| xCore-SDK 0.5.0 xCore SDK C# API

arcwelding_cli.hpp
1
8#pragma once
9#ifndef XCORESDK_SRC_MANAGED_ARCWELDING_CLI_HPP_
10#define XCORESDK_SRC_MANAGED_ARCWELDING_CLI_HPP_
11
12#include <unordered_map>
13#include "data_types_cli.hpp"
14#include "exception_cli.hpp"
15#include "data_types_cli.hpp"
16
17 using namespace System;
18 using namespace System::Collections::Generic;
19 using namespace System::Runtime::InteropServices;
20
21 namespace rokae {
22 class ArcWelding;
23}
24
25 namespace rokae::clr
26{
30 public
31 ref class ArcWelding
32 {
33 public:
34 ArcWelding(rokae::ArcWelding *arcwelding);
35 ~ArcWelding();
36
37 enum class WeldMode {
39 TestRun = 0,
41 Simu = 1,
43 Real = 2
44 };
45
49 value struct ReArcOnParam {
51 Boolean enable;
53 Int32 retry_time;
55 Int32 wire_retract_delay_time;
57 Int32 wire_retract_time; //<
59 Double current_step; //<
61 Double voltage_step; //<
62
64 static ReArcOnParam CreateDefault() {
65 ReArcOnParam param;
66 param.enable = false;
67 param.retry_time = 3;
68 param.wire_retract_delay_time = 50;
69 param.wire_retract_time = 200;
70 param.current_step = 0.0;
71 param.voltage_step = 0.0;
72 return param;
73 }
74 };
75
79 value struct ScratchArconParam {
81 Boolean enable;
83 Int32 distance;
85 Int32 back_speed;
87 Int32 step;
88
90 static ScratchArconParam CreateDefault() {
91 ScratchArconParam param;
92 param.enable = false;
93 param.distance = 20;
94 param.back_speed = 50;
95 param.step = 5;
96 return param;
97 }
98 };
99
103 value struct ArcOnData {
105 String ^ name;
107 String ^ annotation;
109 String ^ mode;
111 String ^ current_mode;
113 String ^ voltage_mode;
115 Double current;
117 Double voltage;
119 Int32 hold_time;
121 Int32 detect_time;
123 Int32 confirm_time;
125 Int32 preflow_time;
127 Int32 prearc_time;
129 Double slow_wire_feed_speed;
131 Int32 pre_wirefeed_time;
133 Int32 ramp_time;
135 ReArcOnParam re_arcon;
137 ScratchArconParam scratch_arcon;
138
140 static ArcOnData CreateDefault() {
141 ArcOnData param;
142 param.name = "default";
143 param.annotation = "";
144 param.mode = "flat_characteristic";
145 param.current_mode = "current";
146 param.voltage_mode = "unified";
147 param.current = 0;
148 param.voltage = 0;
149 param.hold_time = 200;
150 param.detect_time = 2000;
151 param.confirm_time = 200;
152 param.preflow_time = 200;
153 param.prearc_time = 200;
154 param.slow_wire_feed_speed = 1;
155 param.pre_wirefeed_time = 200;
156 param.ramp_time = 200;
157 param.re_arcon = ReArcOnParam::CreateDefault();
158 param.scratch_arcon = ScratchArconParam::CreateDefault();
159 return param;
160 }
161 };
162
166 value struct ArcBreakParam {
168 Int32 detect_time;
170 String ^ arc_break_option;
172 Int32 restart_back_distance;
173
175 static ArcBreakParam CreateDefault() {
176 ArcBreakParam param;
177 param.detect_time = 200;
178 param.arc_break_option = "stop_and_alarm";
179 param.restart_back_distance = 10;
180 return param;
181 }
182 };
183
187 value struct ArcData {
189 String ^ name;
191 String ^ annotation;
193 String ^ mode;
195 String ^ current_mode;
197 String ^ voltage_mode;
199 Double current;
201 Double voltage;
203 Double weld_speed;
205 Int32 ramp_time;
207 ArcBreakParam arc_break_param;
208
210 static ArcData CreateDefault() {
211 ArcData param;
212 param.name = "default";
213 param.annotation = "";
214 param.mode = "flat_characteristic";
215 param.current_mode = "current";
216 param.voltage_mode = "unified";
217 param.current = 0;
218 param.voltage = 0;
219 param.weld_speed = 10;
220 param.ramp_time = 200;
221 param.arc_break_param = ArcBreakParam::CreateDefault();
222 return param;
223 }
224 };
225
229 value struct AntiWireStickParam {
231 Boolean enable;
233 Double current;
235 Double voltage;
237 Int32 time;
238
240 static AntiWireStickParam CreateDefault() {
241 AntiWireStickParam param;
242 param.enable = false;
243 param.current = 30;
244 param.voltage = 10;
245 param.time = 500;
246 return param;
247 }
248 };
249
253 value struct ArcOffData {
255 String ^ name;
257 String ^ annotation;
259 String ^ mode;
261 String ^ current_mode;
263 String ^ voltage_mode;
265 Double current;
267 Double voltage;
269 Int32 hold_time;
271 Int32 delay_gasoff_time;
273 Int32 detect_time;
275 Int32 retract_time;
277 Int32 wire_stick_detection_time;
279 AntiWireStickParam anti_wire_stick_param;
280
282 static ArcOffData CreateDefault() {
283 ArcOffData param;
284 param.name = "default";
285 param.annotation = "";
286 param.mode = "flat_characteristic";
287 param.current_mode = "current";
288 param.voltage_mode = "unified";
289 param.current = 0;
290 param.voltage = 0;
291 param.hold_time = 500;
292 param.delay_gasoff_time = 200;
293 param.detect_time = 5000;
294 param.retract_time = 100;
295 param.wire_stick_detection_time = 500;
296 param.anti_wire_stick_param = AntiWireStickParam::CreateDefault();
297 return param;
298 }
299 };
300
304 value struct Amplitude {
306 Double left;
308 Double right;
309
311 static Amplitude CreateDefault() {
312 Amplitude param;
313 param.left = 0.1;
314 param.right = 0.1;
315 return param;
316 }
317 };
318
322 value struct ElevationAngle {
324 Double left;
326 Double right;
327
329 static ElevationAngle CreateDefault() {
330 ElevationAngle param;
331 param.left = 0;
332 param.right = 0;
333 return param;
334 }
335 };
336
340 value struct WeaveData {
342 String ^ name;
344 String ^ annotation;
346 String ^ weaving_reference;
348 String ^ pattern;
350 Double weave_length_frequency;
352 Amplitude amplitude;
354 String ^ dwell_type;
356 array<Int32> ^ dwell_time;
358 Double radius;
360 Boolean phase_invert;
362 String ^ elevation_type;
364 ElevationAngle elevation_angle;
366 Double inclination_angle;
368 Double acc;
370 Double jerk;
371
373 static WeaveData CreateDefault() {
374 WeaveData param;
375 param.name = "default";
376 param.annotation = "";
377 param.weaving_reference = "cycle";
378 param.pattern = "triangular";
379 param.weave_length_frequency = 0.1;
380 param.amplitude = Amplitude::CreateDefault();
381 param.dwell_type = "robot_stay";
382 param.dwell_time = gcnew array<Int32>{0, 0, 0};
383 param.radius = 0.1;
384 param.phase_invert = false;
385 param.elevation_type = "v_pattern";
386 param.elevation_angle = ElevationAngle::CreateDefault();
387 param.inclination_angle = 0;
388 param.acc = 0.5;
389 param.jerk = 5;
390 return param;
391 }
392 };
393
397 value struct WeaveAdaptiveData {
399 Boolean isAdaptive;
401 Double groove_width_standard;
403 Double groove_width_ratio;
405 Double max_groove_width;
407 Double max_electric;
409 Double max_speed;
410
412 static WeaveAdaptiveData CreateDefault() {
413 WeaveAdaptiveData param;
414 param.isAdaptive = false;
415 param.groove_width_standard = 4.00;
416 param.groove_width_ratio = 4.00;
417 param.max_groove_width = 6.00;
418 param.max_electric = 300.00;
419 param.max_speed = 8.00;
420 return param;
421 }
422 };
423
427 value struct SegData {
429 String ^ name;
431 String ^ annotation;
433 String ^ seg_type;
435 String ^ non_welded_speed;
437 Double welded_distance;
439 Double non_welded_distance;
440
442 static SegData CreateDefault() {
443 SegData param;
444 param.name = "default";
445 param.annotation = "";
446 param.seg_type = "normal";
447 param.non_welded_speed = "v5";
448 param.welded_distance = 0.1;
449 param.non_welded_distance = 0.1;
450 return param;
451 }
452 };
453
457 value struct LaserTrackData {
459 String ^ name;
461 Int32 job_number;
463 Boolean y_comp;
465 Boolean z_comp;
467 double max_invalid_length;
468
470 static LaserTrackData CreateDefault() {
471 LaserTrackData param;
472 param.name = "default";
473 param.job_number = 0;
474 param.y_comp = false;
475 param.z_comp = false;
476 param.max_invalid_length = 10;
477 return param;
478 }
479 };
480
484 value struct LaserSearchData {
486 String ^ name;
488 Int32 job_number;
490 String ^ search_type;
492 String ^ search_mode;
494 Double step_length;
496 String ^ joint_type;
497
499 static LaserSearchData CreateDefault() {
500 LaserSearchData param;
501 param.name = "default";
502 param.job_number = 0;
503 param.search_type = "point";
504 param.search_mode = "continuous";
505 param.step_length = 2.0;
506 param.joint_type = "corner_joint";
507 return param;
508 }
509 };
510
514 value struct IOData {
516 String ^ name;
518 Int32 type;
520 Int32 bias;
522 Boolean enable;
523
525 static IOData CreateDefault() {
526 IOData param;
527 param.name = "";
528 param.type = 0;
529 param.bias = 0;
530 param.enable = false;
531 return param;
532 }
533 };
534
538 value struct IOSetting {
540 IOData arc_on;
542 IOData wire_feed;
544 IOData wire_feed_back;
546 IOData gas_test;
548 IOData positioning_enable;
550 IOData arc_on_success;
552 IOData positioning_feedback;
554 IOData current_set;
556 IOData voltage_set;
558 IOData current_get;
560 IOData voltage_get;
562 IOData robot_ready;
564 IOData error;
565
