli.hpp:690
rokae::clr::ArcWelding::HandeyeData::name
String name
手眼标定结果文件号
Definition: arcwelding_cli.hpp:682
rokae::clr::ArcWelding::HandeyeData::mode
Boolean mode
标定结果形式 true:xyz_abc false:RT矩阵
Definition: arcwelding_cli.hpp:684
rokae::clr::ArcWelding::HandeyeData::CreateDefault
static HandeyeData CreateDefault()
手眼标定结果默认值
Definition: arcwelding_cli.hpp:693
rokae::clr::ArcWelding::IOData
IO端口
Definition: arcwelding_cli.hpp:487
rokae::clr::ArcWelding::IOData::enable
Boolean enable
是否启用
Definition: arcwelding_cli.hpp:495
rokae::clr::ArcWelding::IOData::bias
Int32 bias
偏差。类型为寄存器的时候有效
Definition: arcwelding_cli.hpp:493
rokae::clr::ArcWelding::IOData::type
Int32 type
端口类型。0：未设置；1：DI；2：DO；3：AO；4：AI；5：寄存器
Definition: arcwelding_cli.hpp:491
rokae::clr::ArcWelding::IOData::name
String name
名称。DI0，DO1， AO2，AI3...或寄存器名
Definition: arcwelding_cli.hpp:489
rokae::clr::ArcWelding::IOData::CreateDefault
static IOData CreateDefault()
IOData默认值
Definition: arcwelding_cli.hpp:498
rokae::clr::ArcWelding::IOSetting
IO设置
Definition: arcwelding_cli.hpp:511
rokae::clr::ArcWelding::IOSetting::error
IOData error
报警
Definition: arcwelding_cli.hpp:537
rokae::clr::ArcWelding::IOSetting::current_get
IOData current_get
电流获取
Definition: arcwelding_cli.hpp:531
rokae::clr::ArcWelding::IOSetting::positioning_feedback
IOData positioning_feedback
寻位反馈信号
Definition: arcwelding_cli.hpp:525
rokae::clr::ArcWelding::IOSetting::voltage_set
IOData voltage_set
电压/弧长校正给定
Definition: arcwelding_cli.hpp:529
rokae::clr::ArcWelding::IOSetting::positioning_enable
IOData positioning_enable
寻位使能信号
Definition: arcwelding_cli.hpp:521
rokae::clr::ArcWelding::IOSetting::wire_feed
IOData wire_feed
送丝
Definition: arcwelding_cli.hpp:515
rokae::clr::ArcWelding::IOSetting::voltage_get
IOData voltage_get
电压获取
Definition: arcwelding_cli.hpp:533
rokae::clr::ArcWelding::IOSetting::CreateDefault
static IOSetting CreateDefault()
IOSetting默认值
Definition: arcwelding_cli.hpp:540
rokae::clr::ArcWelding::IOSetting::robot_ready
IOData robot_ready
机器人准备好
Definition: arcwelding_cli.hpp:535
rokae::clr::ArcWelding::IOSetting::current_set
IOData current_set
电流指定
Definition: arcwelding_cli.hpp:527
rokae::clr::ArcWelding::IOSetting::arc_on_success
IOData arc_on_success
引弧成功判断
Definition: arcwelding_cli.hpp:523
rokae::clr::ArcWelding::IOSetting::gas_test
IOData gas_test
气体检测
Definition: arcwelding_cli.hpp:519
rokae::clr::ArcWelding::IOSetting::wire_feed_back
IOData wire_feed_back
回抽丝
Definition: arcwelding_cli.hpp:517
rokae::clr::ArcWelding::IOSetting::arc_on
IOData arc_on
起弧端口
Definition: arcwelding_cli.hpp:513
rokae::clr::ArcWelding::LaserSearchData
激光寻位参数
Definition: arcwelding_cli.hpp:457
rokae::clr::ArcWelding::LaserSearchData::step_length
Double step_length
步进距离。单位：mm
Definition: arcwelding_cli.hpp:467
rokae::clr::ArcWelding::LaserSearchData::job_number
Int32 job_number
激光寻位工艺编号。范围：[0,63]
Definition: arcwelding_cli.hpp:461
rokae::clr::ArcWelding::LaserSearchData::name
String name
文件号名
Definition: arcwelding_cli.hpp:459
rokae::clr::ArcWelding::LaserSearchData::CreateDefault
static LaserSearchData CreateDefault()
LaserSearchData默认值
Definition: arcwelding_cli.hpp:472
