| 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 enum class DirType {
51 X_Plus_Y_Plus = 0,
53 X_Plus_Z_Plus = 1,
55 Y_Plus_Z_Plus = 2
56 };
57
61 enum class WeldOffsetJogDir {
63 Y_PLUS = 0,
65 Y_MINUS = 1,
67 Z_PLUS = 2,
69 Z_MINUS = 3
70 };
71
75 value struct ReArcOnParam {
77 Boolean enable;
79 Int32 retry_time;
81 Int32 wire_retract_delay_time;
83 Int32 wire_retract_time;//<
85 Double current_step;//<
87 Double voltage_step;//<
88
90 static ReArcOnParam CreateDefault() {
91 ReArcOnParam param;
92 param.enable = false;
93 param.retry_time = 3;
94 param.wire_retract_delay_time = 50;
95 param.wire_retract_time = 200;
96 param.current_step = 0.0;
97 param.voltage_step = 0.0;
98 return param;
99 }
100 };
101
105 value struct ScratchArconParam {
107 Boolean enable;
109 Int32 distance;
111 Int32 back_speed;
113 Int32 step;
114
116 static ScratchArconParam CreateDefault() {
117 ScratchArconParam param;
118 param.enable = false;
119 param.distance = 20;
120 param.back_speed = 50;
121 param.step = 5;
122 return param;
123 }
124 };
125
129 value struct ArcOnData {
131 String ^ name;
133 String ^ annotation;
135 String ^ mode;
137 String ^ current_mode;
139 String ^ voltage_mode;
141 Double current;
143 Double voltage;
145 Int32 hold_time;
147 Int32 detect_time;
149 Int32 confirm_time;
151 Int32 preflow_time;
153 Int32 prearc_time;
155 Double slow_wire_feed_speed;
157 Int32 pre_wirefeed_time;
159 Int32 ramp_time;
161 ReArcOnParam re_arcon;
163 ScratchArconParam scratch_arcon;
164
166 static ArcOnData CreateDefault() {
167 ArcOnData param;
168 param.name = "default";
169 param.annotation = "";
170 param.mode = "flat_characteristic";
171 param.current_mode = "current";
172 param.voltage_mode = "unified";
173 param.current = 0;
174 param.voltage = 0;
175 param.hold_time = 200;
176 param.detect_time = 2000;
177 param.confirm_time = 200;
178 param.preflow_time = 200;
179 param.prearc_time = 200;
180 param.slow_wire_feed_speed = 1;
181 param.pre_wirefeed_time = 200;
182 param.ramp_time = 200;
183 param.re_arcon = ReArcOnParam::CreateDefault();
184 param.scratch_arcon = ScratchArconParam::CreateDefault();
185 return param;
186 }
187 };
188
192 value struct ArcBreakParam {
194 Int32 detect_time;
196 String ^ arc_break_option;
198 Int32 restart_back_distance;
199
201 static ArcBreakParam CreateDefault() {
202 ArcBreakParam param;
203 param.detect_time = 100;
204 param.arc_break_option = "stop_and_alarm";
205 param.restart_back_distance = 10;
206 return param;
207 }
208 };
209
213 value struct ArcData {
215 String ^ name;
217 String ^ annotation;
219 String ^ mode;
221 String ^ current_mode;
223 String ^ voltage_mode;
225 Double current;
227 Double voltage;
229 Double weld_speed;
231 Int32 ramp_time;
233 ArcBreakParam arc_break_param;
234
236 static ArcData CreateDefault() {
237 ArcData param;
238 param.name = "default";
239 param.annotation = "";
240 param.mode = "flat_characteristic";
241 param.current_mode = "current";
242 param.voltage_mode = "unified";
243 param.current = 0;
244 param.voltage = 0;
245 param.weld_speed = 10;
246 param.ramp_time = 200;
247 param.arc_break_param = ArcBreakParam::CreateDefault();
248 return param;
249 }
250 };
251
255 value struct AntiWireStickParam {
257 Boolean enable;
259 Double current;
261 Double voltage;
263 Int32 time;
264
266 static AntiWireStickParam CreateDefault() {
267 AntiWireStickParam param;
268 param.enable = false;
269 param.current = 30;
270 param.voltage = 10;
271 param.time = 500;
272 return param;
273 }
274 };
275
279 value struct ArcOffData {
281 String ^ name;
283 String ^ annotation;
285 String ^ mode;
287 String ^ current_mode;
289 String ^ voltage_mode;
291 Double current;
293 Double voltage;
295 Int32 hold_time;
297 Int32 delay_gasoff_time;
299 Int32 detect_time;
301 Int32 retract_time;
303 Int32 wire_stick_detection_time;
305 AntiWireStickParam anti_wire_stick_param;
306
308 static ArcOffData CreateDefault() {
309 ArcOffData param;
310 param.name = "default";
311 param.annotation = "";
312 param.mode = "flat_characteristic";
313 param.current_mode = "current";
314 param.voltage_mode = "unified";
315 param.current = 0;
316 param.voltage = 0;
317 param.hold_time = 500;
318 param.delay_gasoff_time = 200;
319 param.detect_time = 5000;
320 param.retract_time = 100;
321 param.wire_stick_detection_time = 500;
322 param.anti_wire_stick_param = AntiWireStickParam::CreateDefault();
323 return param;
324 }
325 };
326
330 value struct Amplitude {
332 Double left;
334 Double right;
335
337 static Amplitude CreateDefault() {
338 Amplitude param;
339 param.left = 0.1;
340 param.right = 0.1;
341 return param;
342 }
343 };
344
348 value struct ElevationAngle {
350 Double left;
352 Double right;
353
355 static ElevationAngle CreateDefault() {
356 ElevationAngle param;
357 param.left = 0;
358 param.right = 0;
359 return param;
360 }
361 };
362
366 value struct WeaveData {
368 String ^ name;
370 String ^ annotation;
372 String ^ weaving_reference;
374 String ^ pattern;
376 Double weave_length_frequency;
378 Amplitude amplitude;
380 String ^ dwell_type;
382 array<Int32> ^ dwell_time;
384 Double radius;
386 Boolean phase_invert;
388 String ^ elevation_type;
390 ElevationAngle elevation_angle;
392 Double inclination_angle;
394 Double acc;
396 Double jerk;
397
399 static WeaveData CreateDefault() {
400 WeaveData param;
401 param.name = "default";
402 param.annotation = "";
403 param.weaving_reference = "cycle";
404 param.pattern = "triangular";
405 param.weave_length_frequency = 0.1;
406 param.amplitude = Amplitude::CreateDefault();
407 param.dwell_type = "robot_stay";
408 param.dwell_time = gcnew array<Int32>{0, 0, 0};
409 param.radius = 0.1;
410 param.phase_invert = false;
411 param.elevation_type = "v_pattern";
412 param.elevation_angle = ElevationAngle::CreateDefault();
413 param.inclination_angle = 0;
414 param.acc = 0.5;
415 param.jerk = 5;
416 return param;
417 }
418 };
419
423 value struct WeaveAdaptiveData {
425 Boolean isAdaptive;
427 Double groove_width_standard;
429 Double groove_width_ratio;
431 Double max_groove_width;
433 Double max_electric;
435 Double max_speed;
436
438 static WeaveAdaptiveData CreateDefault() {
439 WeaveAdaptiveData param;
440 param.isAdaptive = false;
441 param.groove_width_standard = 4.00;
442 param.groove_width_ratio = 4.00;
443 param.max_groove_width = 6.00;
444 param.max_electric = 300.00;
445 param.max_speed = 8.00;
446 return param;
447 }
448 };
449
453 value struct SegData {
455 String ^ name;
457 String ^ annotation;
459 String ^ seg_type;
461 String ^ non_welded_speed;
463 Double welded_distance;
465 Double non_welded_distance;
466
468 static SegData CreateDefault() {
469 SegData param;
470 param.name = "default";
471 param.annotation = "";
472 param.seg_type = "normal";
473 param.non_welded_speed = "v5";
474 param.welded_distance = 0.1;
475 param.non_welded_distance = 0.1;
476 return param;
477 }
478 };
479
486 value struct LayerData {
488 String ^ name;
490 String ^ annotation;
491
493 Double start_offset;
495 Double end_offset;
497 Double y_offset;
499 Double z_offset;
501 Double travel_angle;
503 Double tilt_angle;
504
506 Int32 z_axis_fixed_type;
508 Int32 point_num;
510 Int32 axis_type;
512 Int32 aux_type;
514 Int32 offset_coord_system;
515
516 // 自定义向量（托管数组，长度 3，单位 mm）
518 array<Double> ^ custom_point_1;
520 array<Double> ^ custom_point_2;
522 array<Double> ^ custom_point_3;
523
524 // 辅助点位（托管数组，长度 3，单位 mm）
526 array<Double> ^ aux_point_1;
528 array<Double> ^ aux_point_2;
530 array<Double> ^ aux_point_3;
531
532 // 辅助点示教次数
534 Int32 check_aux_point_count_1;
536 Int32 check_aux_point_count_2;
538 Int32 check_aux_point_count_3;
539
541 static LayerData CreateDefault() {
542 LayerData param;
543 param.name = "default";
544 param.annotation = "";
545
546 param.start_offset = 0.0;
547 param.end_offset = 0.0;
548 param.y_offset = 0.0;
549 param.z_offset = 0.0;
550 param.travel_angle = 0.0;
551 param.tilt_angle = 0.0;
552
553 param.z_axis_fixed_type = 0;
554 param.point_num = 0;
555 param.axis_type = 0;
556 param.aux_type = 0;
557 param.offset_coord_system = 0;
558
559 // 初始化托管数组（长度 3）
560 param.custom_point_1 = gcnew array<Double>{0.0, 0.0, 0.0};
561 param.custom_point_2 = gcnew array<Double>{0.0, 0.0, 0.0};
562 param.custom_point_3 = gcnew array<Double>{0.0, 0.0, 0.0};
563
564 param.aux_point_1 = gcnew array<Double>{0.0, 0.0, 0.0};
565 param.aux_point_2 = gcnew array<Double>{0.0, 0.0, 0.0};
566 param.aux_point_3 = gcnew array<Double>{0.0, 0.0, 0.0};
567
568 param.check_aux_point_count_1 = 0;
569 param.check_aux_point_count_2 = 0;
570 param.check_aux_point_count_3 = 0;
571
572 return param;
573 }
574 };
575
576
580 value struct LaserTrackData {
582 String ^ name;
584 Int32 job_number;
586 Boolean y_comp;
588 Boolean z_comp;
590 double max_invalid_length;
591
593 static LaserTrackData CreateDefault() {
594 LaserTrackData param;
595 param.name = "default";
596 param.job_number = 0;
597 param.y_comp = false;
598 param.z_comp = false;
599 param.max_invalid_length = 10;
600 return param;
601 }
602 };
603
607 value struct LaserSearchData {
609 String ^ name;
611 Int32 job_number;
613 String ^ search_type;
615 String ^ search_mode;
617 Double step_length;
619 String ^ joint_type;
620
622 static LaserSearchData CreateDefault() {
623 LaserSearchData param;
624 param.name = "default";
625 param.job_number = 0;
626 param.search_type = "point";
627 param.search_mode = "continuous";
628 param.step_length = 2.0;
629 param.joint_type = "corner_joint";
630 return param;
631 }
632 };
633
637 value struct IOData {
639 String ^ name;