567 static IOSetting CreateDefault() {
568 IOSetting param;
569 param.arc_on = IOData::CreateDefault();
570 param.wire_feed = IOData::CreateDefault();
571 param.wire_feed_back = IOData::CreateDefault();
572 param.gas_test = IOData::CreateDefault();
573 param.positioning_enable = IOData::CreateDefault();
574 param.arc_on_success = IOData::CreateDefault();
575 param.positioning_feedback = IOData::CreateDefault();
576 param.current_set = IOData::CreateDefault();
577 param.voltage_set = IOData::CreateDefault();
578 param.current_get = IOData::CreateDefault();
579 param.voltage_get = IOData::CreateDefault();
580 param.robot_ready = IOData::CreateDefault();
581 param.error = IOData::CreateDefault();
582 return param;
583 }
584 };
585
589 value struct CharacteristicCurveData {
591 String ^ name;
593 Double intercept;
595 List<Tuple<Double, Double> ^> ^ points;
597 Double slope;
598
600 static CharacteristicCurveData CreateDefault() {
601 CharacteristicCurveData param;
602 param.name = "default";
603 param.intercept = 0;
604 param.points = gcnew List<Tuple<Double, Double> ^>();
605 param.slope = 0;
606 return param;
607 }
608 };
609
613 value struct ArcWeldRunningParam {
615 Double test_run_speed;
617 Double wire_feed_speed;
619 Int32 gas_detect_time;
620
622 static ArcWeldRunningParam CreateDefault() {
623 ArcWeldRunningParam param;
624 param.test_run_speed = 200;
625 param.wire_feed_speed = 1;
626 param.gas_detect_time = 15;
627 return param;
628 }
629 };
630
634 value struct WelderStatus {
636 Double current;
638 Double voltage;
640 String ^ state;
642 Int32 speed;
644 ErrorCode ^ running_error;
646 String ^ welding_name;
648 Int32 arc_welding;
652 Double welding_distance;
656 Int32 welding_path_num;
657
659 static WelderStatus CreateDefault() {
660 WelderStatus param;
661 param.current = 0;
662 param.voltage = 0;
663 param.state = "disabled";
664 param.speed = 0;
665 param.running_error = gcnew ErrorCode(0, "操作成功完成");
666 param.welding_name = "";
667 param.arc_welding = -1;
668 param.welding_distance = 0;
669 param.welding_path_num = 0;
670 return param;
671 }
672 };
673
677 value struct WelderSetting {
679 String ^ mfr;
681 String ^ model;
683 String ^ protocol;
685 Int32 current_type;
687 String ^ current_file;
689 String ^ voltage_file;
691 double wire_diameter;
693 String ^ shielding_gas;
695 int program_number;
696
698 static WelderSetting CreateDefault() {
699 WelderSetting param;
700 param.mfr = "";
701 param.model = "";
702 param.protocol = "";
703 param.current_type = 0;
704 param.current_file = "";
705 param.voltage_file = "";
706 param.wire_diameter = 0;
707 param.shielding_gas = "";
708 param.program_number = 0;
709 return param;
710 }
711 };
712
716 value struct HandeyeData {
718 String ^ name;
720 Boolean mode;
722 array<Double> ^ xyz_abc;
724 array<Double> ^ rotMatrix;
726 array<Double> ^ transVector;
727
729 static HandeyeData CreateDefault() {
730 HandeyeData param;
731 param.name = "";
732 param.mode = false;
733 param.xyz_abc = gcnew array<Double>{0.0, 0.0, 0.0, 0.0, 0.0, 0.0};
734 param.rotMatrix = gcnew array<Double>{0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0};
735 param.transVector = gcnew array<Double>{0.0, 0.0, 0.0};
736 return param;
737 }
738 };
739
741 value struct CalibrationResult{
743 int id;
745 List<double>^ p_robot;
747 List<double>^ p_laser;
748
750 static CalibrationResult CreateDefault(){
751 CalibrationResult param;
752 param.id = 0;
753 param.p_robot = gcnew List<double>();
754 param.p_laser = gcnew List<double>();
755 return param;
756 }
757 };
758
762 enum class LaserSensorType {
764 CRNT = 0,
766 SMART_IMAGE = 1,
768 INTELLIGENT = 2
769 };
770
774 value struct LaserSensorCfg {
776 String ^ name;
778 String ^ ip;
780 Int32 port;
782 LaserSensorType type;
784 Int32 overtime;
786 Int32 communication_cycle;
787
789 static LaserSensorCfg CreateDefault() {
790 LaserSensorCfg param;
791 param.name = "sensor0";
792 param.ip = "192.168.2.3";
793 param.port = 502;
794 param.type = LaserSensorType::CRNT;
795 param.overtime = 1000;
796 param.communication_cycle = 70;
797 return param;
798 }
799 };
800
804 value struct LrTrackParam {
806 double pid;
808 double curr_bias_offset;
810 double min_compensation;
812 double max_compensation;
813
815 static LrTrackParam CreateDefault() {
816 LrTrackParam param;
817 param.pid = 5.0;
818 param.curr_bias_offset = 5.0;
819 param.min_compensation = 0.01;
820 param.max_compensation = 0.7;
821 return param;
822 }
823 };
824
828 value struct UdTrackParam {
830 double pid;
832 double curr_bias_offset;
834 double min_compensation;
836 double max_compensation;
838 double base_current;
840 int sampling_start_period;
842 int sampling_duration_period;
843
845 static UdTrackParam CreateDefault() {
846 UdTrackParam param;
847 param.pid = 5.0;
848 param.curr_bias_offset = 5.0;
849 param.min_compensation = 0.01;
850 param.max_compensation = 0.7;
851 param.base_current = 0.0;
852 param.sampling_start_period = 5;
853 param.sampling_duration_period = 1;
854 return param;
855 }
856 };
857
861 value struct ArcTrackParam {
863 String ^ name;
865 String ^ annotation;
867 int delay_time;
869 int cycle;
871 bool lr_enable;
873 bool ud_enable;
875 LrTrackParam lr_param;
877 UdTrackParam ud_param;
878
880 static ArcTrackParam CreateDefault() {
881 ArcTrackParam param;
882 param.name = "";
883 param.annotation = "";
884 param.delay_time = 0;
885 param.cycle = 6;
886 param.lr_enable = false;
887 param.ud_enable = false;
888 param.lr_param = LrTrackParam::CreateDefault();
889 param.ud_param = UdTrackParam::CreateDefault();
890 return param;
891 }
892 };
893
897 value struct ArcSetOpt {
899 String ^ arc_data;
901 Boolean ref_start;
903 Double distance;
904
906 static ArcSetOpt CreateDefault() {
907 ArcSetOpt param;
908 param.arc_data = "";
909 param.ref_start = true;
910 param.distance = 0;
911 return param;
912 }
913 };
914
918 value struct AnticollisionState{
919 String^ signal;
920 Boolean enable;
921 Boolean block;
922 Int32 countdown;
923
924 static AnticollisionState CreateDefault() {
925 AnticollisionState param;
926 param.signal = "";
927 param.enable = false;
928 param.block = false;
929 param.countdown = 60;
930 return param;
931 }
932 };
933
940 ArcOnData getArcOnData(String ^ arconDataName, [Out] ErrorCode ^ % ec);
941
947 void setArcOnData(ArcOnData arconData, [Out] ErrorCode ^ % ec);
948
954 void removeArcOnData(String ^ arconDataName, [Out] ErrorCode ^ % ec);
955
961 void removeArcOnData(List<String ^> ^ arconDataNames, [Out] ErrorCode ^ % ec);
962
969 ArcData getArcData(String ^ arcDataName, [Out] ErrorCode ^ % ec);
970
976 void setArcData(ArcData arcData, [Out] ErrorCode ^ % ec);
977
983 void removeArcData(String ^ arcDataName, [Out] ErrorCode ^ % ec);
984
990 void removeArcData(List<String ^> ^ arcDataNames, [Out] ErrorCode ^ % ec);
991
998 void enableArcData(ArcData arcData, [Out] ErrorCode ^ % ec);
999
1006 ArcOffData getArcOffData(String ^ arcoffDataName, [Out] ErrorCode ^ % ec);
1007
1013 void setArcOffData(ArcOffData arcoffData, [Out] ErrorCode ^ % ec);
1014
1020 void removeArcOffData(String ^ arcoffDataName, [Out] ErrorCode ^ % ec);
1021
1027 void removeArcOffData(List<String ^> ^ arcoffDataNames, [Out] ErrorCode ^ % ec);
1028
1035 WeaveData getWeaveData(String ^ weaveDataName, [Out] ErrorCode ^ % ec);
1036
1042 void setWeaveData(WeaveData weaveData, [Out] ErrorCode ^ % ec);
1043
1049 void removeWeaveData(String ^ weaveDataName, [Out] ErrorCode ^ % ec);
1050
1056 void removeWeaveData(List<String ^> ^ weaveDataNames, [Out] ErrorCode ^ % ec);
1057
1063 WeaveAdaptiveData getWeaveAdaptiveData([Out] ErrorCode^% ec);
1064
1069 void setWeaveAdaptiveData(WeaveAdaptiveData weaveAdaptiveData, [Out] ErrorCode^% ec);
1070
1077 SegData getSegData(String^ segDataName, [Out] ErrorCode ^ % ec);
1078
1084 void setSegData(SegData segData, [Out] ErrorCode ^ % ec);
1085
1091 void removeSegData(String^ segDataName, [Out] ErrorCode ^ % ec);
1092
1098 void removeSegData(List<String^>^ segDataNames, [Out] ErrorCode ^ % ec);
1099
1106 LaserTrackData getLaserTrackData(String^ laserTrackDataName, [Out] ErrorCode ^ % ec);
1107
1113 void setLaserTrackData(LaserTrackData laserTrackData, [Out] ErrorCode ^ % ec);
1114
1120 void removeLaserTrackData(String^ laserTrackDataName, [Out] ErrorCode ^ % ec);
1121
1127 void removeLaserTrackData(List<String^>^ laserTrackDataNames, [Out] ErrorCode ^ % ec);
1128
1135 LaserSearchData getLaserSearchData(String^ laserSearchDataName, [Out] ErrorCode ^ % ec);
1136
1142 void setLaserSearchData(LaserSearchData laserSearchData, [Out] ErrorCode ^ % ec);
1143
1149 void removeLaserSearchData(String^ laserSearchDataName, [Out] ErrorCode ^ % ec);
1150
1156 void removeLaserSearchData(List<String^>^ laserSearchDataNames, [Out] ErrorCode ^ % ec);
1157
1163 IOSetting getIOSetting([Out] ErrorCode ^ % ec);
1164