rokae::clr::ArcWelding::LaserSearchData::joint_type
String joint_type
焊缝类型。角接："corner_joint" ，搭接："lap_joint"，对接："butt_joint"
Definition: arcwelding_cli.hpp:469
rokae::clr::ArcWelding::LaserSearchData::search_type
String search_type
寻位类型。点寻位："point"
Definition: arcwelding_cli.hpp:463
rokae::clr::ArcWelding::LaserSearchData::search_mode
String search_mode
寻位模式。连续："continuous"，步进："step"。（当前只支持连续）
Definition: arcwelding_cli.hpp:465
rokae::clr::ArcWelding::LaserSensorCfg
激光传感器配置信息设置
Definition: arcwelding_cli.hpp:736
rokae::clr::ArcWelding::LaserSensorCfg::communication_cycle
Int32 communication_cycle
控制器和激光跟踪器通信周期 单位：ms 范围：1-10000
Definition: arcwelding_cli.hpp:748
rokae::clr::ArcWelding::LaserSensorCfg::type
LaserSensorType type
激光器厂家类别（目前支持：创想CRNT、明图SMART_IMAGE）
Definition: arcwelding_cli.hpp:744
rokae::clr::ArcWelding::LaserSensorCfg::CreateDefault
static LaserSensorCfg CreateDefault()
激光传感器配置信息默认值
Definition: arcwelding_cli.hpp:751
rokae::clr::ArcWelding::LaserSensorCfg::overtime
Int32 overtime
连接超时时间设置 单位：ms 范围：1-100000
Definition: arcwelding_cli.hpp:746
rokae::clr::ArcWelding::LaserSensorCfg::ip
String ip
IP地址
Definition: arcwelding_cli.hpp:740
rokae::clr::ArcWelding::LaserSensorCfg::name
String name
设备名
Definition: arcwelding_cli.hpp:738
rokae::clr::ArcWelding::LaserSensorCfg::port
Int32 port
端口号
Definition: arcwelding_cli.hpp:742
rokae::clr::ArcWelding::LaserTrackData
激光跟踪参数
Definition: arcwelding_cli.hpp:427
rokae::clr::ArcWelding::LaserTrackData::name
String name
文件号名
Definition: arcwelding_cli.hpp:429
rokae::clr::ArcWelding::LaserTrackData::z_comp
Boolean z_comp
Z方向补偿开关
Definition: arcwelding_cli.hpp:437
rokae::clr::ArcWelding::LaserTrackData::y_offset
Double y_offset
Y方向最大偏移量。单位：mm，范围：[0,1000]
Definition: arcwelding_cli.hpp:435
rokae::clr::ArcWelding::LaserTrackData::CreateDefault
static LaserTrackData CreateDefault()
LaserTrackData默认值
Definition: arcwelding_cli.hpp:442
rokae::clr::ArcWelding::LaserTrackData::y_comp
Boolean y_comp
Y方向补偿开关
Definition: arcwelding_cli.hpp:433
rokae::clr::ArcWelding::LaserTrackData::job_number
Int32 job_number
跟踪器工艺编号。范围：[0,63]
Definition: arcwelding_cli.hpp:431
rokae::clr::ArcWelding::LaserTrackData::z_offset
Double z_offset
Z方向最大偏移量。单位：mm，范围：[0,1000]
Definition: arcwelding_cli.hpp:439
rokae::clr::ArcWelding::ReArcOnParam
再起弧参数
Definition: arcwelding_cli.hpp:49
rokae::clr::ArcWelding::ReArcOnParam::CreateDefault
static ReArcOnParam CreateDefault()
ReArcOnParam默认值
Definition: arcwelding_cli.hpp:64
rokae::clr::ArcWelding::ReArcOnParam::wire_retract_time
Int32 wire_retract_time
再起弧退丝时间。单位：ms，范围：[0 - 10000] ms
Definition: arcwelding_cli.hpp:57
rokae::clr::ArcWelding::ReArcOnParam::wire_retract_delay_time
Int32 wire_retract_delay_time
再起弧退丝等待时间。单位：ms，范围：[0 - 10000] ms
Definition: arcwelding_cli.hpp:55
rokae::clr::ArcWelding::ReArcOnParam::voltage_step
Double voltage_step
再起弧电压增量。单位：分别下为 V，一元化下为 ，范围：[0 - 10] V，[0 - 10] %
Definition: arcwelding_cli.hpp:61
rokae::clr::ArcWelding::ReArcOnParam::enable
Boolean enable
是否再起弧
Definition: arcwelding_cli.hpp:51
rokae::clr::ArcWelding::ReArcOnParam::retry_time
Int32 retry_time
起弧次数。范围：[1 - 20]