641 Int32 type;
643 Int32 bias;
645 Boolean enable;
646
648 static IOData CreateDefault() {
649 IOData param;
650 param.name = "";
651 param.type = 0;
652 param.bias = 0;
653 param.enable = false;
654 return param;
655 }
656 };
657
661 value struct IOSetting {
663 IOData arc_on;
665 IOData wire_feed;
667 IOData wire_feed_back;
669 IOData gas_test;
671 IOData positioning_enable;
673 IOData arc_on_success;
675 IOData positioning_feedback;
677 IOData current_set;
679 IOData voltage_set;
681 IOData current_get;
683 IOData voltage_get;
685 IOData robot_ready;
687 IOData error;
688
690 static IOSetting CreateDefault() {
691 IOSetting param;
692 param.arc_on = IOData::CreateDefault();
693 param.wire_feed = IOData::CreateDefault();
694 param.wire_feed_back = IOData::CreateDefault();
695 param.gas_test = IOData::CreateDefault();
696 param.positioning_enable = IOData::CreateDefault();
697 param.arc_on_success = IOData::CreateDefault();
698 param.positioning_feedback = IOData::CreateDefault();
699 param.current_set = IOData::CreateDefault();
700 param.voltage_set = IOData::CreateDefault();
701 param.current_get = IOData::CreateDefault();
702 param.voltage_get = IOData::CreateDefault();
703 param.robot_ready = IOData::CreateDefault();
704 param.error = IOData::CreateDefault();
705 return param;
706 }
707 };
708
712 value struct CharacteristicCurveData {
714 String ^ name;
716 Double intercept;
718 List<Tuple<Double, Double> ^> ^ points;
720 Double slope;
721
723 static CharacteristicCurveData CreateDefault() {
724 CharacteristicCurveData param;
725 param.name = "default";
726 param.intercept = 0;
727 param.points = gcnew List<Tuple<Double, Double> ^>();
728 param.slope = 0;
729 return param;
730 }
731 };
732
736 value struct ArcWeldRunningParam {
738 Double test_run_speed;
740 Double wire_feed_speed;
742 Int32 gas_detect_time;
743
745 static ArcWeldRunningParam CreateDefault() {
746 ArcWeldRunningParam param;
747 param.test_run_speed = 200;
748 param.wire_feed_speed = 1;
749 param.gas_detect_time = 15;
750 return param;
751 }
752 };
753
757 value struct WelderStatus {
759 Double current;
761 Double voltage;
763 String ^ state;
765 Int32 speed;
767 ErrorCode ^ running_error;
769 String ^ welding_name;
771 Int32 arc_welding;
775 Double welding_distance;
779 Int32 welding_path_num;
783 Double welding_time;
787 Double welding_wire_used;
789 Int32 welder_error_code;
791 bool welder_ready;
792
793
795 static WelderStatus CreateDefault() {
796 WelderStatus param;
797 param.current = 0;
798 param.voltage = 0;
799 param.state = "disabled";
800 param.speed = 0;
801 param.running_error = gcnew ErrorCode(0, "操作成功完成");
802 param.welding_name = "";
803 param.arc_welding = -1;
804 param.welding_distance = 0;
805 param.welding_path_num = 0;
806 param.welding_time = 0;
807 param.welding_wire_used = 0;
808 param.welder_error_code = 0;
809 param.welder_ready = false;
810 return param;
811 }
812 };
813
817 value struct WelderSetting {
819 String ^ mfr;
821 String ^ model;
823 String ^ protocol;
825 Int32 current_type;
827 String ^ current_file;
829 String ^ voltage_file;
831 double wire_diameter;
833 String ^ shielding_gas;
835 int program_number;
837 int dry_extension;
838
840 static WelderSetting CreateDefault() {
841 WelderSetting param;
842 param.mfr = "";
843 param.model = "";
844 param.protocol = "";
845 param.current_type = 0;
846 param.current_file = "";
847 param.voltage_file = "";
848 param.wire_diameter = 0;
849 param.shielding_gas = "";
850 param.program_number = 0;
851 param.dry_extension = 0;
852 return param;
853 }
854 };
855
859 value struct HandeyeData {
861 String ^ name;
863 Boolean mode;
865 array<Double> ^ xyz_abc;
867 array<Double> ^ rotMatrix;
869 array<Double> ^ transVector;
870
872 static HandeyeData CreateDefault() {
873 HandeyeData param;
874 param.name = "";
875 param.mode = false;
876 param.xyz_abc = gcnew array<Double>{0.0, 0.0, 0.0, 0.0, 0.0, 0.0};
877 param.rotMatrix = gcnew array<Double>{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0};
878 param.transVector = gcnew array<Double>{0.0, 0.0, 0.0};
879 return param;
880 }
881 };
882
884 value struct CalibrationResult{
886 int id;
888 List<double>^ p_robot;
890 List<double>^ p_laser;
891
893 static CalibrationResult CreateDefault(){
894 CalibrationResult param;
895 param.id = 0;
896 param.p_robot = gcnew List<double>();
897 param.p_laser = gcnew List<double>();
898 return param;
899 }
900 };
901
905 enum class LaserSensorType {
907 CRNT = 0,
909 SMART_IMAGE = 1,
911 INTELLIGENT = 2
912 };
913
917 value struct LaserSensorCfg {
919 String ^ name;
921 String ^ ip;
923 Int32 port;
925 LaserSensorType type;
927 Int32 overtime;
929 Int32 communication_cycle;
930
932 static LaserSensorCfg CreateDefault() {
933 LaserSensorCfg param;
934 param.name = "sensor0";
935 param.ip = "192.168.2.3";
936 param.port = 502;
937 param.type = LaserSensorType::CRNT;
938 param.overtime = 1000;
939 param.communication_cycle = 70;
940 return param;
941 }
942 };
943
947 value struct LrTrackParam {
949 double pid;
951 double curr_bias_offset;
953 double min_compensation;
955 double max_compensation;
956
958 static LrTrackParam CreateDefault() {
959 LrTrackParam param;
960 param.pid = 5.0;
961 param.curr_bias_offset = 5.0;
962 param.min_compensation = 0.01;
963 param.max_compensation = 0.7;
964 return param;
965 }
966 };
967
971 value struct UdTrackParam {
973 double pid;
975 double curr_bias_offset;
977 double min_compensation;
979 double max_compensation;
981 double base_current;
983 int sampling_start_period;
985 int sampling_duration_period;
986
988 static UdTrackParam CreateDefault() {
989 UdTrackParam param;
990 param.pid = 5.0;
991 param.curr_bias_offset = 5.0;
992 param.min_compensation = 0.01;
993 param.max_compensation = 0.7;
994 param.base_current = 0.0;
995 param.sampling_start_period = 5;
996 param.sampling_duration_period = 1;
997 return param;
998 }
999 };
1000
1004 value struct ArcTrackParam {
1006 String ^ name;
1008 String ^ annotation;
1010 int delay_time;
1012 int cycle;
1014 bool lr_enable;
1016 bool ud_enable;
1018 LrTrackParam lr_param;
1020 UdTrackParam ud_param;
1021
1023 static ArcTrackParam CreateDefault() {
1024 ArcTrackParam param;
1025 param.name = "";
1026 param.annotation = "";
1027 param.delay_time = 0;
1028 param.cycle = 6;
1029 param.lr_enable = false;
1030 param.ud_enable = false;
1031 param.lr_param = LrTrackParam::CreateDefault();
1032 param.ud_param = UdTrackParam::CreateDefault();
1033 return param;
1034 }
1035 };
1036
1040 value struct ArcSetOpt {
1042 String ^ arc_data;
1044 Boolean ref_start;
1046 Double distance;
1047
1049 static ArcSetOpt CreateDefault() {
1050 ArcSetOpt param;
1051 param.arc_data = "";
1052 param.ref_start = true;
1053 param.distance = 0;
1054 return param;
1055 }
1056 };
1057
1061 value struct AnticollisionState{
1062 String^ signal;
1063 Boolean enable;
1064 Boolean block;
1065 Int32 countdown;
1066
1067 static AnticollisionState CreateDefault() {
1068 AnticollisionState param;
1069 param.signal = "";
1070 param.enable = false;
1071 param.block = false;
1072 param.countdown = 60;
1073 return param;
1074 }
1075 };
1076
1083 ArcOnData getArcOnData(String ^ arconDataName, [Out] ErrorCode ^ % ec);
1084
1090 void setArcOnData(ArcOnData arconData, [Out] ErrorCode ^ % ec);
1091
1097 void removeArcOnData(String ^ arconDataName, [Out] ErrorCode ^ % ec);
1098
1104 void removeArcOnData(List<String ^> ^ arconDataNames, [Out] ErrorCode ^ % ec);
1105
1112 ArcData getArcData(String ^ arcDataName, [Out] ErrorCode ^ % ec);
1113
1119 void setArcData(ArcData arcData, [Out] ErrorCode ^ % ec);
1120
1126 void removeArcData(String ^ arcDataName, [Out] ErrorCode ^ % ec);
1127
1133 void removeArcData(List<String ^> ^ arcDataNames, [Out] ErrorCode ^ % ec);
1134
1141 void enableArcData(ArcData arcData, [Out] ErrorCode ^ % ec);
1142
1149 ArcOffData getArcOffData(String ^ arcoffDataName, [Out] ErrorCode ^ % ec);
1150
1156 void setArcOffData(ArcOffData arcoffData, [Out] ErrorCode ^ % ec);
1157
1163 void removeArcOffData(String ^ arcoffDataName, [Out] ErrorCode ^ % ec);
1164
1170 void removeArcOffData(List<String ^> ^ arcoffDataNames, [Out] ErrorCode ^ % ec);
1171
1178 WeaveData getWeaveData(String ^ weaveDataName, [Out] ErrorCode ^ % ec);
1179
1185 void setWeaveData(WeaveData weaveData, [Out] ErrorCode ^ % ec);
1186
1192 void removeWeaveData(String ^ weaveDataName, [Out] ErrorCode ^ % ec);
1193
1199 void removeWeaveData(List<String ^> ^ weaveDataNames, [Out] ErrorCode ^ % ec);
1200
1206 WeaveAdaptiveData getWeaveAdaptiveData([Out] ErrorCode^% ec);
1207
1212 void setWeaveAdaptiveData(WeaveAdaptiveData weaveAdaptiveData, [Out] ErrorCode^% ec);
1213
1220 SegData getSegData(String^ segDataName, [Out] ErrorCode ^ % ec);
1221
1227 void setSegData(SegData segData, [Out] ErrorCode ^ % ec);
1228
1234 void removeSegData(String^ segDataName, [Out] ErrorCode ^ % ec);
1235
1241 void removeSegData(List<String^>^ segDataNames, [Out] ErrorCode ^ % ec);
1242
1249 LayerData getLayerData(String ^ layerDataName, [Out] ErrorCode ^ % ec);
1250
1256 void setLayerData(LayerData layerData, [Out] ErrorCode ^ % ec);
1257
1263 void removeLayerData(String ^ layerDataName, [Out] ErrorCode ^ % ec);
1264
1270 void removeLayerData(List<String ^> ^ layerDataNames, [Out] ErrorCode ^ % ec);
1271
1278 LaserTrackData getLaserTrackData(String^ laserTrackDataName, [Out] ErrorCode ^ % ec);
1279
1285 void setLaserTrackData(LaserTrackData laserTrackData, [Out] ErrorCode ^ % ec);
1286
1292 void removeLaserTrackData(String^ laserTrackDataName, [Out] ErrorCode ^ % ec);
1293