1170 void setIOSetting(IOSetting ioSetting, [Out] ErrorCode ^ % ec);
1171
1178 CharacteristicCurveData getCurrentCharacteristicCurveData(String^ name, [Out] ErrorCode ^ % ec);
1179
1185 void setCurrentCharacteristicCurveData(CharacteristicCurveData data, [Out] ErrorCode ^ % ec);
1186
1193 CharacteristicCurveData getVoltageCharacteristicCurveData(String^ name, [Out] ErrorCode ^ % ec);
1194
1200 void setVoltageCharacteristicCurveData(CharacteristicCurveData data, [Out] ErrorCode ^ % ec);
1201
1208 CharacteristicCurveData calculateCurrentCurve(CharacteristicCurveData data, [Out] ErrorCode ^ % ec);
1209
1216 CharacteristicCurveData calculateVoltageCurve(CharacteristicCurveData data, [Out] ErrorCode ^ % ec);
1217
1223 WelderStatus getWelderStatus([Out] ErrorCode ^ % ec);
1224
1233 void setWelder(String^ protocol, String^ mfr, String^ type, Int32 current, [Out] ErrorCode ^ % ec);
1234
1240 void setWelder(ArcWelding::WelderSetting welderSetting, [Out] ErrorCode ^ % ec);
1241
1247 WelderSetting getWelderSetting([Out] ErrorCode ^ % ec);
1248
1253 void connectToWelder([Out] ErrorCode ^ % ec);
1254
1259 void disconnectFromWelder([Out] ErrorCode ^ % ec);
1260
1266 Boolean isEniHaveWeld([Out] ErrorCode ^ % ec);
1267
1276 void setIsEniHaveWeld(Boolean isEniHaveWeld, [Out] ErrorCode ^ % ec);
1277
1283 WeldMode getWeldMode([Out] ErrorCode ^ % ec);
1284
1290 void setWeldMode(WeldMode weldMode, [Out] ErrorCode ^ % ec);
1291
1297 ArcWeldRunningParam getRunningParam([Out] ErrorCode ^ % ec);
1298
1304 void setRunningParam(ArcWeldRunningParam data, [Out] ErrorCode ^ % ec);
1305
1312 void feedOnWire(Double time, Boolean enable, [Out] ErrorCode ^ % ec);
1313
1320 void feedBackWire(Double time, Boolean enable, [Out] ErrorCode ^ % ec);
1321
1328 void detectGas(Double time, Boolean enable, [Out] ErrorCode ^ % ec);
1329
1336 void setCurrentAndVoltage(Double current, Double voltage, [Out] ErrorCode ^ % ec);
1337
1344 void saveCurrentAndVoltage(Double current, Double voltage, [Out] ErrorCode ^ % ec);
1345
1353 void startWelding(Double current, Double voltage, String^ voltage_mode, [Out] ErrorCode ^ % ec);
1354
1359 void stopWelding([Out] ErrorCode ^ % ec);
1360
1366 void setHandeyeData(HandeyeData handeyedata, [Out] ErrorCode ^ % ec);
1367
1374 HandeyeData getHandeyeData(String^ name, [Out] ErrorCode ^ % ec);
1375
1381 void removeHandeyeData(String^ name, [Out] ErrorCode ^ % ec);
1382
1388 void removeHandeyeData(List<String^>^ names, [Out] ErrorCode ^ % ec);
1389
1396 void startHandeyeCalibration(String ^ name, int type, [Out] ErrorCode ^ % ec);
1397
1404 CalibrationResult calibratePoint(int id, [Out] ErrorCode ^ % ec);
1405
1412 List<double> ^ calibrateEnd(HandeyeData% handeyedata, [Out] ErrorCode ^ % ec);
1413
1419 void setLaserSensorCfg(LaserSensorCfg cfg, [Out] ErrorCode ^ % ec);
1420
1427 LaserSensorCfg getLaserSensorCfg(String^ name, [Out] ErrorCode ^ % ec);
1428
1434 void removeLaserSensorCfg(String^ device_name, [Out] ErrorCode ^ % ec);
1435
1441 void removeLaserSensorCfg(List<String^>^ device_names, [Out] ErrorCode ^ % ec);
1442
1448 void connLaserSensorDev(String^ device_name, [Out] ErrorCode ^ % ec);
1449
1455 void disconnLaserSensorDev(String^ device_name, [Out] ErrorCode ^ % ec);
1456
1462 void openLaserTrack(String^ device_name, [Out] ErrorCode ^ % ec);
1463
1469 void closeLaserTrack(String^ device_name, [Out] ErrorCode ^ % ec);
1470
1476 void setArcTrackParam(ArcTrackParam param, [Out] ErrorCode ^ % ec);
1477
1484 ArcTrackParam getArcTrackParam(String ^ name, [Out] ErrorCode ^ % ec);
1485
1491 void removeArcTrackParam(String ^ name, [Out] ErrorCode ^ % ec);
1492
1498 void removeArcTrackParam(List<String^>^ names, [Out] ErrorCode ^ % ec);
1499
1508 void setAnticollision(String^ signal, Boolean enable, Boolean block, Int32 countdown, [Out] ErrorCode ^ % ec);
1509
1515 AnticollisionState getAnticollisionState([Out] ErrorCode ^ % ec);
1516
1517 ref class ArcWeldingCommand{};
1518
1522 ref class ArcOnCommand : public ArcWeldingCommand
1523 {
1524 public:
1528 ArcOnCommand();
1529
1535 ArcOnCommand(String^ arcOnData, String^ arcData);
1536
1542 void setArcOnData(String^ arcOnData, [Out] ErrorCode ^ % ec);
1543
1548 String^ getArcOnData();
1549
1555 void setArcData(String^ arcData, [Out] ErrorCode ^ % ec);
1556
1561 String^ getArcData();
1562
1563 private:
1564 String^ m_arcOnData{"default"};
1565 String^ m_arcData{"default"};
1566 };
1567
1571 ref class ArcOffCommand : public ArcWeldingCommand
1572 {
1573 public:
1577 ArcOffCommand();
1578
1583 ArcOffCommand(String^ arcOffData);
1584
1590 void setArcOffData(String^ arcOffData, [Out] ErrorCode ^ % ec);
1591
1596 String^ getArcOffData();
1597
1598 private:
1599 String^ m_arcOffData{"default"};
1600 };
1601
1605 ref class FeedOnWireCommand : public ArcWeldingCommand {
1606 public:
1610 FeedOnWireCommand();
1611
1618 FeedOnWireCommand(Double time, Double speed, Boolean isFeed);
1619
1627 void setFeedOnWireData(Double time, Double speed, Boolean isFeed, [Out] ErrorCode ^ % ec);
1628
1635 void getFeedOnWireData(Double % time, Double % speed, Boolean % isFeed);
1636
1637 private:
1638 Double m_time;
1639 Double m_speed { 1.0 };
1640 Boolean m_isFeed { true };
1641 };
1642
1646 ref class FeedBackWireCommand : public ArcWeldingCommand {
1647 public:
1651 FeedBackWireCommand();
1652
1659 FeedBackWireCommand(Double time, Double speed, Boolean isReverse);
1660
1668 void setFeedBackWireData(Double time, Double speed, Boolean isReverse, [Out] ErrorCode ^ % ec);
1669
1676 void getFeedBackWireData(Double % time, Double % speed, Boolean % isReverse);
1677
1678 private:
1679 Double m_time;
1680 Double m_speed { 1.0 };
1681 Boolean m_isReverse { true };
1682 };
1683
1687 ref class WMoveLCommand : public ArcWeldingCommand
1688 {
1689 public:
1693 WMoveLCommand();
1694
1701 WMoveLCommand(CartesianPosition ^ target, Int32 speed, Int32 zone): target(target), speed(speed), zone(zone), m_weaveData(""), m_trackData(""){};
1702
1710 WMoveLCommand(CartesianPosition ^ target, Int32 speed, Int32 zone, String ^ weaveData): target(target), speed(speed), zone(zone), m_weaveData(weaveData), m_trackData(""){};
1711
1720 WMoveLCommand(CartesianPosition ^ target, Int32 speed, Int32 zone, String ^ weaveData, String ^ trackData);
1721
1727 void setWeaveData(String ^ weaveData, [Out] ErrorCode ^ % ec);
1728
1733 String ^ getWeaveData();
1734
1740 void setTrackData(String ^ trackData, [Out] ErrorCode ^ % ec);
1741
1746 String ^ getTrackData();
1747
1749 CartesianPosition ^ target = gcnew CartesianPosition();
1751 Int32 speed = -1;
1753 Int32 zone = -1;
1755 CartesianPosition::Offset ^ cartTargetOffset = gcnew CartesianPosition::Offset();
1758 double rotSpeed = -1;
1760 String ^ customInfo = "";
1762 ArcSetOpt arc_set_opt = ArcSetOpt::CreateDefault();
1763
1764 private:
1766 String ^ m_weaveData = "";
1768 String ^ m_trackData = "";
1769 };
1770
1774 ref class WMoveCCommand : public ArcWeldingCommand
1775 {
1776 public:
1780 WMoveCCommand();
1781
1789 WMoveCCommand(CartesianPosition ^ target, CartesianPosition ^ aux, Int32 speed, Int32 zone): target(target), aux(aux), speed(speed), zone(zone), m_weaveData(""), m_trackData(""){};
1790
1799 WMoveCCommand(CartesianPosition ^ target, CartesianPosition ^ aux, Int32 speed, Int32 zone, String ^ weaveData): target(target), aux(aux), speed(speed), zone(zone), m_weaveData(weaveData), m_trackData(""){};
1800
1810 WMoveCCommand(CartesianPosition ^ target, CartesianPosition ^ aux, Int32 speed, Int32 zone, String ^ weaveData, String ^ trackData);
1811
1817 void setWeaveData(String ^ weaveData, [Out] ErrorCode ^ % ec);
1818
1823 String ^ getWeaveData();
1824
1830 void setTrackData(String ^ trackData, [Out] ErrorCode ^ % ec);
1831
1836 String ^ getTrackData();
1837
1839 CartesianPosition ^ target = gcnew CartesianPosition();
1841 CartesianPosition ^ aux = gcnew CartesianPosition();
1843 CartesianPosition::Offset ^ cartTargetOffset = gcnew CartesianPosition::Offset();
1845 CartesianPosition::Offset ^ auxPointOffset = gcnew CartesianPosition::Offset();
1847 Int32 speed = -1;
1849 Int32 zone = -1;
1852 double rotSpeed = -1;
1854 String ^ customInfo = "";
1856 ArcSetOpt arc_set_opt = ArcSetOpt::CreateDefault();
1857
1858 private:
1860 String ^ m_weaveData = "";
1862 String ^ m_trackData = "";
1863 };
1864
1868 ref class WMoveCFCommand : public ArcWeldingCommand{
1869 public:
1873 WMoveCFCommand();
1874
1883 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(""){};
1884
1894 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(""){};
1895
1906 WMoveCFCommand(CartesianPosition ^ target, CartesianPosition ^ aux, double angle, Int32 speed, Int32 zone, String ^ weaveData, String ^ trackData);
1907
1913 void setWeaveData(String ^ weaveData, [Out] ErrorCode ^ % ec);
1914
1919 String ^ getWeaveData();
1920
1926 void setTrackData(String ^ trackData, [Out] ErrorCode ^ % ec);
1927
1932 String ^ getTrackData();