Definition: arcwelding_cli.hpp:53
rokae::clr::ArcWelding::ReArcOnParam::current_step
Double current_step
再起弧电流增量。单位：电流下为 A，范围：[0 - 50] A
Definition: arcwelding_cli.hpp:59
rokae::clr::ArcWelding::ScratchArconParam
刮擦起弧参数
Definition: arcwelding_cli.hpp:79
rokae::clr::ArcWelding::ScratchArconParam::enable
Boolean enable
是否刮擦起弧
Definition: arcwelding_cli.hpp:81
rokae::clr::ArcWelding::ScratchArconParam::back_speed
Int32 back_speed
返回速度，单位：mm/s
Definition: arcwelding_cli.hpp:85
rokae::clr::ArcWelding::ScratchArconParam::distance
Int32 distance
刮擦距离。单位：mm，范围：[0 - 500] mm
Definition: arcwelding_cli.hpp:83
rokae::clr::ArcWelding::ScratchArconParam::CreateDefault
static ScratchArconParam CreateDefault()
ScratchArconParam默认值
Definition: arcwelding_cli.hpp:90
rokae::clr::ArcWelding::ScratchArconParam::step
Int32 step
刮擦步长，单位：mm，范围：[0 - 500] mm
Definition: arcwelding_cli.hpp:87
rokae::clr::ArcWelding::SegData
间断焊参数
Definition: arcwelding_cli.hpp:397
rokae::clr::ArcWelding::SegData::seg_type
String seg_type
间断焊类型。普通："normal"
Definition: arcwelding_cli.hpp:403
rokae::clr::ArcWelding::SegData::non_welded_distance
Double non_welded_distance
非焊接段长度。单位：mm，范围：大于0.1
Definition: arcwelding_cli.hpp:409
rokae::clr::ArcWelding::SegData::name
String name
文件号名
Definition: arcwelding_cli.hpp:399
rokae::clr::ArcWelding::SegData::non_welded_speed
String non_welded_speed
焊接段速度，xCore预定义的v5、v10...
Definition: arcwelding_cli.hpp:405
rokae::clr::ArcWelding::SegData::CreateDefault
static SegData CreateDefault()
SegData默认值
Definition: arcwelding_cli.hpp:412
rokae::clr::ArcWelding::SegData::welded_distance
Double welded_distance
焊接段长度。单位：mm，范围：大于0.1
Definition: arcwelding_cli.hpp:407
rokae::clr::ArcWelding::SegData::annotation
String annotation
文件号注释
Definition: arcwelding_cli.hpp:401
rokae::clr::ArcWelding::WeaveData
摆弧参数
Definition: arcwelding_cli.hpp:340
rokae::clr::ArcWelding::WeaveData::elevation_type
String elevation_type
仰角类型（三角摆和正弦摆生效，当前只支持v型）。v型："v_pattern"，三角："triangular"
Definition: arcwelding_cli.hpp:362
rokae::clr::ArcWelding::WeaveData::amplitude
Amplitude amplitude
摆弧幅度。摆动频率乘左右振幅需小于50。
Definition: arcwelding_cli.hpp:352
rokae::clr::ArcWelding::WeaveData::CreateDefault
static WeaveData CreateDefault()
WeaveData默认值
Definition: arcwelding_cli.hpp:373
rokae::clr::ArcWelding::WeaveData::weaving_reference
String weaving_reference
摆弧基准（只支持基于周期的摆动）。长度："length"，周期："cycle"
Definition: arcwelding_cli.hpp:346
rokae::clr::ArcWelding::WeaveData::dwell_type
String dwell_type
等待类型（三角摆和正弦摆有效，圆弧摆需要设为摆动停止）。机器人等待："robot_stay"，摆动停止："weave_stop"
Definition: arcwelding_cli.hpp:354
rokae::clr::ArcWelding::WeaveData::phase_invert
Boolean phase_invert
波形反向（暂不支持，默认正向）。反向：true；正向：false
Definition: arcwelding_cli.hpp:360
rokae::clr::ArcWelding::WeaveData::inclination_angle
Double inclination_angle
倾斜角（三角摆和正弦摆生效）。单位：°，范围：[-90, 90]
Definition: arcwelding_cli.hpp:366
rokae::clr::ArcWelding::WeaveData::name
String name
文件号名
Definition: arcwelding_cli.hpp:342
rokae::clr::ArcWelding::WeaveData::annotation
String annotation
文件号注释
Definition: arcwelding_cli.hpp:344
rokae::clr::ArcWelding::WeaveData::acc
Double acc
摆动加速度。单位：mm/s^2，范围：(0, 5)，开区间