1299 void removeLaserTrackData(List<String^>^ laserTrackDataNames, [Out] ErrorCode ^ % ec);
1300
1307 LaserSearchData getLaserSearchData(String^ laserSearchDataName, [Out] ErrorCode ^ % ec);
1308
1314 void setLaserSearchData(LaserSearchData laserSearchData, [Out] ErrorCode ^ % ec);
1315
1321 void removeLaserSearchData(String^ laserSearchDataName, [Out] ErrorCode ^ % ec);
1322
1328 void removeLaserSearchData(List<String^>^ laserSearchDataNames, [Out] ErrorCode ^ % ec);
1329
1335 IOSetting getIOSetting([Out] ErrorCode ^ % ec);
1336
1342 void setIOSetting(IOSetting ioSetting, [Out] ErrorCode ^ % ec);
1343
1350 CharacteristicCurveData getCurrentCharacteristicCurveData(String^ name, [Out] ErrorCode ^ % ec);
1351
1357 void setCurrentCharacteristicCurveData(CharacteristicCurveData data, [Out] ErrorCode ^ % ec);
1358
1365 CharacteristicCurveData getVoltageCharacteristicCurveData(String^ name, [Out] ErrorCode ^ % ec);
1366
1372 void setVoltageCharacteristicCurveData(CharacteristicCurveData data, [Out] ErrorCode ^ % ec);
1373
1380 CharacteristicCurveData calculateCurrentCurve(CharacteristicCurveData data, [Out] ErrorCode ^ % ec);
1381
1388 CharacteristicCurveData calculateVoltageCurve(CharacteristicCurveData data, [Out] ErrorCode ^ % ec);
1389
1395 WelderStatus getWelderStatus([Out] ErrorCode ^ % ec);
1396
1405 void setWelder(String^ protocol, String^ mfr, String^ type, Int32 current, [Out] ErrorCode ^ % ec);
1406
1412 void setWelder(ArcWelding::WelderSetting welderSetting, [Out] ErrorCode ^ % ec);
1413
1419 WelderSetting getWelderSetting([Out] ErrorCode ^ % ec);
1420
1425 void connectToWelder([Out] ErrorCode ^ % ec);
1426
1431 void disconnectFromWelder([Out] ErrorCode ^ % ec);
1432
1438 Boolean isEniHaveWeld([Out] ErrorCode ^ % ec);
1439
1448 void setIsEniHaveWeld(Boolean isEniHaveWeld, [Out] ErrorCode ^ % ec);
1449
1455 WeldMode getWeldMode([Out] ErrorCode ^ % ec);
1456
1462 void setWeldMode(WeldMode weldMode, [Out] ErrorCode ^ % ec);
1463
1469 ArcWeldRunningParam getRunningParam([Out] ErrorCode ^ % ec);
1470
1476 void setRunningParam(ArcWeldRunningParam data, [Out] ErrorCode ^ % ec);
1477
1484 void feedOnWire(Double time, Boolean enable, [Out] ErrorCode ^ % ec);
1485
1492 void feedBackWire(Double time, Boolean enable, [Out] ErrorCode ^ % ec);
1493
1500 void detectGas(Double time, Boolean enable, [Out] ErrorCode ^ % ec);
1501
1508 void setCurrentAndVoltage(Double current, Double voltage, [Out] ErrorCode ^ % ec);
1509
1516 void saveCurrentAndVoltage(Double current, Double voltage, [Out] ErrorCode ^ % ec);
1517
1525 void startWelding(Double current, Double voltage, String^ voltage_mode, [Out] ErrorCode ^ % ec);
1526
1536 void startWelding(Double current, Double voltage, String^ voltage_mode, String^ current_mode, String^ work_mode, [Out] ErrorCode ^ % ec);
1537
1542 void stopWelding([Out] ErrorCode ^ % ec);
1543
1547 void clearWelderAlarm([Out] ErrorCode ^ % ec);
1548
1554 void setHandeyeData(HandeyeData handeyedata, [Out] ErrorCode ^ % ec);
1555
1562 HandeyeData getHandeyeData(String^ name, [Out] ErrorCode ^ % ec);
1563
1569 void removeHandeyeData(String^ name, [Out] ErrorCode ^ % ec);
1570
1576 void removeHandeyeData(List<String^>^ names, [Out] ErrorCode ^ % ec);
1577
1584 void startHandeyeCalibration(String ^ name, int type, [Out] ErrorCode ^ % ec);
1585
1592 CalibrationResult calibratePoint(int id, [Out] ErrorCode ^ % ec);
1593
1600 List<double> ^ calibrateEnd(HandeyeData% handeyedata, [Out] ErrorCode ^ % ec);
1601
1607 void setLaserSensorCfg(LaserSensorCfg cfg, [Out] ErrorCode ^ % ec);
1608
1615 LaserSensorCfg getLaserSensorCfg(String^ name, [Out] ErrorCode ^ % ec);
1616
1622 void removeLaserSensorCfg(String^ device_name, [Out] ErrorCode ^ % ec);
1623
1629 void removeLaserSensorCfg(List<String^>^ device_names, [Out] ErrorCode ^ % ec);
1630
1636 void connLaserSensorDev(String^ device_name, [Out] ErrorCode ^ % ec);
1637
1643 void disconnLaserSensorDev(String^ device_name, [Out] ErrorCode ^ % ec);
1644
1650 void openLaserTrack(String^ device_name, [Out] ErrorCode ^ % ec);
1651
1657 void closeLaserTrack(String^ device_name, [Out] ErrorCode ^ % ec);
1658
1664 void setArcTrackParam(ArcTrackParam param, [Out] ErrorCode ^ % ec);
1665
1672 ArcTrackParam getArcTrackParam(String ^ name, [Out] ErrorCode ^ % ec);
1673
1679 void removeArcTrackParam(String ^ name, [Out] ErrorCode ^ % ec);
1680
1686 void removeArcTrackParam(List<String^>^ names, [Out] ErrorCode ^ % ec);
1687
1696 void setAnticollision(String^ signal, Boolean enable, Boolean block, Int32 countdown, [Out] ErrorCode ^ % ec);
1697
1703 AnticollisionState getAnticollisionState([Out] ErrorCode ^ % ec);
1704
1710 array<String^>^ getWelderWorkModes([Out] ErrorCode ^ % ec);
1711
1717 void weldOffsetJog(WeldOffsetJogDir dir, [Out] ErrorCode ^ % ec);
1718
1719 ref class ArcWeldingCommand{};
1720
1724 ref class ArcOnCommand : public ArcWeldingCommand
1725 {
1726 public:
1730 ArcOnCommand();
1731
1737 ArcOnCommand(String^ arcOnData, String^ arcData);
1738
1744 void setArcOnData(String^ arcOnData, [Out] ErrorCode ^ % ec);
1745
1750 String^ getArcOnData();
1751
1757 void setArcData(String^ arcData, [Out] ErrorCode ^ % ec);
1758
1763 String^ getArcData();
1764
1765 private:
1766 String^ m_arcOnData{"default"};
1767 String^ m_arcData{"default"};
1768 };
1769
1773 ref class ArcOffCommand : public ArcWeldingCommand
1774 {
1775 public:
1779 ArcOffCommand();
1780
1785 ArcOffCommand(String^ arcOffData);
1786
1792 void setArcOffData(String^ arcOffData, [Out] ErrorCode ^ % ec);
1793
1798 String^ getArcOffData();
1799
1800 private:
1801 String^ m_arcOffData{"default"};
1802 };
1803
1807 ref class FeedOnWireCommand : public ArcWeldingCommand {
1808 public:
1812 FeedOnWireCommand();
1813
1820 FeedOnWireCommand(Double time, Double speed, Boolean isFeed);
1821
1829 void setFeedOnWireData(Double time, Double speed, Boolean isFeed, [Out] ErrorCode ^ % ec);
1830
1837 void getFeedOnWireData(Double % time, Double % speed, Boolean % isFeed);
1838
1839 private:
1840 Double m_time;
1841 Double m_speed { 1.0 };
1842 Boolean m_isFeed { true };
1843 };
1844
1848 ref class FeedBackWireCommand : public ArcWeldingCommand {
1849 public:
1853 FeedBackWireCommand();
1854
1861 FeedBackWireCommand(Double time, Double speed, Boolean isReverse);
1862
1870 void setFeedBackWireData(Double time, Double speed, Boolean isReverse, [Out] ErrorCode ^ % ec);
1871
1878 void getFeedBackWireData(Double % time, Double % speed, Boolean % isReverse);
1879
1880 private:
1881 Double m_time;
1882 Double m_speed { 1.0 };
1883 Boolean m_isReverse { true };
1884 };
1885
1889 ref class WMoveLCommand : public ArcWeldingCommand
1890 {
1891 public:
1895 WMoveLCommand();
1896
1903 WMoveLCommand(CartesianPosition ^ target, Int32 speed, Int32 zone): target(target), speed(speed), zone(zone), m_weaveData(""), m_trackData(""){};
1904
1912 WMoveLCommand(CartesianPosition ^ target, Int32 speed, Int32 zone, String ^ weaveData): target(target), speed(speed), zone(zone), m_weaveData(weaveData), m_trackData(""){};
1913
1922 WMoveLCommand(CartesianPosition ^ target, Int32 speed, Int32 zone, String ^ weaveData, String ^ trackData);
1923
1929 void setWeaveData(String ^ weaveData, [Out] ErrorCode ^ % ec);
1930
1935 String ^ getWeaveData();
1936
1942 void setTrackData(String ^ trackData, [Out] ErrorCode ^ % ec);
1943
1948 String ^ getTrackData();
1949
1951 CartesianPosition ^ target = gcnew CartesianPosition();
1953 Int32 speed = -1;
1955 Int32 zone = -1;
1957 CartesianPosition::Offset ^ cartTargetOffset = gcnew CartesianPosition::Offset();
1960 double rotSpeed = -1;
1962 String ^ customInfo = "";
1964 ArcSetOpt arc_set_opt = ArcSetOpt::CreateDefault();
1965
1966 private:
1968 String ^ m_weaveData = "";
1970 String ^ m_trackData = "";
1971 };
1972
1976 ref class WMoveCCommand : public ArcWeldingCommand
1977 {
1978 public:
1982 WMoveCCommand();
1983
1991 WMoveCCommand(CartesianPosition ^ target, CartesianPosition ^ aux, Int32 speed, Int32 zone): target(target), aux(aux), speed(speed), zone(zone), m_weaveData(""), m_trackData(""){};
1992
2001 WMoveCCommand(CartesianPosition ^ target, CartesianPosition ^ aux, Int32 speed, Int32 zone, String ^ weaveData): target(target), aux(aux), speed(speed), zone(zone), m_weaveData(weaveData), m_trackData(""){};
2002
2012 WMoveCCommand(CartesianPosition ^ target, CartesianPosition ^ aux, Int32 speed, Int32 zone, String ^ weaveData, String ^ trackData);
2013
2019 void setWeaveData(String ^ weaveData, [Out] ErrorCode ^ % ec);
2020
2025 String ^ getWeaveData();
2026
2032 void setTrackData(String ^ trackData, [Out] ErrorCode ^ % ec);
2033
2038 String ^ getTrackData();
2039
2041 CartesianPosition ^ target = gcnew CartesianPosition();
2043 CartesianPosition ^ aux = gcnew CartesianPosition();
2045 CartesianPosition::Offset ^ cartTargetOffset = gcnew CartesianPosition::Offset();
2047 CartesianPosition::Offset ^ auxPointOffset = gcnew CartesianPosition::Offset();
2049 Int32 speed = -1;
2051 Int32 zone = -1;
2054 double rotSpeed = -1;
2056 String ^ customInfo = "";
2058 ArcSetOpt arc_set_opt = ArcSetOpt::CreateDefault();
2059
2060 private:
2062 String ^ m_weaveData = "";
2064 String ^ m_trackData = "";
2065 };
2066
2070 ref class WMoveCFCommand : public ArcWeldingCommand{
2071 public:
2075 WMoveCFCommand();
2076
2085 WMoveCFCommand(CartesianPosition ^ target, CartesianPosition ^ aux, double angle, Int32 speed, Int32 zone): target(target), aux(aux), angle(angle), speed(speed), zone(zone), m_weaveData(""), m_trackData(""){};
2086