1933
1935 CartesianPosition ^ target = gcnew CartesianPosition();
1937 CartesianPosition ^ aux = gcnew CartesianPosition();
1939 CartesianPosition::Offset ^ cartTargetOffset = gcnew CartesianPosition::Offset();
1941 CartesianPosition::Offset ^ auxPointOffset = gcnew CartesianPosition::Offset();
1943 Int32 speed = -1;
1945 Int32 zone = -1;
1948 double rotSpeed = -1;
1950 String ^ customInfo = "";
1952 double angle = 0;
1954 int rotType = 0;
1956 ArcSetOpt arc_set_opt = ArcSetOpt::CreateDefault();
1957
1958 private:
1960 String ^ m_weaveData = "";
1962 String ^ m_trackData = "";
1963 };
1964
1968 ref class WMoveLPendulumCommand : public ArcWeldingCommand
1969 {
1970 public:
1974 WMoveLPendulumCommand();
1975
1986 WMoveLPendulumCommand(CartesianPosition^ startAux, CartesianPosition^ targetAux, CartesianPosition^ target, Int32 speed, Double frequency, Double dwellTimeLeft, Double dwellTimeRight );
1987
1997 WMoveLPendulumCommand(CartesianPosition^ targetAux, CartesianPosition^ target, Int32 speed, Double frequency, Double dwellTimeLeft, Double dwellTimeRight );
1998
2000 CartesianPosition^ startAux = gcnew CartesianPosition();
2002 CartesianPosition^ targetAux = gcnew CartesianPosition();
2004 CartesianPosition^ target = gcnew CartesianPosition();
2006 CartesianPosition::Offset^ startAuxTPointOffset = gcnew CartesianPosition::Offset();
2008 CartesianPosition::Offset^ targetAuxPointOffset = gcnew CartesianPosition::Offset();
2010 CartesianPosition::Offset^ targetPointOffset = gcnew CartesianPosition::Offset();
2012 Int32 speed = -1;
2014 Double frequency;
2016 Double dwellTimeLeft;
2018 Double dwellTimeRight;
2021 double rotSpeed = -1;
2023 ArcSetOpt arc_set_opt = ArcSetOpt::CreateDefault();
2025 bool nonLeadingPendulum;
2026 };
2027
2031 ref class WeaveOnCommand : public ArcWeldingCommand
2032 {
2033 public:
2037 WeaveOnCommand();
2038
2043 WeaveOnCommand(String^ weaveData);
2044
2050 void setWeaveData(String^ weaveData, [Out] ErrorCode ^ % ec);
2051
2056 String^ getWeaveData();
2057
2058 private:
2060 String^ m_weaveData{"default"};
2061 };
2062
2066 ref class WeaveOffCommand : public ArcWeldingCommand
2067 {
2068 };
2069
2073 ref class LaserTrackOnCommand : public ArcWeldingCommand
2074 {
2075 public:
2079 LaserTrackOnCommand();
2080
2086 LaserTrackOnCommand(String^ handEyeData, String^ laserTrackData);
2087
2093 void setHandEyeData(String^ handEyeData, [Out] ErrorCode ^ % ec);
2094
2099 String^ getHandEyeData();
2100
2106 void setLaserTrackData(String^ laserTrackData, [Out] ErrorCode ^ % ec);
2107
2112 String^ getLaserTrackData();
2113
2114 private:
2116 String^ m_handEyeData{"default"};
2118 String^ m_laserTrackData{"default"};
2119 };
2120
2124 ref class LaserTrackOffCommand : public ArcWeldingCommand
2125 {
2126 };
2127
2131 ref class LaserSearchCommand : public ArcWeldingCommand
2132 {
2133 public:
2137 LaserSearchCommand();
2138
2147 LaserSearchCommand(String^ laserHandEyeData, String^ laserSearchData, CartesianPosition^ endPoint, Int32 speed, Int32 zone);
2148
2149 public:
2151 String^ laserHandEyeData = "default";
2153 String^ laserSearchData = "default";
2155 CartesianPosition^ endPoint = gcnew CartesianPosition();
2157 Int32 speed = -1;
2159 Int32 zone = -1;
2160 };
2161
2165 ref class SegOnCommand : public ArcWeldingCommand
2166 {
2167 public:
2171 SegOnCommand();
2172
2177 SegOnCommand(String^ segData);
2178
2180 String^ segData = "default";
2181 };
2182
2186 ref class SegOffCommand : public ArcWeldingCommand{};
2187
2199 Tuple<Boolean, CartesianPosition^>^ executeLaserSearch(ArcWelding::LaserSearchCommand^ cmd, Boolean isMove, System::TimeSpan^ timeout, [Out] ErrorCode ^ % ec);
2200
2207 CartesianPosition^ calcIntersection(array<CartesianPosition^>^ points, [Out] ErrorCode ^ % ec);
2208
2209 private:
2210 rokae::ArcWelding *_arcwelding;
2211 };
2212}
2213
2214#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:1572
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:1523
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:1517
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:1646
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:1605
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:2132
rokae::clr::ArcWelding::LaserSearchCommand::zone
Int32 zone
转弯区大小, 单位mm
Definition: arcwelding_cli.hpp:2159
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:2151
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:2153
rokae::clr::ArcWelding::LaserSearchCommand::speed
Int32 speed
末端线速度, 单位mm/s
Definition: arcwelding_cli.hpp:2157
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:2155
rokae::clr::ArcWelding::LaserTrackOffCommand
焊接指令 - 停止激光跟踪
Definition: arcwelding_cli.hpp:2125
rokae::clr::ArcWelding::LaserTrackOnCommand
焊接指令 - 开始激光跟踪
Definition: arcwelding_cli.hpp:2074
rokae::clr::ArcWelding::LaserTrackOnCommand::getLaserTrackData
String getLaserTrackData()
获取激光跟踪参数名称
rokae::clr::ArcWelding::LaserTrackOnCommand::LaserTrackOnCommand
LaserTrackOnCommand()
Constructor
rokae::clr::ArcWelding::LaserTrackOnCommand::LaserTrackOnCommand
LaserTrackOnCommand(String^ handEyeData, String^ laserTrackData)
Constructor
rokae::clr::ArcWelding::LaserTrackOnCommand::setHandEyeData
void setHandEyeData(String^ handEyeData, [Out] ErrorCode ^ % ec)
设置手眼标定参数名称
rokae::clr::ArcWelding::LaserTrackOnCommand::getHandEyeData
String getHandEyeData()
获取手眼标定参数名称
rokae::clr::ArcWelding::LaserTrackOnCommand::setLaserTrackData
void setLaserTrackData(String^ laserTrackData, [Out] ErrorCode ^ % ec)
设置激光跟踪参数名称
rokae::clr::ArcWelding::SegOffCommand
焊接指令 - 关闭间断焊
Definition: arcwelding_cli.hpp:2186
rokae::clr::ArcWelding::SegOnCommand
焊接指令 - 开启间断焊
Definition: arcwelding_cli.hpp:2166
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:2180
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:1775
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:1852
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:1789
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:1843
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:1847
rokae::clr::ArcWelding::WMoveCCommand::target
CartesianPosition target
目标笛卡尔点位
Definition: arcwelding_cli.hpp:1839
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:1841
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:1856
rokae::clr::ArcWelding::WMoveCCommand::zone
Int32 zone
转弯区半径，单位mm
Definition: arcwelding_cli.hpp:1849
rokae::clr::ArcWelding::WMoveCCommand::auxPointOffset
CartesianPosition::Offset auxPointOffset
辅助点偏移选项
Definition: arcwelding_cli.hpp:1845
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:1854
rokae::clr::ArcWelding::WMoveCCommand::WMoveCCommand
WMoveCCommand(CartesianPosition ^ target, CartesianPosition ^ aux, Int32 speed, Int32 zone, String ^ weaveData)
Constructor
Definition: arcwelding_cli.hpp:1799
rokae::clr::ArcWelding::WMoveCFCommand
焊接指令 - 整圆轨迹，摆动参数默认为空
Definition: arcwelding_cli.hpp:1868
rokae::clr::ArcWelding::WMoveCFCommand::WMoveCFCommand
WMoveCFCommand(CartesianPosition ^ target, CartesianPosition ^ aux, double angle, Int32 speed, Int32 zone)
Constructor
Definition: arcwelding_cli.hpp:1883
rokae::clr::ArcWelding::WMoveCFCommand::cartTargetOffset
CartesianPosition::Offset cartTargetOffset
笛卡尔目标点偏移选项
Definition: arcwelding_cli.hpp:1939
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:1948
rokae::clr::ArcWelding::WMoveCFCommand::arc_set_opt
ArcSetOpt arc_set_opt
设置焊接参数选项。
Definition: arcwelding_cli.hpp:1956
rokae::clr::ArcWelding::WMoveCFCommand::auxPointOffset
CartesianPosition::Offset auxPointOffset
辅助点偏移选项
Definition: arcwelding_cli.hpp:1941
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:1954
rokae::clr::ArcWelding::WMoveCFCommand::angle
double angle
执行角度, 单位弧度
Definition: arcwelding_cli.hpp:1952
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:1943
rokae::clr::ArcWelding::WMoveCFCommand::target
CartesianPosition target
目标笛卡尔点位
Definition: arcwelding_cli.hpp:1935
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:1945
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:1894
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:1950
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:1937
rokae::clr::ArcWelding::WMoveLCommand
焊接指令 - 直线轨迹，摆动参数默认为空
Definition: arcwelding_cli.hpp:1688
rokae::clr::ArcWelding::WMoveLCommand::zone
Int32 zone
转弯区半径，单位mm
Definition: arcwelding_cli.hpp:1753
rokae::clr::ArcWelding::WMoveLCommand::target
CartesianPosition target
目标笛卡尔点位
Definition: arcwelding_cli.hpp:1749
rokae::clr::ArcWelding::WMoveLCommand::cartTargetOffset
CartesianPosition::Offset cartTargetOffset
笛卡尔目标点偏移选项
Definition: arcwelding_cli.hpp:1755
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:1751
rokae::clr::ArcWelding::WMoveLCommand::WMoveLCommand
WMoveLCommand(CartesianPosition ^ target, Int32 speed, Int32 zone)
Constructor
Definition: arcwelding_cli.hpp:1701
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:1758
