API Description
Arc Welding Process Package Commands
| Description | Interface | Parameters | Return Value |
|---|---|---|---|
| Get arc start parameters | getArcOnData(arconDataName) | arconDataName - Arc start parameter name | Arc start parameters |
| Set arc start parameters | setArcOnData(arconData) | arconData - Arc start parameters | |
| Delete arc start parameters | removeArcOnData(arconDataName) | arconDataName - Arc start parameter name | |
| Batch delete arc start parameters | removeArcOnData(arconDataNames) | arconDataNames - List of arc start parameter names | |
| Get welding parameters | getArcData(arcDataName) | arcDataName - Welding parameter name | Welding parameters |
| Set welding parameters | setArcData(arcData) | arcData - Welding parameters | |
| Delete welding parameters | removeArcData(arcDataName) | arcDataName - Welding parameter name | |
| Batch delete welding parameters | removeArcData(arcDataNames) | arcDataNames - List of welding parameter names | |
| Enable welding parameters | enableArcData(arcData) | arcData - Welding parameters | |
| Get arc end parameters | getArcOffData(arcoffDataName) | arcoffDataName - Arc end parameter name | Arc end parameters |
| Set arc end parameters | setArcOffData(arcoffData) | arcoffData - Arc end parameters | |
| Delete arc end parameters | removeArcOffData(arcoffDataName) | arcoffDataName - Arc end parameter name | |
| Batch delete arc end parameters | removeArcOffData(arcoffDataNames) | arcoffDataNames - List of arc end parameter names | |
| Get weaving parameters | getWeaveData(weaveDataName) | weaveDataName - Weaving parameter name | Weaving parameters |
| Set weaving parameters | setWeaveData(weaveData) | weaveData - Weaving parameters | |
| Delete weaving parameters | removeWeaveData(weaveDataName) | weaveDataName - Weaving parameter name | |
| Batch delete weaving parameters | removeWeaveData(weaveDataNames) | weaveDataNames - List of weaving parameter names | |
| Get weaving adaptive parameters | getWeaveAdaptiveData() | Weaving adaptive parameters | |
| Set weaving adaptive parameters | setWeaveAdaptiveData(weaveAdaptiveData) | weaveAdaptiveData - Weaving adaptive parameters | |
| Get segmented welding parameters | getSegData(segDataName) | segDataName - Segmented welding parameter name | Segmented welding parameters |
| Set segmented welding parameters | setSegData(segData) | segData - Segmented welding parameters | |
| Delete segmented welding parameters | removeSegData(segDataName) | segDataName - Segmented welding parameter name | |
| Batch delete segmented welding parameters | removeSegData(segDataNames) | segDataNames - List of segmented welding parameter names | |
| Get multi-layer multi-pass parameters | getLayerData(layerDataName) | layerDataName - Multi-layer multi-pass parameter name | Multi-layer multi-pass parameters |
| Set multi-layer multi-pass parameters | setLayerData(layerData) | layerData - Multi-layer multi-pass parameters | |
| Delete multi-layer multi-pass parameters | removeLayerData(layerDataName) | layerDataName - Multi-layer multi-pass parameter name | |
| Batch delete multi-layer multi-pass parameters | removeLayerData(layerDataNames) | layerDataNames - List of multi-layer multi-pass parameter names | |
| Set multi-layer multi-pass layer count | setLayerCout(layerCount) | layerCount - Multi-layer multi-pass layer count | |
| Check multi-layer multi-pass reachability | MpmlPathCheck(position_groups, position_types, layerdata_list, error_layer_list, method) | position_groups - Base position groups (1 point per group for linear, multiple points for arc) position_types - Motion types layerdata_list - Offset parameters for each layer/pass error_layer_list - Output list of failed pass indices (format see SDK comments) method - Singularity avoidance mode AvoidSingularityMethod | Returns true if all reachable |
| Get current layer/pass arc start point | GetLayerStartPoint(position_groups, position_types, layerdata, start_position) | Trajectory points and types, single layer LayerData, output arc start point | Returns true on success |