2096 WMoveCFCommand(CartesianPosition ^ target, CartesianPosition ^ aux, double angle, Int32 speed, Int32 zone, String ^ weaveData): target(target), aux(aux), angle(angle), speed(speed), zone(zone), m_weaveData(weaveData), m_trackData(""){};
2097
2108 WMoveCFCommand(CartesianPosition ^ target, CartesianPosition ^ aux, double angle, Int32 speed, Int32 zone, String ^ weaveData, String ^ trackData);
2109
2115 void setWeaveData(String ^ weaveData, [Out] ErrorCode ^ % ec);
2116
2121 String ^ getWeaveData();
2122
2128 void setTrackData(String ^ trackData, [Out] ErrorCode ^ % ec);
2129
2134 String ^ getTrackData();
2135
2137 CartesianPosition ^ target = gcnew CartesianPosition();
2139 CartesianPosition ^ aux = gcnew CartesianPosition();
2141 CartesianPosition::Offset ^ cartTargetOffset = gcnew CartesianPosition::Offset();
2143 CartesianPosition::Offset ^ auxPointOffset = gcnew CartesianPosition::Offset();
2145 Int32 speed = -1;
2147 Int32 zone = -1;
2150 double rotSpeed = -1;
2152 String ^ customInfo = "";
2154 double angle = 0;
2156 int rotType = 0;
2158 ArcSetOpt arc_set_opt = ArcSetOpt::CreateDefault();
2159
2160 private:
2162 String ^ m_weaveData = "";
2164 String ^ m_trackData = "";
2165 };
2166
2170 ref class WMoveLPendulumCommand : public ArcWeldingCommand
2171 {
2172 public:
2176 WMoveLPendulumCommand();
2177
2188 WMoveLPendulumCommand(CartesianPosition^ startAux, CartesianPosition^ targetAux, CartesianPosition^ target, Int32 speed, Double frequency, Double dwellTimeLeft, Double dwellTimeRight );
2189
2199 WMoveLPendulumCommand(CartesianPosition^ targetAux, CartesianPosition^ target, Int32 speed, Double frequency, Double dwellTimeLeft, Double dwellTimeRight );
2200
2202 CartesianPosition^ startAux = gcnew CartesianPosition();
2204 CartesianPosition^ targetAux = gcnew CartesianPosition();
2206 CartesianPosition^ target = gcnew CartesianPosition();
2208 CartesianPosition::Offset^ startAuxTPointOffset = gcnew CartesianPosition::Offset();
2210 CartesianPosition::Offset^ targetAuxPointOffset = gcnew CartesianPosition::Offset();
2212 CartesianPosition::Offset^ targetPointOffset = gcnew CartesianPosition::Offset();
2214 Int32 speed = -1;
2216 Double frequency;
2218 Double dwellTimeLeft;
2220 Double dwellTimeRight;
2223 double rotSpeed = -1;
2225 ArcSetOpt arc_set_opt = ArcSetOpt::CreateDefault();
2227 bool nonLeadingPendulum;
2228 };
2229
2233 ref class WeaveOnCommand : public ArcWeldingCommand
2234 {
2235 public:
2239 WeaveOnCommand();
2240
2245 WeaveOnCommand(String^ weaveData);
2246
2252 void setWeaveData(String^ weaveData, [Out] ErrorCode ^ % ec);
2253
2258 String^ getWeaveData();
2259
2260 private:
2262 String^ m_weaveData{"default"};
2263 };
2264
2268 ref class WeaveOffCommand : public ArcWeldingCommand
2269 {
2270 };
2271
2275 ref class OffsetOnCommand : public ArcWeldingCommand {
2276 public:
2280 OffsetOnCommand();
2281
2286 OffsetOnCommand(String ^ layerData);
2287
2293 OffsetOnCommand(String ^ layerData, Int32 rpm);
2294
2300 void setOffsetOnData(String ^ layerData, [Out] ErrorCode ^ % ec);
2301
2308 void setOffsetOnData(String ^ layerData, Int32 rpm, [Out] ErrorCode ^ % ec);
2309
2311 String ^ m_layerData { "default" };
2312 Int32 m_rpm { 0 };
2313 };
2314
2318 ref class OffsetOffCommand : public ArcWeldingCommand {};
2319
2323 ref class ChangeLayerDataCommand : public ArcWeldingCommand {
2324 public:
2325
2326
2330 ChangeLayerDataCommand();
2331
2342
2343 ChangeLayerDataCommand(String ^ layerDataName, Double startOffset, Double endOffset, Double yOffset, Double zOffset, Double travelAngle, Double tiltAngle);
2344
2349 ArcWelding::LayerData ^ getChangeLayerData();
2350
2351 private:
2353 ArcWelding::LayerData ^ m_layerData;
2354 };
2355
2359 ref class LaserTrackOnCommand : public ArcWeldingCommand
2360 {
2361 public:
2365 LaserTrackOnCommand();
2366
2372 LaserTrackOnCommand(String^ handEyeData, String^ laserTrackData);
2373
2379 void setHandEyeData(String^ handEyeData, [Out] ErrorCode ^ % ec);
2380
2385 String^ getHandEyeData();
2386
2392 void setLaserTrackData(String^ laserTrackData, [Out] ErrorCode ^ % ec);
2393
2398 String^ getLaserTrackData();
2399
2400 private:
2402 String^ m_handEyeData{"default"};
2404 String^ m_laserTrackData{"default"};
2405 };
2406
2410 ref class LaserTrackOffCommand : public ArcWeldingCommand
2411 {
2412 };
2413
2417 ref class LaserSearchCommand : public ArcWeldingCommand
2418 {
2419 public:
2423 LaserSearchCommand();
2424
2433 LaserSearchCommand(String^ laserHandEyeData, String^ laserSearchData, CartesianPosition^ endPoint, Int32 speed, Int32 zone);
2434
2435 public:
2437 String^ laserHandEyeData = "default";
2439 String^ laserSearchData = "default";
2441 CartesianPosition^ endPoint = gcnew CartesianPosition();
2443 Int32 speed = -1;
2445 Int32 zone = -1;
2446 };
2447
2451 ref class SegOnCommand : public ArcWeldingCommand
2452 {
2453 public:
2457 SegOnCommand();
2458
2463 SegOnCommand(String^ segData);
2464
2466 String^ segData = "default";
2467 };
2468
2472 ref class SegOffCommand : public ArcWeldingCommand{};
2473
2485 Tuple<Boolean, CartesianPosition^>^ executeLaserSearch(ArcWelding::LaserSearchCommand^ cmd, Boolean isMove, System::TimeSpan^ timeout, [Out] ErrorCode ^ % ec);
2486
2493 CartesianPosition^ calcIntersection(array<CartesianPosition^>^ points, [Out] ErrorCode ^ % ec);
2494
2503 CartesianPosition ^ GetLaserPos(CartesianPosition ^ pos, String ^ laserHandEyeData, [Out] ErrorCode ^ % ec, String ^ refSys);
2504
2513 Frame ^ getRefBy3Points(array<CartesianPosition^>^ points, bool withOrigin, DirType dt, [Out] ErrorCode ^ % ec);
2514
2515 private:
2516 rokae::ArcWelding *_arcwelding;
2517 };
2518}
2519
2520#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:1774
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:1725
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:1719
rokae::clr::ArcWelding::ChangeLayerDataCommand
Definition: arcwelding_cli.hpp:2323
rokae::clr::ArcWelding::ChangeLayerDataCommand::ChangeLayerDataCommand
ChangeLayerDataCommand()
Constructor
rokae::clr::ArcWelding::ChangeLayerDataCommand::getChangeLayerData
ArcWelding::LayerData getChangeLayerData()
Constructor
rokae::clr::ArcWelding::ChangeLayerDataCommand::ChangeLayerDataCommand
ChangeLayerDataCommand(String ^ layerDataName, Double startOffset, Double endOffset, Double yOffset, Double zOffset, Double travelAngle, Double tiltAngle)
ChangeLayerDataCommand
rokae::clr::ArcWelding::FeedBackWireCommand
焊接指令 - 退丝，退丝速度，默认1.0 m/min,退丝默认为生效true
Definition: arcwelding_cli.hpp:1848
rokae::clr::ArcWelding::FeedBackWireCommand::FeedBackWireCommand
FeedBackWireCommand(Double time, Double speed, Boolean isReverse)
Constructor
rokae::clr::ArcWelding::FeedBackWireCommand::FeedBackWireCommand
FeedBackWireCommand()
Constructor，退丝默认为生效
rokae::clr::ArcWelding::FeedBackWireCommand::setFeedBackWireData
void setFeedBackWireData(Double time, Double speed, Boolean isReverse, [Out] ErrorCode ^ % ec)
设置退丝参数
rokae::clr::ArcWelding::FeedBackWireCommand::getFeedBackWireData
void getFeedBackWireData(Double % time, Double % speed, Boolean % isReverse)
获取退丝参数
rokae::clr::ArcWelding::FeedOnWireCommand
焊接指令 - 送丝，送丝速度默认1.0 m/min, 送丝默认为生效true
Definition: arcwelding_cli.hpp:1807
rokae::clr::ArcWelding::FeedOnWireCommand::getFeedOnWireData
void getFeedOnWireData(Double % time, Double % speed, Boolean % isFeed)
获取送丝参数
rokae::clr::ArcWelding::FeedOnWireCommand::FeedOnWireCommand
FeedOnWireCommand(Double time, Double speed, Boolean isFeed)
Constructor
rokae::clr::ArcWelding::FeedOnWireCommand::setFeedOnWireData
void setFeedOnWireData(Double time, Double speed, Boolean isFeed, [Out] ErrorCode ^ % ec)
设置送丝参数
rokae::clr::ArcWelding::FeedOnWireCommand::FeedOnWireCommand
FeedOnWireCommand()
Constructor，默认送丝生效
rokae::clr::ArcWelding::LaserSearchCommand
焊接指令 - 激光寻位
Definition: arcwelding_cli.hpp:2418
rokae::clr::ArcWelding::LaserSearchCommand::zone
Int32 zone
转弯区大小, 单位mm
Definition: arcwelding_cli.hpp:2445
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:2437
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:2439
rokae::clr::ArcWelding::LaserSearchCommand::speed
Int32 speed
末端线速度, 单位mm/s
Definition: arcwelding_cli.hpp:2443
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:2441
rokae::clr::ArcWelding::LaserTrackOffCommand
焊接指令 - 停止激光跟踪
Definition: arcwelding_cli.hpp:2411
rokae::clr::ArcWelding::LaserTrackOnCommand
焊接指令 - 开始激光跟踪
Definition: arcwelding_cli.hpp:2360
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::OffsetOffCommand
焊接指令 - 停止偏移
Definition: arcwelding_cli.hpp:2318
rokae::clr::ArcWelding::OffsetOnCommand
焊接指令 - 开始偏移
Definition: arcwelding_cli.hpp:2275
rokae::clr::ArcWelding::OffsetOnCommand::m_layerData
String m_layerData
摆动参数名
Definition: arcwelding_cli.hpp:2311
rokae::clr::ArcWelding::OffsetOnCommand::OffsetOnCommand
OffsetOnCommand(String ^ layerData, Int32 rpm)
Constructor
rokae::clr::ArcWelding::OffsetOnCommand::OffsetOnCommand
OffsetOnCommand()
Constructor
rokae::clr::ArcWelding::OffsetOnCommand::setOffsetOnData
void setOffsetOnData(String ^ layerData, Int32 rpm, [Out] ErrorCode ^ % ec)
设置摆动参数
rokae::clr::ArcWelding::OffsetOnCommand::setOffsetOnData
void setOffsetOnData(String ^ layerData, [Out] ErrorCode ^ % ec)
设置摆动参数
rokae::clr::ArcWelding::OffsetOnCommand::OffsetOnCommand
OffsetOnCommand(String ^ layerData)
Constructor
rokae::clr::ArcWelding::SegOffCommand
焊接指令 - 关闭间断焊
Definition: arcwelding_cli.hpp:2472
rokae::clr::ArcWelding::SegOnCommand
焊接指令 - 开启间断焊
Definition: arcwelding_cli.hpp:2452
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:2466
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:1977
rokae::clr::ArcWelding::WMoveCCommand::WMoveCCommand