Definition: arcwelding_cli.hpp:368
rokae::clr::ArcWelding::WeaveData::radius
Double radius
摆弧半径（圆弧、8字生效）。单位：ms，范围：[ 0.1, 100 ]
Definition: arcwelding_cli.hpp:358
rokae::clr::ArcWelding::WeaveData::elevation_angle
ElevationAngle elevation_angle
仰角。当仰角类型为“ V 型” 时，角度设置为 0，机器人在单平面动；当仰角类型为” 三角“ 时，两个角度之和不能为 0、180、-180。
Definition: arcwelding_cli.hpp:364
rokae::clr::ArcWelding::WeaveData::jerk
Double jerk
摆动加加速度。单位：mm/s^3，范围：(0, 50]
Definition: arcwelding_cli.hpp:370
rokae::clr::ArcWelding::WeaveData::pattern
String pattern
摆弧形状（只支持三角摆、正弦摆和圆弧摆）。三角："triangular"，正弦："sine"，圆弧："circular"，8字："figure_8"
Definition: arcwelding_cli.hpp:348
rokae::clr::ArcWelding::WeaveData::dwell_time
array< Int32 > dwell_time
等待时间（左、中、右）。单位：ms。
Definition: arcwelding_cli.hpp:356
rokae::clr::ArcWelding::WeaveData::weave_length_frequency
Double weave_length_frequency
摆弧长度、频率（与摆弧基准匹配）。长度：单位：mm，范围：[ 1, 500 ]；频率：单位：Hz，范围：[ 0.1, 5 ]
Definition: arcwelding_cli.hpp:350
rokae::clr::ArcWelding::WelderSetting
焊机设置
Definition: arcwelding_cli.hpp:650
rokae::clr::ArcWelding::WelderSetting::CreateDefault
static WelderSetting CreateDefault()
焊机设置默认值
Definition: arcwelding_cli.hpp:665
rokae::clr::ArcWelding::WelderSetting::protocol
String protocol
协议
Definition: arcwelding_cli.hpp:656
rokae::clr::ArcWelding::WelderSetting::mfr
String mfr
厂商
Definition: arcwelding_cli.hpp:652
rokae::clr::ArcWelding::WelderSetting::voltage_file
String voltage_file
电压文件号
Definition: arcwelding_cli.hpp:662
rokae::clr::ArcWelding::WelderSetting::model
String model
焊机型号
Definition: arcwelding_cli.hpp:654
rokae::clr::ArcWelding::WelderSetting::current_file
String current_file
电流文件号
Definition: arcwelding_cli.hpp:660
rokae::clr::ArcWelding::WelderSetting::current_type
Int32 current_type
电流类型
Definition: arcwelding_cli.hpp:658
rokae::clr::ArcWelding::WelderStatus
焊接状态
Definition: arcwelding_cli.hpp:607
rokae::clr::ArcWelding::WelderStatus::speed
Int32 speed
焊接速度。单位：mm/s
Definition: arcwelding_cli.hpp:615
rokae::clr::ArcWelding::WelderStatus::running_error
ErrorCode running_error
运行错误码
Definition: arcwelding_cli.hpp:617
rokae::clr::ArcWelding::WelderStatus::arc_welding
Int32 arc_welding
当前的焊接状态; 类型int，0 - 起弧，1 - 焊接状态，2 - 熄弧状态，-1 - 默认值
Definition: arcwelding_cli.hpp:621
rokae::clr::ArcWelding::WelderStatus::current
Double current
当前电流。单位：A
Definition: arcwelding_cli.hpp:609
rokae::clr::ArcWelding::WelderStatus::state
String state
焊机状态
Definition: arcwelding_cli.hpp:613
rokae::clr::ArcWelding::WelderStatus::welding_path_num
Int32 welding_path_num
一次起弧收弧的焊接路径数量, 即已经开始执行的WMoveLCommand/WMoveCCommand指令数量，下次起弧清空
Definition: arcwelding_cli.hpp:629
rokae::clr::ArcWelding::WelderStatus::voltage
Double voltage
当前电压。单位：V
Definition: arcwelding_cli.hpp:611
rokae::clr::ArcWelding::WelderStatus::welding_distance
Double welding_distance
一次起弧收弧的已经完成焊接距离，下次起弧清空；单位：m
Definition: arcwelding_cli.hpp:625
rokae::clr::ArcWelding::WelderStatus::welding_name
String welding_name
正在焊接的文件号; 类型string，结合arc_welding使用
Definition: arcwelding_cli.hpp:619
rokae::clr::ArcWelding::WelderStatus::CreateDefault
static WelderStatus CreateDefault()
焊接状态默认值
Definition: arcwelding_cli.hpp:632