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:1760
rokae::clr::ArcWelding::WMoveLCommand::arc_set_opt
ArcSetOpt arc_set_opt
设置焊接参数选项
Definition: arcwelding_cli.hpp:1762
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:1710
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:1969
rokae::clr::ArcWelding::WMoveLPendulumCommand::targetAux
CartesianPosition targetAux
目标辅助笛卡尔点位
Definition: arcwelding_cli.hpp:2002
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:2012
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:2016
rokae::clr::ArcWelding::WMoveLPendulumCommand::targetPointOffset
CartesianPosition::Offset targetPointOffset
笛卡尔目标点偏移选项
Definition: arcwelding_cli.hpp:2010
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:2014
rokae::clr::ArcWelding::WMoveLPendulumCommand::targetAuxPointOffset
CartesianPosition::Offset targetAuxPointOffset
目标辅助点偏移选项
Definition: arcwelding_cli.hpp:2008
rokae::clr::ArcWelding::WMoveLPendulumCommand::arc_set_opt
ArcSetOpt arc_set_opt
设置焊接参数选项。
Definition: arcwelding_cli.hpp:2023
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:2018
rokae::clr::ArcWelding::WMoveLPendulumCommand::nonLeadingPendulum
bool nonLeadingPendulum
非首条钟摆
Definition: arcwelding_cli.hpp:2025
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:2021
rokae::clr::ArcWelding::WMoveLPendulumCommand::startAuxTPointOffset
CartesianPosition::Offset startAuxTPointOffset
起始辅助点偏移选项
Definition: arcwelding_cli.hpp:2006
rokae::clr::ArcWelding::WMoveLPendulumCommand::target
CartesianPosition target
目标点
Definition: arcwelding_cli.hpp:2004
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:2000
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:2067
rokae::clr::ArcWelding::WeaveOnCommand
焊接指令 - 开始摆动
Definition: arcwelding_cli.hpp:2032
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::getWeaveAdaptiveData
WeaveAdaptiveData getWeaveAdaptiveData([Out] ErrorCode^% ec)
获取摆焊-自适应参数
rokae::clr::ArcWelding::setIsEniHaveWeld
void setIsEniHaveWeld(Boolean isEniHaveWeld, [Out] ErrorCode ^ % ec)
设置是否连接物理焊机（仅EtherCAT焊机，切换ENI文件，重启控制器生效）
rokae::clr::ArcWelding::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::getArcData
ArcData getArcData(String ^ arcDataName, [Out] ErrorCode ^ % ec)
获取焊接参数
rokae::clr::ArcWelding::getArcOnData
ArcOnData getArcOnData(String ^ arconDataName, [Out] ErrorCode ^ % ec)
获取起弧参数
rokae::clr::ArcWelding::getWelderStatus
WelderStatus getWelderStatus([Out] ErrorCode ^ % ec)
获取焊机状态
rokae::clr::ArcWelding::getRunningParam
ArcWeldRunningParam getRunningParam([Out] ErrorCode ^ % ec)
读取焊接运行参数
rokae::clr::ArcWelding::calculateVoltageCurve
CharacteristicCurveData calculateVoltageCurve(CharacteristicCurveData data, [Out] ErrorCode ^ % ec)
计算电压特性曲线参数，只计算，不保存
rokae::clr::ArcWelding::getCurrentCharacteristicCurveData
CharacteristicCurveData getCurrentCharacteristicCurveData(String^ name, [Out] ErrorCode ^ % ec)
获取电流特性曲线参数
rokae::clr::ArcWelding::disconnectFromWelder
void disconnectFromWelder([Out] ErrorCode ^ % ec)
断开焊机连接，关闭弧焊功能
rokae::clr::ArcWelding::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::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::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::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:762
rokae::clr::ArcWelding::LaserSensorType::CRNT
@ CRNT
创想激光器
rokae::clr::ArcWelding::isEniHaveWeld
Boolean isEniHaveWeld([Out] ErrorCode ^ % ec)
读取当前是否连接物理焊机（仅EthreCAT焊机，由当前使用ENI文件确定）
rokae::clr::ArcWelding::calculateCurrentCurve
CharacteristicCurveData calculateCurrentCurve(CharacteristicCurveData data, [Out] ErrorCode ^ % ec)
计算电流特性曲线参数，只计算，不保存
rokae::clr::ArcWelding::detectGas
void detectGas(Double time, Boolean enable, [Out] ErrorCode ^ % ec)
检气
rokae::clr::ArcWelding::removeSegData
void removeSegData(String^ segDataName, [Out] ErrorCode ^ % ec)
删除间断焊参数
rokae::clr::ArcWelding::connLaserSensorDev
void connLaserSensorDev(String^ device_name, [Out] ErrorCode ^ % ec)
连接激光传感器
rokae::clr::ArcWelding::setWeldMode
void setWeldMode(WeldMode weldMode, [Out] ErrorCode ^ % ec)
设置焊接模式
rokae::clr::ArcWelding::removeWeaveData
void removeWeaveData(List< String ^> ^ weaveDataNames, [Out] ErrorCode ^ % ec)
批量删除摆焊参数
rokae::clr::ArcWelding::getWeaveData
WeaveData getWeaveData(String ^ weaveDataName, [Out] ErrorCode ^ % ec)
获取摆焊参数
rokae::clr::ArcWelding::removeLaserSensorCfg
void removeLaserSensorCfg(List< String^>^ device_names, [Out] ErrorCode ^ % ec)
删除多个激光传感器配置参数
rokae::clr::ArcWelding::removeLaserSensorCfg
void removeLaserSensorCfg(String^ device_name, [Out] ErrorCode ^ % ec)
删除激光传感器配置参数
rokae::clr::ArcWelding::executeLaserSearch
Tuple< Boolean, CartesianPosition^> executeLaserSearch(ArcWelding::LaserSearchCommand^ cmd, Boolean isMove, System::TimeSpan^ timeout, [Out] ErrorCode ^ % ec)
激光寻位
rokae::clr::ArcWelding::getWeldMode
WeldMode getWeldMode([Out] ErrorCode ^ % ec)
获取焊接模式
rokae::clr::ArcWelding::setArcData
void setArcData(ArcData arcData, [Out] ErrorCode ^ % ec)
设置焊接参数
rokae::clr::ArcWelding::removeLaserTrackData
void removeLaserTrackData(List< String^>^ laserTrackDataNames, [Out] ErrorCode ^ % ec)
批量删除激光跟踪参数
rokae::clr::ArcWelding::setRunningParam
void setRunningParam(ArcWeldRunningParam data, [Out] ErrorCode ^ % ec)
设置焊接运行参数
rokae::clr::ArcWelding::removeHandeyeData
void removeHandeyeData(String^ name, [Out] ErrorCode ^ % ec)
删除手眼标定结果
rokae::clr::ArcWelding::setWeaveData
void setWeaveData(WeaveData weaveData, [Out] ErrorCode ^ % ec)
设置摆焊参数
rokae::clr::ArcWelding::removeArcOffData
void removeArcOffData(String ^ arcoffDataName, [Out] ErrorCode ^ % ec)
删除收弧参数
rokae::clr::ArcWelding::startHandeyeCalibration
void startHandeyeCalibration(String ^ name, int type, [Out] ErrorCode ^ % ec)
开始手眼标定，需要已经连接激光传感器
rokae::clr::ArcWelding::removeWeaveData
void removeWeaveData(String ^ weaveDataName, [Out] ErrorCode ^ % ec)
删除摆焊参数
rokae::clr::ArcWelding::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::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:332
rokae::clr::CartesianPosition
笛卡尔点位
Definition: data_types_cli.hpp:327
rokae::clr::ErrorCode
xCoreSDK错误码
Definition: data_types_cli.hpp:23
data_types_cli.hpp
rokae::clr::ArcWelding::Amplitude
摆动幅度
Definition: arcwelding_cli.hpp:304
rokae::clr::ArcWelding::Amplitude::left
Double left
左幅度。单位：mm，范围：[ 0.1, 50 ]
Definition: arcwelding_cli.hpp:306
rokae::clr::ArcWelding::Amplitude::CreateDefault
static Amplitude CreateDefault()
Amplitude默认值
Definition: arcwelding_cli.hpp:311
rokae::clr::ArcWelding::Amplitude::right
Double right
右幅度。单位：mm，范围：[ 0.1, 50 ]
Definition: arcwelding_cli.hpp:308
rokae::clr::ArcWelding::AntiWireStickParam
防粘丝参数
Definition: arcwelding_cli.hpp:229
rokae::clr::ArcWelding::AntiWireStickParam::enable
Boolean enable
防粘丝开关
Definition: arcwelding_cli.hpp:231
rokae::clr::ArcWelding::AntiWireStickParam::current
Double current
防粘丝电流。单位：A，范围：[0 - 100] A
Definition: arcwelding_cli.hpp:233
rokae::clr::ArcWelding::AntiWireStickParam::time
Int32 time
防粘丝时间。单位：ms，范围：[0 - 10000] ms
Definition: arcwelding_cli.hpp:237
rokae::clr::ArcWelding::AntiWireStickParam::CreateDefault
static AntiWireStickParam CreateDefault()
AntiWireStickParam默认值
Definition: arcwelding_cli.hpp:240
rokae::clr::ArcWelding::AntiWireStickParam::voltage
Double voltage
防粘丝电压。一元化：单位：，范围：[0 - 50] ；分别：单位：V，范围：[0 - 20] V
Definition: arcwelding_cli.hpp:235
rokae::clr::ArcWelding::AnticollisionState
防碰撞状态
Definition: arcwelding_cli.hpp:918
rokae::clr::ArcWelding::ArcBreakParam
断弧和再起弧参数
Definition: arcwelding_cli.hpp:166
rokae::clr::ArcWelding::ArcBreakParam::restart_back_distance
Int32 restart_back_distance
再启动回退距离。单位：mm，范围：[0 - 100] mm
Definition: arcwelding_cli.hpp:172
rokae::clr::ArcWelding::ArcBreakParam::CreateDefault
static ArcBreakParam CreateDefault()
ArcBreakParam默认值
Definition: arcwelding_cli.hpp:175
rokae::clr::ArcWelding::ArcBreakParam::arc_break_option
String arc_break_option
断弧选项。停机并告警："stop_and_alarm"，自动再起弧："auto_arc_reignition"
Definition: arcwelding_cli.hpp:170
rokae::clr::ArcWelding::ArcBreakParam::detect_time
Int32 detect_time
断弧检测时间。单位：ms，范围：[0 - 10000] ms
Definition: arcwelding_cli.hpp:168
rokae::clr::ArcWelding::ArcData
焊接参数
Definition: arcwelding_cli.hpp:187
rokae::clr::ArcWelding::ArcData::annotation
String annotation
文件号注释
Definition: arcwelding_cli.hpp:191
rokae::clr::ArcWelding::ArcData::arc_break_param
ArcBreakParam arc_break_param
断弧和再起弧参数
Definition: arcwelding_cli.hpp:207
rokae::clr::ArcWelding::ArcData::name
String name
文件号名
Definition: arcwelding_cli.hpp:189
rokae::clr::ArcWelding::ArcData::voltage_mode
String voltage_mode
电压模式。分别："separate"，一元化："unified"
Definition: arcwelding_cli.hpp:197
rokae::clr::ArcWelding::ArcData::CreateDefault
static ArcData CreateDefault()
ArcData默认值
Definition: arcwelding_cli.hpp:210
rokae::clr::ArcWelding::ArcData::mode
String mode
焊机工作模式。平特性："flat_characteristic"，低飞溅："low_spatter"，脉冲： "pulse"，双脉冲："Double_pulse"，直流点焊："dc_spot_weldi...