WMoveCCommand(CartesianPosition ^ target, CartesianPosition ^ aux, Int32 speed, Int32 zone, String ^ weaveData, String ^ trackData)
Constructor
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:2054
rokae::clr::ArcWelding::WMoveCCommand::setWeaveData
void setWeaveData(String ^ weaveData, [Out] ErrorCode ^ % ec)
设置摆动参数
rokae::clr::ArcWelding::WMoveCCommand::WMoveCCommand
WMoveCCommand(CartesianPosition ^ target, CartesianPosition ^ aux, Int32 speed, Int32 zone)
Constructor
Definition: arcwelding_cli.hpp:1991
rokae::clr::ArcWelding::WMoveCCommand::getTrackData
String getTrackData()
获取电弧跟踪参数
rokae::clr::ArcWelding::WMoveCCommand::cartTargetOffset
CartesianPosition::Offset cartTargetOffset
笛卡尔目标点偏移选项
Definition: arcwelding_cli.hpp:2045
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:2049
rokae::clr::ArcWelding::WMoveCCommand::target
CartesianPosition target
目标笛卡尔点位
Definition: arcwelding_cli.hpp:2041
rokae::clr::ArcWelding::WMoveCCommand::setTrackData
void setTrackData(String ^ trackData, [Out] ErrorCode ^ % ec)
设置电弧跟踪参数
rokae::clr::ArcWelding::WMoveCCommand::aux
CartesianPosition aux
辅助点
Definition: arcwelding_cli.hpp:2043
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:2058
rokae::clr::ArcWelding::WMoveCCommand::zone
Int32 zone
转弯区半径，单位mm
Definition: arcwelding_cli.hpp:2051
rokae::clr::ArcWelding::WMoveCCommand::auxPointOffset
CartesianPosition::Offset auxPointOffset
辅助点偏移选项
Definition: arcwelding_cli.hpp:2047
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:2056
rokae::clr::ArcWelding::WMoveCCommand::WMoveCCommand
WMoveCCommand(CartesianPosition ^ target, CartesianPosition ^ aux, Int32 speed, Int32 zone, String ^ weaveData)
Constructor
Definition: arcwelding_cli.hpp:2001
rokae::clr::ArcWelding::WMoveCFCommand
焊接指令 - 整圆轨迹，摆动参数默认为空
Definition: arcwelding_cli.hpp:2070
rokae::clr::ArcWelding::WMoveCFCommand::WMoveCFCommand
WMoveCFCommand(CartesianPosition ^ target, CartesianPosition ^ aux, double angle, Int32 speed, Int32 zone)
Constructor
Definition: arcwelding_cli.hpp:2085
rokae::clr::ArcWelding::WMoveCFCommand::cartTargetOffset
CartesianPosition::Offset cartTargetOffset
笛卡尔目标点偏移选项
Definition: arcwelding_cli.hpp:2141
rokae::clr::ArcWelding::WMoveCFCommand::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:2150
rokae::clr::ArcWelding::WMoveCFCommand::arc_set_opt
ArcSetOpt arc_set_opt
设置焊接参数选项。
Definition: arcwelding_cli.hpp:2158
rokae::clr::ArcWelding::WMoveCFCommand::auxPointOffset
CartesianPosition::Offset auxPointOffset
辅助点偏移选项
Definition: arcwelding_cli.hpp:2143
rokae::clr::ArcWelding::WMoveCFCommand::setTrackData
void setTrackData(String ^ trackData, [Out] ErrorCode ^ % ec)
设置电弧跟踪参数
rokae::clr::ArcWelding::WMoveCFCommand::rotType
int rotType
旋转姿态类型, 0不变姿态|1动轴旋转|2定轴旋转
Definition: arcwelding_cli.hpp:2156
rokae::clr::ArcWelding::WMoveCFCommand::angle
double angle
执行角度, 单位弧度
Definition: arcwelding_cli.hpp:2154
rokae::clr::ArcWelding::WMoveCFCommand::getTrackData
String getTrackData()
获取电弧跟踪参数
rokae::clr::ArcWelding::WMoveCFCommand::speed
Int32 speed
机器人末端最大线速度, 单位mm/s。
Definition: arcwelding_cli.hpp:2145
rokae::clr::ArcWelding::WMoveCFCommand::target
CartesianPosition target
目标笛卡尔点位
Definition: arcwelding_cli.hpp:2137
rokae::clr::ArcWelding::WMoveCFCommand::WMoveCFCommand
WMoveCFCommand(CartesianPosition ^ target, CartesianPosition ^ aux, double angle, Int32 speed, Int32 zone, String ^ weaveData, String ^ trackData)
Constructor
rokae::clr::ArcWelding::WMoveCFCommand::zone
Int32 zone
转弯区半径，单位mm
Definition: arcwelding_cli.hpp:2147
rokae::clr::ArcWelding::WMoveCFCommand::WMoveCFCommand
WMoveCFCommand()
Constructor
rokae::clr::ArcWelding::WMoveCFCommand::setWeaveData
void setWeaveData(String ^ weaveData, [Out] ErrorCode ^ % ec)
设置摆动参数
rokae::clr::ArcWelding::WMoveCFCommand::WMoveCFCommand
WMoveCFCommand(CartesianPosition ^ target, CartesianPosition ^ aux, double angle, Int32 speed, Int32 zone, String ^ weaveData)
Constructor
Definition: arcwelding_cli.hpp:2096
rokae::clr::ArcWelding::WMoveCFCommand::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:2152
rokae::clr::ArcWelding::WMoveCFCommand::getWeaveData
String getWeaveData()
获取摆动参数
rokae::clr::ArcWelding::WMoveCFCommand::aux
CartesianPosition aux
辅助点
Definition: arcwelding_cli.hpp:2139
rokae::clr::ArcWelding::WMoveLCommand
焊接指令 - 直线轨迹，摆动参数默认为空
Definition: arcwelding_cli.hpp:1890
rokae::clr::ArcWelding::WMoveLCommand::zone
Int32 zone
转弯区半径，单位mm
Definition: arcwelding_cli.hpp:1955
rokae::clr::ArcWelding::WMoveLCommand::target
CartesianPosition target
目标笛卡尔点位
Definition: arcwelding_cli.hpp:1951
rokae::clr::ArcWelding::WMoveLCommand::cartTargetOffset
CartesianPosition::Offset cartTargetOffset
笛卡尔目标点偏移选项
Definition: arcwelding_cli.hpp:1957
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:1953
rokae::clr::ArcWelding::WMoveLCommand::WMoveLCommand
WMoveLCommand(CartesianPosition ^ target, Int32 speed, Int32 zone)
Constructor
Definition: arcwelding_cli.hpp:1903
rokae::clr::ArcWelding::WMoveLCommand::WMoveLCommand
WMoveLCommand(CartesianPosition ^ target, Int32 speed, Int32 zone, String ^ weaveData, String ^ trackData)
Constructor
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:1960
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:1962
rokae::clr::ArcWelding::WMoveLCommand::arc_set_opt
ArcSetOpt arc_set_opt
设置焊接参数选项
Definition: arcwelding_cli.hpp:1964
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
Definition: arcwelding_cli.hpp:1912
rokae::clr::ArcWelding::WMoveLCommand::setTrackData
void setTrackData(String ^ trackData, [Out] ErrorCode ^ % ec)
设置电弧跟踪参数
rokae::clr::ArcWelding::WMoveLCommand::WMoveLCommand
WMoveLCommand()
Constructor，默认摆动参数名为空
rokae::clr::ArcWelding::WMoveLCommand::getTrackData
String getTrackData()
获取电弧跟踪参数
rokae::clr::ArcWelding::WMoveLPendulumCommand
焊接指令 - 钟摆轨迹
Definition: arcwelding_cli.hpp:2171
rokae::clr::ArcWelding::WMoveLPendulumCommand::targetAux
CartesianPosition targetAux
目标辅助笛卡尔点位
Definition: arcwelding_cli.hpp:2204
rokae::clr::ArcWelding::WMoveLPendulumCommand::speed
Int32 speed
机器人末端最大线速度, 单位mm/s。
Definition: arcwelding_cli.hpp:2214
rokae::clr::ArcWelding::WMoveLPendulumCommand::dwellTimeLeft
Double dwellTimeLeft
左边缘停留时间。单位：ms，范围：[0 10000]
Definition: arcwelding_cli.hpp:2218
rokae::clr::ArcWelding::WMoveLPendulumCommand::targetPointOffset
CartesianPosition::Offset targetPointOffset
笛卡尔目标点偏移选项
Definition: arcwelding_cli.hpp:2212
rokae::clr::ArcWelding::WMoveLPendulumCommand::WMoveLPendulumCommand
WMoveLPendulumCommand(CartesianPosition^ startAux, CartesianPosition^ targetAux, CartesianPosition^ target, Int32 speed, Double frequency, Double dwellTimeLeft, Double dwellTimeRight)
Constructor，首条钟摆
rokae::clr::ArcWelding::WMoveLPendulumCommand::frequency
Double frequency
摆动频率。单位：Hz，范围：[0.1 5]
Definition: arcwelding_cli.hpp:2216
rokae::clr::ArcWelding::WMoveLPendulumCommand::targetAuxPointOffset
CartesianPosition::Offset targetAuxPointOffset
目标辅助点偏移选项
Definition: arcwelding_cli.hpp:2210
rokae::clr::ArcWelding::WMoveLPendulumCommand::arc_set_opt
ArcSetOpt arc_set_opt
设置焊接参数选项。
Definition: arcwelding_cli.hpp:2225
rokae::clr::ArcWelding::WMoveLPendulumCommand::dwellTimeRight
Double dwellTimeRight
右边缘停留时间。单位：ms，范围：[0 10000]
Definition: arcwelding_cli.hpp:2220
rokae::clr::ArcWelding::WMoveLPendulumCommand::nonLeadingPendulum
bool nonLeadingPendulum
非首条钟摆
Definition: arcwelding_cli.hpp:2227
rokae::clr::ArcWelding::WMoveLPendulumCommand::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:2223
rokae::clr::ArcWelding::WMoveLPendulumCommand::startAuxTPointOffset
CartesianPosition::Offset startAuxTPointOffset
起始辅助点偏移选项
Definition: arcwelding_cli.hpp:2208
rokae::clr::ArcWelding::WMoveLPendulumCommand::target
CartesianPosition target
目标点
Definition: arcwelding_cli.hpp:2206
rokae::clr::ArcWelding::WMoveLPendulumCommand::WMoveLPendulumCommand
WMoveLPendulumCommand()
Constructor
rokae::clr::ArcWelding::WMoveLPendulumCommand::startAux
CartesianPosition startAux
起始辅助笛卡尔点位
Definition: arcwelding_cli.hpp:2202
rokae::clr::ArcWelding::WMoveLPendulumCommand::WMoveLPendulumCommand
WMoveLPendulumCommand(CartesianPosition^ targetAux, CartesianPosition^ target, Int32 speed, Double frequency, Double dwellTimeLeft, Double dwellTimeRight)
Constructor，非首条钟摆
rokae::clr::ArcWelding::WeaveOffCommand
焊接指令 - 停止摆动
Definition: arcwelding_cli.hpp:2269
rokae::clr::ArcWelding::WeaveOnCommand
焊接指令 - 开始摆动
Definition: arcwelding_cli.hpp:2234
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::getWelderWorkModes
array< String^> getWelderWorkModes([Out] ErrorCode ^ % ec)
获取当前连接的焊机对应的工作模式
rokae::clr::ArcWelding::getWeaveAdaptiveData
WeaveAdaptiveData getWeaveAdaptiveData([Out] ErrorCode^% ec)
获取摆焊-自适应参数
rokae::clr::ArcWelding::getRefBy3Points
Frame getRefBy3Points(array< CartesianPosition^>^ points, bool withOrigin, DirType dt, [Out] ErrorCode ^ % ec)
激光寻位 - 三点法获得一个坐标系
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::calcIntersection
CartesianPosition calcIntersection(array< CartesianPosition^>^ points, [Out] ErrorCode ^ % ec)
激光寻位 - 四点计算交点。只计算位置，姿态取points第一点的姿态
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::removeLayerData
void removeLayerData(String ^ layerDataName, [Out] ErrorCode ^ % ec)
删除多层多道偏移参数
rokae::clr::ArcWelding::GetLaserPos
CartesianPosition GetLaserPos(CartesianPosition ^ pos, String ^ laserHandEyeData, [Out] ErrorCode ^ % ec, String ^ refSys)
获取激光位置。只计算位置，姿态不变
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::removeLayerData
void removeLayerData(List< String ^> ^ layerDataNames, [Out] ErrorCode ^ % ec)
批量删除多层多道偏移参数
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::WeldOffsetJogDir
WeldOffsetJogDir
叠加摆动偏移方向
Definition: arcwelding_cli.hpp:61
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::getArcTrackParam
ArcTrackParam getArcTrackParam(String ^ name, [Out] ErrorCode ^ % ec)
获取电弧跟踪参数设置
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::weldOffsetJog
void weldOffsetJog(WeldOffsetJogDir dir, [Out] ErrorCode ^ % ec)
叠加摆动偏移Jog，焊接过程中，沿路径坐标系 Y、Z 方向点动机器人 TCP 接口
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::setArcTrackParam
void setArcTrackParam(ArcTrackParam param, [Out] ErrorCode ^ % ec)
设置焊缝跟踪参数
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::startWelding
void startWelding(Double current, Double voltage, String^ voltage_mode, String^ current_mode, String^ work_mode, [Out] ErrorCode ^ % ec)
开始铆焊。
rokae::clr::ArcWelding::removeArcTrackParam
void removeArcTrackParam(List< String^>^ names, [Out] ErrorCode ^ % ec)
删除多个电弧跟踪参数
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::clearWelderAlarm
void clearWelderAlarm([Out] ErrorCode ^ % ec)
清除焊机报警
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:905
rokae::clr::ArcWelding::LaserSensorType::CRNT
@ CRNT
创想激光器
rokae::clr::ArcWelding::getLayerData
LayerData getLayerData(String ^ layerDataName, [Out] ErrorCode ^ % ec)
获取多层多道偏移参数
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::DirType
DirType
坐标系标定顺序类型
Definition: arcwelding_cli.hpp:49
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::setWeaveAdaptiveData
void setWeaveAdaptiveData(WeaveAdaptiveData weaveAdaptiveData, [Out] ErrorCode^% ec)
设置摆焊-自适应参数
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::setLayerData
void setLayerData(LayerData layerData, [Out] ErrorCode ^ % ec)
设置多层多道偏移参数
rokae::clr::ArcWelding::removeArcTrackParam
void removeArcTrackParam(String ^ name, [Out] ErrorCode ^ % ec)
删除电弧跟踪参数
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:343
rokae::clr::CartesianPosition
笛卡尔点位
Definition: data_types_cli.hpp:338
rokae::clr::ErrorCode
xCoreSDK错误码
Definition: data_types_cli.hpp:23
rokae::clr::Frame
坐标系
Definition: data_types_cli.hpp:295
data_types_cli.hpp
rokae::clr::ArcWelding::Amplitude
摆动幅度
Definition: arcwelding_cli.hpp:330
rokae::clr::ArcWelding::Amplitude::left
Double left
左幅度。单位：mm，范围：[ 0.1, 50 ]
Definition: arcwelding_cli.hpp:332
rokae::clr::ArcWelding::Amplitude::CreateDefault
static Amplitude CreateDefault()
Amplitude默认值
Definition: arcwelding_cli.hpp:337
rokae::clr::ArcWelding::Amplitude::right
Double right
右幅度。单位：mm，范围：[ 0.1, 50 ]
Definition: arcwelding_cli.hpp:334
rokae::clr::ArcWelding::AntiWireStickParam
防粘丝参数
Definition: arcwelding_cli.hpp:255
rokae::clr::ArcWelding::AntiWireStickParam::enable
Boolean enable
防粘丝开关
Definition: arcwelding_cli.hpp:257
rokae::clr::ArcWelding::AntiWireStickParam::current
Double current
防粘丝电流。单位：A，范围：[0 - 100] A
Definition: arcwelding_cli.hpp:259
rokae::clr::ArcWelding::AntiWireStickParam::time
Int32 time
防粘丝时间。单位：ms，范围：[0 - 10000] ms
Definition: arcwelding_cli.hpp:263
rokae::clr::ArcWelding::AntiWireStickParam::CreateDefault
static AntiWireStickParam CreateDefault()
AntiWireStickParam默认值
Definition: arcwelding_cli.hpp:266
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:261
rokae::clr::ArcWelding::AnticollisionState
防碰撞状态
Definition: arcwelding_cli.hpp:1061
rokae::clr::ArcWelding::ArcBreakParam
断弧和再起弧参数
Definition: arcwelding_cli.hpp:192
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:198
rokae::clr::ArcWelding::ArcBreakParam::CreateDefault
static ArcBreakParam CreateDefault()
ArcBreakParam默认值
Definition: arcwelding_cli.hpp:201
rokae::clr::ArcWelding::ArcBreakParam::arc_break_option
String arc_break_option
断弧选项。停机并告警："stop_and_alarm"，自动再起弧："auto_arc_reignition"
Definition: arcwelding_cli.hpp:196
rokae::clr::ArcWelding::ArcBreakParam::detect_time
Int32 detect_time
断弧检测时间。单位：ms，范围：[1 - 10000] ms
Definition: arcwelding_cli.hpp:194
rokae::clr::ArcWelding::ArcData
焊接参数
Definition: arcwelding_cli.hpp:213
rokae::clr::ArcWelding::ArcData::annotation
String annotation
文件号注释
Definition: arcwelding_cli.hpp:217
rokae::clr::ArcWelding::ArcData::arc_break_param
ArcBreakParam arc_break_param
断弧和再起弧参数
Definition: arcwelding_cli.hpp:233
rokae::clr::ArcWelding::ArcData::name
String name
文件号名
Definition: arcwelding_cli.hpp:215
rokae::clr::ArcWelding::ArcData::voltage_mode
String voltage_mode
电压模式。分别："separate"，一元化："unified"
Definition: arcwelding_cli.hpp:223
rokae::clr::ArcWelding::ArcData::CreateDefault
static ArcData CreateDefault()
ArcData默认值
Definition: arcwelding_cli.hpp:236
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:219
rokae::clr::ArcWelding::ArcData::weld_speed
Double weld_speed
焊接速度.单位：mm/s
Definition: arcwelding_cli.hpp:229
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:221
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:231
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:225
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:227
rokae::clr::ArcWelding::ArcOffData
收弧参数
Definition: arcwelding_cli.hpp:279
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:295
rokae::clr::ArcWelding::ArcOffData::name
String name
文件号名
Definition: arcwelding_cli.hpp:281
rokae::clr::ArcWelding::ArcOffData::voltage
Double voltage
收弧电压。单位：分别下为 V，一元化下为 V 或者 %
Definition: arcwelding_cli.hpp:293
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:287
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:285
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:297
rokae::clr::ArcWelding::ArcOffData::annotation
String annotation
文件号注释
Definition: arcwelding_cli.hpp:283
rokae::clr::ArcWelding::ArcOffData::CreateDefault
static ArcOffData CreateDefault()
ArcOffData默认值
Definition: arcwelding_cli.hpp:308
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:303
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:301
rokae::clr::ArcWelding::ArcOffData::current
Double current
收弧电流. 单位：电流下为 A，送丝速度下为 mm/s
Definition: arcwelding_cli.hpp:291
rokae::clr::ArcWelding::ArcOffData::anti_wire_stick_param
AntiWireStickParam anti_wire_stick_param
防粘丝参数
Definition: arcwelding_cli.hpp:305
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:299
rokae::clr::ArcWelding::ArcOffData::voltage_mode
String voltage_mode
电压模式。分别："separate"，一元化："unified"
Definition: arcwelding_cli.hpp:289
rokae::clr::ArcWelding::ArcOnData
起弧参数
Definition: arcwelding_cli.hpp:129
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:141
rokae::clr::ArcWelding::ArcOnData::voltage_mode
String voltage_mode
电压模式。分别："separate"，一元化："unified"
Definition: arcwelding_cli.hpp:139
rokae::clr::ArcWelding::ArcOnData::scratch_arcon
ScratchArconParam scratch_arcon
刮擦起弧参数
Definition: arcwelding_cli.hpp:163
rokae::clr::ArcWelding::ArcOnData::pre_wirefeed_time
Int32 pre_wirefeed_time
提前送丝时间。单位：ms
Definition: arcwelding_cli.hpp:157
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:143
rokae::clr::ArcWelding::ArcOnData::re_arcon
ReArcOnParam re_arcon
再起弧参数
Definition: arcwelding_cli.hpp:161
rokae::clr::ArcWelding::ArcOnData::prearc_time
Int32 prearc_time
提前起弧时间。单位：ms
Definition: arcwelding_cli.hpp:153
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:151
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:155
rokae::clr::ArcWelding::ArcOnData::name
String name
文件号名
Definition: arcwelding_cli.hpp:131
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:135
rokae::clr::ArcWelding::ArcOnData::CreateDefault
static ArcOnData CreateDefault()
ArcOnData默认值
Definition: arcwelding_cli.hpp:166
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:159
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:147
rokae::clr::ArcWelding::ArcOnData::annotation
String annotation
注释
Definition: arcwelding_cli.hpp:133
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:149
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:145
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:137
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:1040
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:1046
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:1044
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:1042
rokae::clr::ArcWelding::ArcSetOpt::CreateDefault
static ArcSetOpt CreateDefault()
焊接参数默认值
Definition: arcwelding_cli.hpp:1049
rokae::clr::ArcWelding::ArcTrackParam
电弧跟踪参数设置
Definition: arcwelding_cli.hpp:1004
rokae::clr::ArcWelding::ArcTrackParam::ud_param
UdTrackParam ud_param
上下跟踪参数
Definition: arcwelding_cli.hpp:1020
rokae::clr::ArcWelding::ArcTrackParam::ud_enable
bool ud_enable
是否开启上下跟踪
Definition: arcwelding_cli.hpp:1016
rokae::clr::ArcWelding::ArcTrackParam::lr_enable
bool lr_enable
是否开启左右跟踪
Definition: arcwelding_cli.hpp:1014
rokae::clr::ArcWelding::ArcTrackParam::delay_time
int delay_time
延迟时间：电流采样和传输时间的延迟 单位 ms 范围：[ 0, 50 ]
Definition: arcwelding_cli.hpp:1010
rokae::clr::ArcWelding::ArcTrackParam::name
String name
文件号
Definition: arcwelding_cli.hpp:1006
rokae::clr::ArcWelding::ArcTrackParam::cycle
int cycle
开始周期，范围：[ 3, 50 ]
Definition: arcwelding_cli.hpp:1012
rokae::clr::ArcWelding::ArcTrackParam::annotation
String annotation
文件号注释
Definition: arcwelding_cli.hpp:1008
rokae::clr::ArcWelding::ArcTrackParam::lr_param
LrTrackParam lr_param
左右跟踪参数
Definition: arcwelding_cli.hpp:1018
rokae::clr::ArcWelding::ArcTrackParam::CreateDefault
static ArcTrackParam CreateDefault()
电弧跟踪参数默认值
Definition: arcwelding_cli.hpp:1023
rokae::clr::ArcWelding::ArcWeldRunningParam
运行参数
Definition: arcwelding_cli.hpp:736
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:742
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:740
rokae::clr::ArcWelding::ArcWeldRunningParam::CreateDefault
static ArcWeldRunningParam CreateDefault()
运行参数默认值
Definition: arcwelding_cli.hpp:745