Definition: arcwelding_cli.hpp:193
rokae::clr::ArcWelding::ArcData::weld_speed
Double weld_speed
焊接速度.单位：mm/s
Definition: arcwelding_cli.hpp:203
rokae::clr::ArcWelding::ArcData::current_mode
String current_mode
电流模式。电流："current"，送丝速度："wire_feed"
Definition: arcwelding_cli.hpp:195
rokae::clr::ArcWelding::ArcData::ramp_time
Int32 ramp_time
渐变时间。单位：ms，范围：[1 - 10000] ms
Definition: arcwelding_cli.hpp:205
rokae::clr::ArcWelding::ArcData::current
Double current
起弧电流. 单位：电流下为 A，送丝速度下为 mm/s
Definition: arcwelding_cli.hpp:199
rokae::clr::ArcWelding::ArcData::voltage
Double voltage
起弧电压。单位：分别下为 V，一元化下为 V 或者 %
Definition: arcwelding_cli.hpp:201
rokae::clr::ArcWelding::ArcOffData
收弧参数
Definition: arcwelding_cli.hpp:253
rokae::clr::ArcWelding::ArcOffData::hold_time
Int32 hold_time
收弧保持时间。单位：ms，范围：[0 - 10000] ms
Definition: arcwelding_cli.hpp:269
rokae::clr::ArcWelding::ArcOffData::name
String name
文件号名
Definition: arcwelding_cli.hpp:255
rokae::clr::ArcWelding::ArcOffData::voltage
Double voltage
起弧电压。单位：分别下为 V，一元化下为 V 或者 %
Definition: arcwelding_cli.hpp:267
rokae::clr::ArcWelding::ArcOffData::current_mode
String current_mode
电流模式。电流："current"，送丝速度："wire_feed"
Definition: arcwelding_cli.hpp:261
rokae::clr::ArcWelding::ArcOffData::mode
String mode
焊机工作模式。平特性："flat_characteristic"，低飞溅："low_spatter"，脉冲： "pulse"，双脉冲："Double_pulse"，直流点焊："dc_spot_weldi...
Definition: arcwelding_cli.hpp:259
rokae::clr::ArcWelding::ArcOffData::delay_gasoff_time
Int32 delay_gasoff_time
滞后关气时间。单位：ms，范围：[0 - 10000] ms
Definition: arcwelding_cli.hpp:271
rokae::clr::ArcWelding::ArcOffData::annotation
String annotation
文件号注释
Definition: arcwelding_cli.hpp:257
rokae::clr::ArcWelding::ArcOffData::CreateDefault
static ArcOffData CreateDefault()
ArcOffData默认值
Definition: arcwelding_cli.hpp:282
rokae::clr::ArcWelding::ArcOffData::wire_stick_detection_time
Int32 wire_stick_detection_time
粘丝检测时间。单位：ms
Definition: arcwelding_cli.hpp:277
rokae::clr::ArcWelding::ArcOffData::retract_time
Int32 retract_time
收弧退丝时间。单位：ms，范围：[0 - 10000] ms
Definition: arcwelding_cli.hpp:275
rokae::clr::ArcWelding::ArcOffData::current
Double current
起弧电流. 单位：电流下为 A，送丝速度下为 mm/s
Definition: arcwelding_cli.hpp:265
rokae::clr::ArcWelding::ArcOffData::anti_wire_stick_param
AntiWireStickParam anti_wire_stick_param
防粘丝参数
Definition: arcwelding_cli.hpp:279
rokae::clr::ArcWelding::ArcOffData::detect_time
Int32 detect_time
收弧检测时间。单位：ms，范围：[0 - 10000] ms
Definition: arcwelding_cli.hpp:273
rokae::clr::ArcWelding::ArcOffData::voltage_mode
String voltage_mode
电压模式。分别："separate"，一元化："unified"
Definition: arcwelding_cli.hpp:263
rokae::clr::ArcWelding::ArcOnData
起弧参数
Definition: arcwelding_cli.hpp:103
rokae::clr::ArcWelding::ArcOnData::current
Double current
起弧电流. 单位：电流下为 A，送丝速度下为 mm/s
Definition: arcwelding_cli.hpp:115
rokae::clr::ArcWelding::ArcOnData::voltage_mode
String voltage_mode
电压模式。分别："separate"，一元化："unified"
Definition: arcwelding_cli.hpp:113
rokae::clr::ArcWelding::ArcOnData::scratch_arcon
ScratchArconParam scratch_arcon
刮擦起弧参数
Definition: arcwelding_cli.hpp:137
rokae::clr::ArcWelding::ArcOnData::pre_wirefeed_time
Int32 pre_wirefeed_time
提前送丝时间。单位：ms
Definition: arcwelding_cli.hpp:131
rokae::clr::ArcWelding::ArcOnData::voltage
Double voltage
起弧电压。单位：分别下为 V，一元化下为 V 或者 %
Definition: arcwelding_cli.hpp:117
rokae::clr::ArcWelding::ArcOnData::re_arcon
ReArcOnParam re_arcon
再起弧参数
Definition: arcwelding_cli.hpp:135
rokae::clr::ArcWelding::ArcOnData::prearc_time
Int32 prearc_time
提前起弧时间。单位：ms
Definition: arcwelding_cli.hpp:127
rokae::clr::ArcWelding::ArcOnData::preflow_time
Int32 preflow_time
提前送气时间。单位：ms，范围：[1 - 10000] ms
Definition: arcwelding_cli.hpp:125
rokae::clr::ArcWelding::ArcOnData::slow_wire_feed_speed
Double slow_wire_feed_speed
慢送丝速度。单位：m/min，范围：[1 - 21] m/min
Definition: arcwelding_cli.hpp:129
rokae::clr::ArcWelding::ArcOnData::name
String name
文件号名
Definition: arcwelding_cli.hpp:105
rokae::clr::ArcWelding::ArcOnData::mode
String mode
焊机工作模式。平特性："flat_characteristic"，低飞溅："low_spatter"，脉冲： "pulse"，双脉冲："Double_pulse"，直流点焊："dc_spot_weldi...