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:738
rokae::clr::ArcWelding::CalibrationResult
自动标定点位结果
Definition: arcwelding_cli.hpp:884
rokae::clr::ArcWelding::CalibrationResult::CreateDefault
static CalibrationResult CreateDefault()
自动标定点位结果默认值
Definition: arcwelding_cli.hpp:893
rokae::clr::ArcWelding::CalibrationResult::p_laser
List< double > p_laser
激光相机坐标
Definition: arcwelding_cli.hpp:890
rokae::clr::ArcWelding::CalibrationResult::id
int id
点位序号
Definition: arcwelding_cli.hpp:886
rokae::clr::ArcWelding::CalibrationResult::p_robot
List< double > p_robot
机器人坐标
Definition: arcwelding_cli.hpp:888
rokae::clr::ArcWelding::CharacteristicCurveData
特性曲线参数
Definition: arcwelding_cli.hpp:712
rokae::clr::ArcWelding::CharacteristicCurveData::slope
Double slope
斜率
Definition: arcwelding_cli.hpp:720
rokae::clr::ArcWelding::CharacteristicCurveData::name
String name
文件号名
Definition: arcwelding_cli.hpp:714
rokae::clr::ArcWelding::CharacteristicCurveData::points
List< Tuple< Double, Double > ^> points
点位数组
Definition: arcwelding_cli.hpp:718
rokae::clr::ArcWelding::CharacteristicCurveData::CreateDefault
static CharacteristicCurveData CreateDefault()
特性曲线参数默认值
Definition: arcwelding_cli.hpp:723
rokae::clr::ArcWelding::CharacteristicCurveData::intercept
Double intercept
截距
Definition: arcwelding_cli.hpp:716
rokae::clr::ArcWelding::ElevationAngle
仰角
Definition: arcwelding_cli.hpp:348
rokae::clr::ArcWelding::ElevationAngle::right
Double right
右仰角。单位：°，范围：[ -90, 90 ]
Definition: arcwelding_cli.hpp:352
rokae::clr::ArcWelding::ElevationAngle::CreateDefault
static ElevationAngle CreateDefault()
ElevationAngle默认值
Definition: arcwelding_cli.hpp:355
rokae::clr::ArcWelding::ElevationAngle::left
Double left
左仰角。单位：°，范围：[ -90, 90 ]
Definition: arcwelding_cli.hpp:350
rokae::clr::ArcWelding::HandeyeData
手眼标定结果
Definition: arcwelding_cli.hpp:859
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:865
rokae::clr::ArcWelding::HandeyeData::rotMatrix
array< Double > rotMatrix
旋转矩阵的行优先向量
Definition: arcwelding_cli.hpp:867
rokae::clr::ArcWelding::HandeyeData::transVector
array< Double > transVector
平移向量
Definition: arcwelding_cli.hpp:869
rokae::clr::ArcWelding::HandeyeData::name
String name
手眼标定结果文件号
Definition: arcwelding_cli.hpp:861
rokae::clr::ArcWelding::HandeyeData::mode
Boolean mode
标定结果形式 true:xyz_abc false:RT矩阵
Definition: arcwelding_cli.hpp:863
rokae::clr::ArcWelding::HandeyeData::CreateDefault
static HandeyeData CreateDefault()
手眼标定结果默认值
Definition: arcwelding_cli.hpp:872
rokae::clr::ArcWelding::IOData
IO端口
Definition: arcwelding_cli.hpp:637
rokae::clr::ArcWelding::IOData::enable
Boolean enable
是否启用
Definition: arcwelding_cli.hpp:645
rokae::clr::ArcWelding::IOData::bias
Int32 bias
偏差。类型为寄存器的时候有效
Definition: arcwelding_cli.hpp:643
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:641
rokae::clr::ArcWelding::IOData::name
String name
名称。DI0，DO1， AO2，AI3...或寄存器名
Definition: arcwelding_cli.hpp:639
rokae::clr::ArcWelding::IOData::CreateDefault
static IOData CreateDefault()
IOData默认值
Definition: arcwelding_cli.hpp:648
rokae::clr::ArcWelding::IOSetting
IO设置
Definition: arcwelding_cli.hpp:661
rokae::clr::ArcWelding::IOSetting::error
IOData error
报警
Definition: arcwelding_cli.hpp:687
rokae::clr::ArcWelding::IOSetting::current_get
IOData current_get
电流获取
Definition: arcwelding_cli.hpp:681
rokae::clr::ArcWelding::IOSetting::positioning_feedback
IOData positioning_feedback
寻位反馈信号
Definition: arcwelding_cli.hpp:675
rokae::clr::ArcWelding::IOSetting::voltage_set
IOData voltage_set
电压/弧长校正给定
Definition: arcwelding_cli.hpp:679
rokae::clr::ArcWelding::IOSetting::positioning_enable
IOData positioning_enable
寻位使能信号
Definition: arcwelding_cli.hpp:671
rokae::clr::ArcWelding::IOSetting::wire_feed
IOData wire_feed
送丝
Definition: arcwelding_cli.hpp:665
rokae::clr::ArcWelding::IOSetting::voltage_get
IOData voltage_get
电压获取
Definition: arcwelding_cli.hpp:683
rokae::clr::ArcWelding::IOSetting::CreateDefault
static IOSetting CreateDefault()
IOSetting默认值
Definition: arcwelding_cli.hpp:690
rokae::clr::ArcWelding::IOSetting::robot_ready
IOData robot_ready
机器人准备好
Definition: arcwelding_cli.hpp:685
rokae::clr::ArcWelding::IOSetting::current_set
IOData current_set
电流指定
Definition: arcwelding_cli.hpp:677
rokae::clr::ArcWelding::IOSetting::arc_on_success
IOData arc_on_success
引弧成功判断
Definition: arcwelding_cli.hpp:673
rokae::clr::ArcWelding::IOSetting::gas_test
IOData gas_test
气体检测
Definition: arcwelding_cli.hpp:669
rokae::clr::ArcWelding::IOSetting::wire_feed_back
IOData wire_feed_back
回抽丝
Definition: arcwelding_cli.hpp:667
rokae::clr::ArcWelding::IOSetting::arc_on
IOData arc_on
起弧端口
Definition: arcwelding_cli.hpp:663
rokae::clr::ArcWelding::LaserSearchData
激光寻位参数
Definition: arcwelding_cli.hpp:607
rokae::clr::ArcWelding::LaserSearchData::step_length
Double step_length
步进距离。单位：mm
Definition: arcwelding_cli.hpp:617
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:611
rokae::clr::ArcWelding::LaserSearchData::name
String name
文件号名
Definition: arcwelding_cli.hpp:609
rokae::clr::ArcWelding::LaserSearchData::CreateDefault
static LaserSearchData CreateDefault()
LaserSearchData默认值
Definition: arcwelding_cli.hpp:622
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:619
rokae::clr::ArcWelding::LaserSearchData::search_type
String search_type
寻位类型。点寻位："point"
Definition: arcwelding_cli.hpp:613
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:615
rokae::clr::ArcWelding::LaserSensorCfg
激光传感器配置信息设置
Definition: arcwelding_cli.hpp:917
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:929
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、英莱INTELLIGENT）
Definition: arcwelding_cli.hpp:925
rokae::clr::ArcWelding::LaserSensorCfg::CreateDefault
static LaserSensorCfg CreateDefault()
激光传感器配置信息默认值
Definition: arcwelding_cli.hpp:932
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:927
rokae::clr::ArcWelding::LaserSensorCfg::ip
String ip
IP地址
Definition: arcwelding_cli.hpp:921
rokae::clr::ArcWelding::LaserSensorCfg::name
String name
设备名
Definition: arcwelding_cli.hpp:919
rokae::clr::ArcWelding::LaserSensorCfg::port
Int32 port
端口号
Definition: arcwelding_cli.hpp:923
rokae::clr::ArcWelding::LaserTrackData
激光跟踪参数
Definition: arcwelding_cli.hpp:580
rokae::clr::ArcWelding::LaserTrackData::name
String name
文件号名
Definition: arcwelding_cli.hpp:582
rokae::clr::ArcWelding::LaserTrackData::z_comp
Boolean z_comp
Z方向补偿开关
Definition: arcwelding_cli.hpp:588
rokae::clr::ArcWelding::LaserTrackData::max_invalid_length
double max_invalid_length
最大无效焊缝停止距离, 单位mm, 范围(0, 50]
Definition: arcwelding_cli.hpp:590
rokae::clr::ArcWelding::LaserTrackData::CreateDefault
static LaserTrackData CreateDefault()
LaserTrackData默认值
Definition: arcwelding_cli.hpp:593
rokae::clr::ArcWelding::LaserTrackData::y_comp
Boolean y_comp
Y方向补偿开关
Definition: arcwelding_cli.hpp:586
rokae::clr::ArcWelding::LaserTrackData::job_number
Int32 job_number
跟踪器工艺编号。范围：[0,63]
Definition: arcwelding_cli.hpp:584
rokae::clr::ArcWelding::LayerData
多层多道参数
Definition: arcwelding_cli.hpp:486
rokae::clr::ArcWelding::LayerData::custom_point_3
array< Double > custom_point_3
自定义点3坐标。xyz，[mm]
Definition: arcwelding_cli.hpp:522
rokae::clr::ArcWelding::LayerData::offset_coord_system
Int32 offset_coord_system
偏移XYZ向参考坐标系。{0: 焊缝坐标系, 1: Z向参考轴, 2: XY平面参考点}
Definition: arcwelding_cli.hpp:514
rokae::clr::ArcWelding::LayerData::tilt_angle
Double tilt_angle
倾斜角。单位：°，范围：[-90, 90]
Definition: arcwelding_cli.hpp:503
rokae::clr::ArcWelding::LayerData::aux_point_3
array< Double > aux_point_3
辅助点3坐标。xyz，[mm]
Definition: arcwelding_cli.hpp:530
rokae::clr::ArcWelding::LayerData::aux_type
Int32 aux_type
辅助点类型。{1: 一点法, 3: 三点法}
Definition: arcwelding_cli.hpp:512
rokae::clr::ArcWelding::LayerData::axis_type
Int32 axis_type
参考轴类型。{0: 正Z轴, 1: 负Z轴, 2: 正Y轴, 3: 负Y轴, 4: 正X轴, 5: 负X轴}
Definition: arcwelding_cli.hpp:510
rokae::clr::ArcWelding::LayerData::end_offset
Double end_offset
终点偏移。单位：mm，范围：[-50, 50]
Definition: arcwelding_cli.hpp:495
rokae::clr::ArcWelding::LayerData::y_offset
Double y_offset
Y向偏移。单位：mm，范围：[-150, 150]
Definition: arcwelding_cli.hpp:497
rokae::clr::ArcWelding::LayerData::custom_point_2
array< Double > custom_point_2
自定义点2坐标。xyz，[mm]
Definition: arcwelding_cli.hpp:520
rokae::clr::ArcWelding::LayerData::custom_point_1
array< Double > custom_point_1
自定义点1坐标。xyz，[mm]
Definition: arcwelding_cli.hpp:518
rokae::clr::ArcWelding::LayerData::check_aux_point_count_3
Int32 check_aux_point_count_3
辅助点3示教次数
Definition: arcwelding_cli.hpp:538
rokae::clr::ArcWelding::LayerData::z_axis_fixed_type
Int32 z_axis_fixed_type
Z轴固定类型。{0: 指定参考轴, 1: 自定义向量计算}
Definition: arcwelding_cli.hpp:506
rokae::clr::ArcWelding::LayerData::CreateDefault
static LayerData CreateDefault()
LayerData 默认值（CreateDefault）
Definition: arcwelding_cli.hpp:541
rokae::clr::ArcWelding::LayerData::z_offset
Double z_offset
Z向偏移。单位：mm，范围：[-150, 150]
Definition: arcwelding_cli.hpp:499
rokae::clr::ArcWelding::LayerData::annotation
String annotation
注释
Definition: arcwelding_cli.hpp:490
rokae::clr::ArcWelding::LayerData::travel_angle
Double travel_angle
前进角。单位：°，范围：[-90, 90]
Definition: arcwelding_cli.hpp:501
rokae::clr::ArcWelding::LayerData::point_num
Int32 point_num
自定义点位个数。范围：[1, 3]
Definition: arcwelding_cli.hpp:508
rokae::clr::ArcWelding::LayerData::start_offset
Double start_offset
起点偏移。单位：mm，范围：[-50, 50]
Definition: arcwelding_cli.hpp:493
rokae::clr::ArcWelding::LayerData::aux_point_1
array< Double > aux_point_1
辅助点1坐标。xyz，[mm]
Definition: arcwelding_cli.hpp:526
rokae::clr::ArcWelding::LayerData::check_aux_point_count_2
Int32 check_aux_point_count_2
辅助点2示教次数
Definition: arcwelding_cli.hpp:536
rokae::clr::ArcWelding::LayerData::aux_point_2
array< Double > aux_point_2
辅助点2坐标。xyz，[mm]
Definition: arcwelding_cli.hpp:528
rokae::clr::ArcWelding::LayerData::name
String name
文件名
Definition: arcwelding_cli.hpp:488
rokae::clr::ArcWelding::LayerData::check_aux_point_count_1
Int32 check_aux_point_count_1
辅助点1示教次数
Definition: arcwelding_cli.hpp:534
rokae::clr::ArcWelding::LrTrackParam
电弧跟踪左右跟踪参数
Definition: arcwelding_cli.hpp:947
rokae::clr::ArcWelding::LrTrackParam::min_compensation
double min_compensation
最小补偿量：单次补偿最小值，控制量小于该值不予补偿，单位 mm，范围：[ 0, 10 ]
Definition: arcwelding_cli.hpp:953
rokae::clr::ArcWelding::LrTrackParam::pid
double pid
比例增益：调节左右跟踪的快慢，范围：[ 0, 10 ]
Definition: arcwelding_cli.hpp:949
rokae::clr::ArcWelding::LrTrackParam::max_compensation
double max_compensation
最大补偿量：单次补偿最大值 单位 mm，范围：[ 0, 10 ]
Definition: arcwelding_cli.hpp:955
rokae::clr::ArcWelding::LrTrackParam::curr_bias_offset
double curr_bias_offset
电流偏差系数：补偿正常摆动时左右电流固有偏差，范围：[ 0, 10 ]
Definition: arcwelding_cli.hpp:951
rokae::clr::ArcWelding::LrTrackParam::CreateDefault
static LrTrackParam CreateDefault()
电弧跟踪左右跟踪参数默认值
Definition: arcwelding_cli.hpp:958
rokae::clr::ArcWelding::ReArcOnParam
再起弧参数
Definition: arcwelding_cli.hpp:75
rokae::clr::ArcWelding::ReArcOnParam::CreateDefault
static ReArcOnParam CreateDefault()
ReArcOnParam默认值
Definition: arcwelding_cli.hpp:90
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:83
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:81
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:87
rokae::clr::ArcWelding::ReArcOnParam::enable
Boolean enable
是否再起弧
Definition: arcwelding_cli.hpp:77
rokae::clr::ArcWelding::ReArcOnParam::retry_time
Int32 retry_time
起弧次数。范围：[1 - 20]
Definition: arcwelding_cli.hpp:79
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:85
rokae::clr::ArcWelding::ScratchArconParam
刮擦起弧参数
Definition: arcwelding_cli.hpp:105
rokae::clr::ArcWelding::ScratchArconParam::enable
Boolean enable
是否刮擦起弧
Definition: arcwelding_cli.hpp:107
rokae::clr::ArcWelding::ScratchArconParam::back_speed
Int32 back_speed
返回速度，单位：mm/s
Definition: arcwelding_cli.hpp:111
rokae::clr::ArcWelding::ScratchArconParam::distance
Int32 distance
刮擦距离。单位：mm，范围：[0 - 500] mm
Definition: arcwelding_cli.hpp:109
rokae::clr::ArcWelding::ScratchArconParam::CreateDefault
static ScratchArconParam CreateDefault()
ScratchArconParam默认值
Definition: arcwelding_cli.hpp:116
rokae::clr::ArcWelding::ScratchArconParam::step
Int32 step
刮擦步长，单位：mm，范围：[0 - 500] mm
Definition: arcwelding_cli.hpp:113
rokae::clr::ArcWelding::SegData
间断焊参数
Definition: arcwelding_cli.hpp:453
rokae::clr::ArcWelding::SegData::seg_type
String seg_type
间断焊类型。普通："normal"
Definition: arcwelding_cli.hpp:459
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:465
rokae::clr::ArcWelding::SegData::name
String name
文件号名
Definition: arcwelding_cli.hpp:455
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:461
rokae::clr::ArcWelding::SegData::CreateDefault
static SegData CreateDefault()
SegData默认值
Definition: arcwelding_cli.hpp:468
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:463
rokae::clr::ArcWelding::SegData::annotation
String annotation
文件号注释
Definition: arcwelding_cli.hpp:457
rokae::clr::ArcWelding::UdTrackParam
电弧跟踪上下跟踪参数
Definition: arcwelding_cli.hpp:971
rokae::clr::ArcWelding::UdTrackParam::min_compensation
double min_compensation
最小补偿量：单次补偿最小值，控制量小于该值不予补偿，单位 mm，范围：[ 0, 10 ]
Definition: arcwelding_cli.hpp:977
rokae::clr::ArcWelding::UdTrackParam::sampling_start_period
int sampling_start_period
自适应上下基准电流开始采样周期，范围[ 2, 50 ]
Definition: arcwelding_cli.hpp:983
rokae::clr::ArcWelding::UdTrackParam::curr_bias_offset
double curr_bias_offset
电流偏差系数：补偿正常摆动时上下电流固有偏差，范围：[ 0, 10 ]
Definition: arcwelding_cli.hpp:975
rokae::clr::ArcWelding::UdTrackParam::max_compensation
double max_compensation
最大补偿量：单次补偿最大值，单位 mm，范围：[ 0, 10 ]
Definition: arcwelding_cli.hpp:979
rokae::clr::ArcWelding::UdTrackParam::CreateDefault
static UdTrackParam CreateDefault()
电弧跟踪上下跟踪参数默认值
Definition: arcwelding_cli.hpp:988
rokae::clr::ArcWelding::UdTrackParam::pid
double pid
比例增益：调节上下跟踪的快慢，范围：[ 0, 10 ]
Definition: arcwelding_cli.hpp:973
rokae::clr::ArcWelding::UdTrackParam::sampling_duration_period
int sampling_duration_period
自适应上下基准电流持续采样周期，范围[ 1, 50 ]
Definition: arcwelding_cli.hpp:985
rokae::clr::ArcWelding::UdTrackParam::base_current
double base_current
基准电流值：当“ 基准电流方法” 为“ 定值” 时才需要设置该参数 单位:A，范围[ 0, 1000 ]
Definition: arcwelding_cli.hpp:981
rokae::clr::ArcWelding::WeaveAdaptiveData
摆焊-自适应参数
Definition: arcwelding_cli.hpp:423
rokae::clr::ArcWelding::WeaveAdaptiveData::max_speed
Double max_speed
最大速度。单位：mm/s，范围：？？？
Definition: arcwelding_cli.hpp:435
rokae::clr::ArcWelding::WeaveAdaptiveData::groove_width_standard
Double groove_width_standard
标准坡口宽度（若自适应，不可与最大坡口宽度相等）。单位：mm，范围？？？
Definition: arcwelding_cli.hpp:427
rokae::clr::ArcWelding::WeaveAdaptiveData::max_electric
Double max_electric
最大电流。单位：A，范围：？？？
Definition: arcwelding_cli.hpp:433
rokae::clr::ArcWelding::WeaveAdaptiveData::groove_width_ratio
Double groove_width_ratio
坡口宽度比例（若自适应，不可为零）。
Definition: arcwelding_cli.hpp:429
rokae::clr::ArcWelding::WeaveAdaptiveData::max_groove_width
Double max_groove_width
最大坡口宽度（若自适应，不可与标准坡口宽度相等）。单位：mm，范围？？？
Definition: arcwelding_cli.hpp:431
rokae::clr::ArcWelding::WeaveAdaptiveData::isAdaptive
Boolean isAdaptive
是否自适应。是：true；否：false
Definition: arcwelding_cli.hpp:425
rokae::clr::ArcWelding::WeaveAdaptiveData::CreateDefault
static WeaveAdaptiveData CreateDefault()
WeaveAdaptiveData默认值
Definition: arcwelding_cli.hpp:438
rokae::clr::ArcWelding::WeaveData
摆弧参数
Definition: arcwelding_cli.hpp:366
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:388
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:378
rokae::clr::ArcWelding::WeaveData::CreateDefault
static WeaveData CreateDefault()
WeaveData默认值
Definition: arcwelding_cli.hpp:399
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:372
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:380
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:386
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:392
rokae::clr::ArcWelding::WeaveData::name
String name
文件号名
Definition: arcwelding_cli.hpp:368
rokae::clr::ArcWelding::WeaveData::annotation
String annotation
文件号注释
Definition: arcwelding_cli.hpp:370
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:394
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:384
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:390
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:396
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:374
rokae::clr::ArcWelding::WeaveData::dwell_time
array< Int32 > dwell_time
等待时间（左、中、右）。单位：ms。
Definition: arcwelding_cli.hpp:382
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:376
rokae::clr::ArcWelding::WelderSetting
焊机设置
Definition: arcwelding_cli.hpp:817
rokae::clr::ArcWelding::WelderSetting::dry_extension
int dry_extension
干伸长, 单位：mm
Definition: arcwelding_cli.hpp:837
rokae::clr::ArcWelding::WelderSetting::wire_diameter
double wire_diameter
焊丝直径
Definition: arcwelding_cli.hpp:831
rokae::clr::ArcWelding::WelderSetting::CreateDefault
static WelderSetting CreateDefault()
焊机设置默认值
Definition: arcwelding_cli.hpp:840
rokae::clr::ArcWelding::WelderSetting::program_number
int program_number
程序号
Definition: arcwelding_cli.hpp:835
rokae::clr::ArcWelding::WelderSetting::protocol
String protocol
协议
Definition: arcwelding_cli.hpp:823
rokae::clr::ArcWelding::WelderSetting::mfr
String mfr
厂商
Definition: arcwelding_cli.hpp:819
rokae::clr::ArcWelding::WelderSetting::voltage_file
String voltage_file
电压文件号
Definition: arcwelding_cli.hpp:829
rokae::clr::ArcWelding::WelderSetting::shielding_gas
String shielding_gas
保护气体
Definition: arcwelding_cli.hpp:833
rokae::clr::ArcWelding::WelderSetting::model
String model
焊机型号
Definition: arcwelding_cli.hpp:821
rokae::clr::ArcWelding::WelderSetting::current_file
String current_file
电流文件号
Definition: arcwelding_cli.hpp:827
rokae::clr::ArcWelding::WelderSetting::current_type
Int32 current_type
电流类型
Definition: arcwelding_cli.hpp:825
rokae::clr::ArcWelding::WelderStatus
焊接状态
Definition: arcwelding_cli.hpp:757
rokae::clr::ArcWelding::WelderStatus::speed
Int32 speed
焊接速度。单位：mm/s
Definition: arcwelding_cli.hpp:765
rokae::clr::ArcWelding::WelderStatus::running_error
ErrorCode running_error
运行错误码
Definition: arcwelding_cli.hpp:767
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:771
rokae::clr::ArcWelding::WelderStatus::current
Double current
当前电流。单位：A
Definition: arcwelding_cli.hpp:759
rokae::clr::ArcWelding::WelderStatus::state
String state
焊机状态
Definition: arcwelding_cli.hpp:763
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:779
rokae::clr::ArcWelding::WelderStatus::welder_ready
bool welder_ready
焊机是否准备好，机器人和焊机从站的连接状态，在焊机启用并且连接正常时为true
Definition: arcwelding_cli.hpp:791
rokae::clr::ArcWelding::WelderStatus::welder_error_code
Int32 welder_error_code
焊机错误码
Definition: arcwelding_cli.hpp:789
rokae::clr::ArcWelding::WelderStatus::voltage
Double voltage
当前电压。单位：V
Definition: arcwelding_cli.hpp:761
rokae::clr::ArcWelding::WelderStatus::welding_wire_used
Double welding_wire_used
焊丝使用长度，下次起弧清空；单位：m
Definition: arcwelding_cli.hpp:787
rokae::clr::ArcWelding::WelderStatus::welding_time
Double welding_time
焊接时间，下次起弧清空；单位：min
Definition: arcwelding_cli.hpp:783
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:775
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:769
rokae::clr::ArcWelding::WelderStatus::CreateDefault
static WelderStatus CreateDefault()
焊接状态默认值
Definition: arcwelding_cli.hpp:795