Definition: arcwelding_cli.hpp:109
rokae::clr::ArcWelding::ArcOnData::CreateDefault
static ArcOnData CreateDefault()
ArcOnData默认值
Definition: arcwelding_cli.hpp:140
rokae::clr::ArcWelding::ArcOnData::ramp_time
Int32 ramp_time
渐变时间。单位：ms，范围：[1 - 10000] ms
Definition: arcwelding_cli.hpp:133
rokae::clr::ArcWelding::ArcOnData::detect_time
Int32 detect_time
起弧检测时间。单位：ms，范围：[0 - 10000] ms
Definition: arcwelding_cli.hpp:121
rokae::clr::ArcWelding::ArcOnData::annotation
String annotation
注释
Definition: arcwelding_cli.hpp:107
rokae::clr::ArcWelding::ArcOnData::confirm_time
Int32 confirm_time
起弧确认时间。单位：ms，范围：[0 - 10000] ms
Definition: arcwelding_cli.hpp:123
rokae::clr::ArcWelding::ArcOnData::hold_time
Int32 hold_time
起弧保持时间。单位：ms，范围：[0 - 10000] ms
Definition: arcwelding_cli.hpp:119
rokae::clr::ArcWelding::ArcOnData::current_mode
String current_mode
电流模式。电流："current"，送丝速度："wire_feed"
Definition: arcwelding_cli.hpp:111
rokae::clr::ArcWelding::ArcSetOpt
焊接参数设置，用于WMoveLCommand/WMoveCCommand运行时调整焊接参数，不断弧
Definition: arcwelding_cli.hpp:897
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:903
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:901
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:899
rokae::clr::ArcWelding::ArcSetOpt::CreateDefault
static ArcSetOpt CreateDefault()
焊接参数默认值
Definition: arcwelding_cli.hpp:906
rokae::clr::ArcWelding::ArcTrackParam
电弧跟踪参数设置
Definition: arcwelding_cli.hpp:861
rokae::clr::ArcWelding::ArcTrackParam::ud_param
UdTrackParam ud_param
上下跟踪参数
Definition: arcwelding_cli.hpp:877
rokae::clr::ArcWelding::ArcTrackParam::ud_enable
bool ud_enable
是否开启上下跟踪
Definition: arcwelding_cli.hpp:873
rokae::clr::ArcWelding::ArcTrackParam::lr_enable
bool lr_enable
是否开启左右跟踪
Definition: arcwelding_cli.hpp:871
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:867
rokae::clr::ArcWelding::ArcTrackParam::name
String name
文件号
Definition: arcwelding_cli.hpp:863
rokae::clr::ArcWelding::ArcTrackParam::cycle
int cycle
开始周期，范围：[ 3, 50 ]
Definition: arcwelding_cli.hpp:869
rokae::clr::ArcWelding::ArcTrackParam::annotation
String annotation
文件号注释
Definition: arcwelding_cli.hpp:865
rokae::clr::ArcWelding::ArcTrackParam::lr_param
LrTrackParam lr_param
左右跟踪参数
Definition: arcwelding_cli.hpp:875
rokae::clr::ArcWelding::ArcTrackParam::CreateDefault
static ArcTrackParam CreateDefault()
电弧跟踪参数默认值
Definition: arcwelding_cli.hpp:880
rokae::clr::ArcWelding::ArcWeldRunningParam
运行参数
Definition: arcwelding_cli.hpp:613
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:619
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:617
rokae::clr::ArcWelding::ArcWeldRunningParam::CreateDefault
static ArcWeldRunningParam CreateDefault()
运行参数默认值
Definition: arcwelding_cli.hpp:622
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:615
rokae::clr::ArcWelding::CalibrationResult
自动标定点位结果
Definition: arcwelding_cli.hpp:741
rokae::clr::ArcWelding::CalibrationResult::CreateDefault
static CalibrationResult CreateDefault()
自动标定点位结果默认值
Definition: arcwelding_cli.hpp:750
rokae::clr::ArcWelding::CalibrationResult::p_laser
List< double > p_laser
激光相机坐标
Definition: arcwelding_cli.hpp:747
rokae::clr::ArcWelding::CalibrationResult::id
int id
点位序号
Definition: arcwelding_cli.hpp:743
rokae::clr::ArcWelding::CalibrationResult::p_robot
List< double > p_robot
机器人坐标
Definition: arcwelding_cli.hpp:745
rokae::clr::ArcWelding::CharacteristicCurveData
特性曲线参数
Definition: arcwelding_cli.hpp:589
rokae::clr::ArcWelding::CharacteristicCurveData::slope
Double slope
斜率
Definition: arcwelding_cli.hpp:597
rokae::clr::ArcWelding::CharacteristicCurveData::name
String name
文件号名
Definition: arcwelding_cli.hpp:591
rokae::clr::ArcWelding::CharacteristicCurveData::points
List< Tuple< Double, Double > ^> points
点位数组
Definition: arcwelding_cli.hpp:595
rokae::clr::ArcWelding::CharacteristicCurveData::CreateDefault
static CharacteristicCurveData CreateDefault()
特性曲线参数默认值
Definition: arcwelding_cli.hpp:600
rokae::clr::ArcWelding::CharacteristicCurveData::intercept
Double intercept
截距
Definition: arcwelding_cli.hpp:593
rokae::clr::ArcWelding::ElevationAngle
仰角
Definition: arcwelding_cli.hpp:322
rokae::clr::ArcWelding::ElevationAngle::right
Double right
右仰角。单位：°，范围：[ -90, 90 ]
Definition: arcwelding_cli.hpp:326
rokae::clr::ArcWelding::ElevationAngle::CreateDefault
static ElevationAngle CreateDefault()
ElevationAngle默认值
Definition: arcwelding_cli.hpp:329
rokae::clr::ArcWelding::ElevationAngle::left
Double left
左仰角。单位：°，范围：[ -90, 90 ]
Definition: arcwelding_cli.hpp:324
rokae::clr::ArcWelding::HandeyeData
手眼标定结果
Definition: arcwelding_cli.hpp:716
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:722
rokae::clr::ArcWelding::HandeyeData::rotMatrix
array< Double > rotMatrix
旋转矩阵的行优先向量
Definition: arcwelding_cli.hpp:724
rokae::clr::ArcWelding::HandeyeData::transVector
array< Double > transVector
平移向量
Definition: arcwelding_cli.hpp:726
rokae::clr::ArcWelding::HandeyeData::name
String name
手眼标定结果文件号
Definition: arcwelding_cli.hpp:718
rokae::clr::ArcWelding::HandeyeData::mode
Boolean mode
标定结果形式 true:xyz_abc false:RT矩阵
Definition: arcwelding_cli.hpp:720
rokae::clr::ArcWelding::HandeyeData::CreateDefault
static HandeyeData CreateDefault()
手眼标定结果默认值
Definition: arcwelding_cli.hpp:729
rokae::clr::ArcWelding::IOData
IO端口
Definition: arcwelding_cli.hpp:514
rokae::clr::ArcWelding::IOData::enable
Boolean enable
是否启用
Definition: arcwelding_cli.hpp:522
rokae::clr::ArcWelding::IOData::bias
Int32 bias
偏差。类型为寄存器的时候有效
Definition: arcwelding_cli.hpp:520
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:518
rokae::clr::ArcWelding::IOData::name
String name
名称。DI0，DO1， AO2，AI3...或寄存器名
Definition: arcwelding_cli.hpp:516
rokae::clr::ArcWelding::IOData::CreateDefault
static IOData CreateDefault()
IOData默认值
Definition: arcwelding_cli.hpp:525
rokae::clr::ArcWelding::IOSetting
IO设置
Definition: arcwelding_cli.hpp:538
rokae::clr::ArcWelding::IOSetting::error
IOData error
报警
Definition: arcwelding_cli.hpp:564
rokae::clr::ArcWelding::IOSetting::current_get
IOData current_get
电流获取
Definition: arcwelding_cli.hpp:558
rokae::clr::ArcWelding::IOSetting::positioning_feedback
IOData positioning_feedback
寻位反馈信号
Definition: arcwelding_cli.hpp:552
rokae::clr::ArcWelding::IOSetting::voltage_set
IOData voltage_set
电压/弧长校正给定
Definition: arcwelding_cli.hpp:556
rokae::clr::ArcWelding::IOSetting::positioning_enable
IOData positioning_enable
寻位使能信号
Definition: arcwelding_cli.hpp:548
rokae::clr::ArcWelding::IOSetting::wire_feed
IOData wire_feed
送丝
Definition: arcwelding_cli.hpp:542
rokae::clr::ArcWelding::IOSetting::voltage_get
IOData voltage_get
电压获取
Definition: arcwelding_cli.hpp:560
rokae::clr::ArcWelding::IOSetting::CreateDefault
static IOSetting CreateDefault()
IOSetting默认值
Definition: arcwelding_cli.hpp:567
rokae::clr::ArcWelding::IOSetting::robot_ready
IOData robot_ready
机器人准备好
Definition: arcwelding_cli.hpp:562
rokae::clr::ArcWelding::IOSetting::current_set
IOData current_set
电流指定
Definition: arcwelding_cli.hpp:554
rokae::clr::ArcWelding::IOSetting::arc_on_success
IOData arc_on_success
引弧成功判断
Definition: arcwelding_cli.hpp:550
rokae::clr::ArcWelding::IOSetting::gas_test
IOData gas_test
气体检测
Definition: arcwelding_cli.hpp:546
rokae::clr::ArcWelding::IOSetting::wire_feed_back
IOData wire_feed_back
回抽丝
Definition: arcwelding_cli.hpp:544
rokae::clr::ArcWelding::IOSetting::arc_on
IOData arc_on
起弧端口
Definition: arcwelding_cli.hpp:540
rokae::clr::ArcWelding::LaserSearchData
激光寻位参数
Definition: arcwelding_cli.hpp:484
rokae::clr::ArcWelding::LaserSearchData::step_length
Double step_length
步进距离。单位：mm
Definition: arcwelding_cli.hpp:494
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:488
rokae::clr::ArcWelding::LaserSearchData::name
String name
文件号名
Definition: arcwelding_cli.hpp:486
rokae::clr::ArcWelding::LaserSearchData::CreateDefault
static LaserSearchData CreateDefault()
LaserSearchData默认值
Definition: arcwelding_cli.hpp:499
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:496
rokae::clr::ArcWelding::LaserSearchData::search_type
String search_type
寻位类型。点寻位："point"
Definition: arcwelding_cli.hpp:490
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:492
rokae::clr::ArcWelding::LaserSensorCfg
激光传感器配置信息设置
Definition: arcwelding_cli.hpp:774
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:786
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:782
rokae::clr::ArcWelding::LaserSensorCfg::CreateDefault
static LaserSensorCfg CreateDefault()
激光传感器配置信息默认值
Definition: arcwelding_cli.hpp:789
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:784
rokae::clr::ArcWelding::LaserSensorCfg::ip
String ip
IP地址
Definition: arcwelding_cli.hpp:778
rokae::clr::ArcWelding::LaserSensorCfg::name
String name
设备名
Definition: arcwelding_cli.hpp:776
rokae::clr::ArcWelding::LaserSensorCfg::port
Int32 port
端口号
Definition: arcwelding_cli.hpp:780
rokae::clr::ArcWelding::LaserTrackData
激光跟踪参数
Definition: arcwelding_cli.hpp:457
rokae::clr::ArcWelding::LaserTrackData::name
String name
文件号名
Definition: arcwelding_cli.hpp:459
rokae::clr::ArcWelding::LaserTrackData::z_comp
Boolean z_comp
Z方向补偿开关
Definition: arcwelding_cli.hpp:465
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:467
rokae::clr::ArcWelding::LaserTrackData::CreateDefault
static LaserTrackData CreateDefault()
LaserTrackData默认值
Definition: arcwelding_cli.hpp:470
rokae::clr::ArcWelding::LaserTrackData::y_comp
Boolean y_comp
Y方向补偿开关
Definition: arcwelding_cli.hpp:463
rokae::clr::ArcWelding::LaserTrackData::job_number
Int32 job_number
跟踪器工艺编号。范围：[0,63]
Definition: arcwelding_cli.hpp:461
rokae::clr::ArcWelding::LrTrackParam
电弧跟踪左右跟踪参数
Definition: arcwelding_cli.hpp:804
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:810
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:806
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:812
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:808
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:815
rokae::clr::ArcWelding::ReArcOnParam
再起弧参数
Definition: arcwelding_cli.hpp:49
rokae::clr::ArcWelding::ReArcOnParam::CreateDefault
static ReArcOnParam CreateDefault()
ReArcOnParam默认值
Definition: arcwelding_cli.hpp:64
rokae::clr::ArcWelding::ReArcOnParam::wire_retract_time
Int32 wire_retract_time
再起弧退丝时间。单位：ms，范围：[0 - 10000] ms
Definition: arcwelding_cli.hpp:57
rokae::clr::ArcWelding::ReArcOnParam::wire_retract_delay_time
Int32 wire_retract_delay_time
再起弧退丝等待时间。单位：ms，范围：[0 - 10000] ms
Definition: arcwelding_cli.hpp:55
rokae::clr::ArcWelding::ReArcOnParam::voltage_step
Double voltage_step
再起弧电压增量。单位：分别下为 V，一元化下为 ，范围：[0 - 10] V，[0 - 10] %
Definition: arcwelding_cli.hpp:61
rokae::clr::ArcWelding::ReArcOnParam::enable
Boolean enable
是否再起弧
Definition: arcwelding_cli.hpp:51
rokae::clr::ArcWelding::ReArcOnParam::retry_time
Int32 retry_time
起弧次数。范围：[1 - 20]
Definition: arcwelding_cli.hpp:53
rokae::clr::ArcWelding::ReArcOnParam::current_step
Double current_step
再起弧电流增量。单位：电流下为 A，范围：[0 - 50] A
Definition: arcwelding_cli.hpp:59
rokae::clr::ArcWelding::ScratchArconParam
刮擦起弧参数
Definition: arcwelding_cli.hpp:79
rokae::clr::ArcWelding::ScratchArconParam::enable
Boolean enable
是否刮擦起弧
Definition: arcwelding_cli.hpp:81
rokae::clr::ArcWelding::ScratchArconParam::back_speed
Int32 back_speed
返回速度，单位：mm/s
Definition: arcwelding_cli.hpp:85
rokae::clr::ArcWelding::ScratchArconParam::distance
Int32 distance
刮擦距离。单位：mm，范围：[0 - 500] mm
Definition: arcwelding_cli.hpp:83
rokae::clr::ArcWelding::ScratchArconParam::CreateDefault
static ScratchArconParam CreateDefault()
ScratchArconParam默认值
Definition: arcwelding_cli.hpp:90
rokae::clr::ArcWelding::ScratchArconParam::step
Int32 step
刮擦步长，单位：mm，范围：[0 - 500] mm
Definition: arcwelding_cli.hpp:87
rokae::clr::ArcWelding::SegData
间断焊参数
Definition: arcwelding_cli.hpp:427
rokae::clr::ArcWelding::SegData::seg_type
String seg_type
间断焊类型。普通："normal"
Definition: arcwelding_cli.hpp:433
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:439
rokae::clr::ArcWelding::SegData::name
String name
文件号名
Definition: arcwelding_cli.hpp:429
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:435
rokae::clr::ArcWelding::SegData::CreateDefault
static SegData CreateDefault()
SegData默认值
Definition: arcwelding_cli.hpp:442
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:437
rokae::clr::ArcWelding::SegData::annotation
String annotation
文件号注释
Definition: arcwelding_cli.hpp:431
rokae::clr::ArcWelding::UdTrackParam
电弧跟踪上下跟踪参数
Definition: arcwelding_cli.hpp:828
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:834
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:840
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:832
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:836
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:845
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:830
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:842
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:838
rokae::clr::ArcWelding::WeaveAdaptiveData
摆焊-自适应参数
Definition: arcwelding_cli.hpp:397
rokae::clr::ArcWelding::WeaveAdaptiveData::max_speed
Double max_speed
最大速度。单位：mm/s，范围：？？？
Definition: arcwelding_cli.hpp:409
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:401
rokae::clr::ArcWelding::WeaveAdaptiveData::max_electric
Double max_electric
最大电流。单位：A，范围：？？？
Definition: arcwelding_cli.hpp:407
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:403
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:405
rokae::clr::ArcWelding::WeaveAdaptiveData::isAdaptive
Boolean isAdaptive
是否自适应。是：true；否：false
Definition: arcwelding_cli.hpp:399
rokae::clr::ArcWelding::WeaveAdaptiveData::CreateDefault
static WeaveAdaptiveData CreateDefault()
WeaveAdaptiveData默认值
Definition: arcwelding_cli.hpp:412
rokae::clr::ArcWelding::WeaveData
摆弧参数
Definition: arcwelding_cli.hpp:340
rokae::clr::ArcWelding::WeaveData::elevation_type
String elevation_type
仰角类型（三角摆和正弦摆生效，当前只支持v型）。v型："v_pattern"，三角："triangular"
Definition: arcwelding_cli.hpp:362
rokae::clr::ArcWelding::WeaveData::amplitude
Amplitude amplitude
摆弧幅度。摆动频率乘左右振幅需小于50。
Definition: arcwelding_cli.hpp:352
rokae::clr::ArcWelding::WeaveData::CreateDefault
static WeaveData CreateDefault()
WeaveData默认值
Definition: arcwelding_cli.hpp:373
rokae::clr::ArcWelding::WeaveData::weaving_reference
String weaving_reference
摆弧基准（只支持基于周期的摆动）。长度："length"，周期："cycle"
Definition: arcwelding_cli.hpp:346
rokae::clr::ArcWelding::WeaveData::dwell_type
String dwell_type
等待类型（三角摆和正弦摆有效，圆弧摆需要设为摆动停止）。机器人等待："robot_stay"，摆动停止："weave_stop"
Definition: arcwelding_cli.hpp:354
rokae::clr::ArcWelding::WeaveData::phase_invert
Boolean phase_invert
波形反向（暂不支持，默认正向）。反向：true；正向：false
Definition: arcwelding_cli.hpp:360
rokae::clr::ArcWelding::WeaveData::inclination_angle
Double inclination_angle
倾斜角（三角摆和正弦摆生效）。单位：°，范围：[-90, 90]
Definition: arcwelding_cli.hpp:366
rokae::clr::ArcWelding::WeaveData::name
String name
文件号名
Definition: arcwelding_cli.hpp:342
rokae::clr::ArcWelding::WeaveData::annotation
String annotation
文件号注释
Definition: arcwelding_cli.hpp:344
rokae::clr::ArcWelding::WeaveData::acc
Double acc
摆动加速度。单位：mm/s^2，范围：(0, 5)，开区间
Definition: arcwelding_cli.hpp:368
rokae::clr::ArcWelding::WeaveData::radius
Double radius
摆弧半径（圆弧、8字生效）。单位：ms，范围：[ 0.1, 100 ]
Definition: arcwelding_cli.hpp:358
rokae::clr::ArcWelding::WeaveData::elevation_angle
ElevationAngle elevation_angle
仰角。当仰角类型为“ V 型” 时，角度设置为 0，机器人在单平面动；当仰角类型为” 三角“ 时，两个角度之和不能为 0、180、-180。
Definition: arcwelding_cli.hpp:364
rokae::clr::ArcWelding::WeaveData::jerk
Double jerk
摆动加加速度。单位：mm/s^3，范围：(0, 50]
Definition: arcwelding_cli.hpp:370
rokae::clr::ArcWelding::WeaveData::pattern
String pattern
摆弧形状（只支持三角摆、正弦摆和圆弧摆）。三角："triangular"，正弦："sine"，圆弧："circular"，8字："figure_8"
Definition: arcwelding_cli.hpp:348
rokae::clr::ArcWelding::WeaveData::dwell_time
array< Int32 > dwell_time
等待时间（左、中、右）。单位：ms。
Definition: arcwelding_cli.hpp:356
rokae::clr::ArcWelding::WeaveData::weave_length_frequency
Double weave_length_frequency
摆弧长度、频率（与摆弧基准匹配）。长度：单位：mm，范围：[ 1, 500 ]；频率：单位：Hz，范围：[ 0.1, 5 ]
Definition: arcwelding_cli.hpp:350
rokae::clr::ArcWelding::WelderSetting
焊机设置
Definition: arcwelding_cli.hpp:677
rokae::clr::ArcWelding::WelderSetting::wire_diameter
double wire_diameter
焊丝直径
Definition: arcwelding_cli.hpp:691
rokae::clr::ArcWelding::WelderSetting::CreateDefault
static WelderSetting CreateDefault()
焊机设置默认值
Definition: arcwelding_cli.hpp:698
rokae::clr::ArcWelding::WelderSetting::program_number
int program_number
程序号
Definition: arcwelding_cli.hpp:695
rokae::clr::ArcWelding::WelderSetting::protocol
String protocol
协议
Definition: arcwelding_cli.hpp:683
rokae::clr::ArcWelding::WelderSetting::mfr
String mfr
厂商
Definition: arcwelding_cli.hpp:679
rokae::clr::ArcWelding::WelderSetting::voltage_file
String voltage_file
电压文件号
Definition: arcwelding_cli.hpp:689
rokae::clr::ArcWelding::WelderSetting::shielding_gas
String shielding_gas
保护气体
Definition: arcwelding_cli.hpp:693
rokae::clr::ArcWelding::WelderSetting::model
String model
焊机型号
Definition: arcwelding_cli.hpp:681
rokae::clr::ArcWelding::WelderSetting::current_file
String current_file
电流文件号
Definition: arcwelding_cli.hpp:687
rokae::clr::ArcWelding::WelderSetting::current_type
Int32 current_type
电流类型
Definition: arcwelding_cli.hpp:685
rokae::clr::ArcWelding::WelderStatus
焊接状态
Definition: arcwelding_cli.hpp:634
rokae::clr::ArcWelding::WelderStatus::speed
Int32 speed
焊接速度。单位：mm/s
Definition: arcwelding_cli.hpp:642
rokae::clr::ArcWelding::WelderStatus::running_error
ErrorCode running_error
运行错误码
Definition: arcwelding_cli.hpp:644
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:648
rokae::clr::ArcWelding::WelderStatus::current
Double current
当前电流。单位：A
Definition: arcwelding_cli.hpp:636
rokae::clr::ArcWelding::WelderStatus::state
String state
焊机状态
Definition: arcwelding_cli.hpp:640
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:656
rokae::clr::ArcWelding::WelderStatus::voltage
Double voltage
当前电压。单位：V
Definition: arcwelding_cli.hpp:638
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:652
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:646
rokae::clr::ArcWelding::WelderStatus::CreateDefault
static WelderStatus CreateDefault()
焊接状态默认值
Definition: arcwelding_cli.hpp:659