| Get laser tracking parameters | getLaserTrackData(laserTrackDataName) | laserTrackDataName - Laser tracking parameter name | Laser tracking parameters |
| Set laser tracking parameters | setLaserTrackData(laserTrackData) | laserTrackData - Laser tracking parameters | |
| Delete laser tracking parameters | removeLaserTrackData(laserTrackDataName) | laserTrackDataName - Laser tracking parameter name | |
| Batch delete laser tracking parameters | removeLaserTrackData(laserTrackDataNames) | laserTrackDataNames - List of laser tracking parameter names | |
| Get laser search parameters | getLaserSearchData(laserSearchDataName) | laserSearchDataName - Laser search parameter name | Laser search parameters |
| Set laser search parameters | setLaserSearchData(laserSearchData) | laserSearchData - Laser search parameters | |
| Delete laser search parameters | removeLaserSearchData(laserSearchDataName) | laserSearchDataName - Laser search parameter name | |
| Batch delete laser search parameters | removeLaserSearchData(laserSearchDataNames) | laserSearchDataNames - List of laser search parameter names | |
| Get IO settings | getIOSetting() | IO settings | |
| Set IO settings | setIOSetting(ioSetting) | ioSetting - IO settings | |
| Get current characteristic curve parameters | getCurrentCharacteristicCurveData(name) | name - File name | Current characteristic curve parameters |
| Set current characteristic curve parameters | setCurrentCharacteristicCurveData(data) | data - Current characteristic curve parameters | |
| Get voltage characteristic curve parameters | getVoltageCharacteristicCurveData(name) | name - File name | Voltage characteristic curve parameters |
| Set voltage characteristic curve parameters | setVoltageCharacteristicCurveData(data) | data - Voltage characteristic curve parameters | |
| Calculate current characteristic curve parameters | calculateCurrentCurve(data) | data - Current characteristic curve parameters | Current characteristic curve parameters |
| Calculate voltage characteristic curve parameters | calculateVoltageCurve(data) | data - Voltage characteristic curve parameters | Voltage characteristic curve parameters |
| Get welder status | getWelderStatus() | Welder status | |
| Set welder | setWelder(protocol, mfr, type, current) | protocol - Protocol mfr - Manufacturer type - Type current - Current type | |
| Set welder | setWelder(welderSetting) | welderSetting - Welder setting parameters | |
| Get welder settings | getWelderSetting() | Welder settings | |
| Connect to welder | connectToWelder() | ||
| Disconnect from welder | disconnectFromWelder() | ||
| Read if physical welder is connected | isEniHaveWeld() | Whether physical welder is connected | |
| Set if physical welder is connected | setIsEniHaveWeld(isEniHaveWeld) | isEniHaveWeld - Whether physical welder is connected | |
| Get welding mode | getWeldMode() | Welding mode | |
| Set welding mode | setWeldMode(weldMode) | weldMode - Welding mode | |
| Get welding running parameters | getRunningParam() | Running parameters | |
| Set welding running parameters | setRunningParam(data) | data - Running parameters | |
| Wire feed | feedOnWire(enable) | enable - Whether to feed wire (true: feed; false: stop) | |
| Wire feed | feedOnWire(time, enable) | time - Wire feed time (seconds, > 0.1, effective when enable is true) enable - Whether to feed wire | |
| Wire retract | feedBackWire(enable) | enable - Whether to retract wire (true: retract; false: stop) | |
| Wire retract | feedBackWire(time, enable) | time - Wire retract time (seconds, > 0.1, effective when enable is true) enable - Whether to retract wire | |
| Gas check | detectGas() | After starting gas check, executes according to preset time ArcWeldRunningParam.gas_detect_time; calling again before time expires stops it; calling again after stopped restarts | |
| Gas check | detectGas(time, enable) | time - Gas check time (seconds, > 0.1, effective when enable is true) enable - Whether to check gas | |
| Set current and voltage online | setCurrentAndVoltage(current, voltage) | current - Current or wire feed speed voltage - Voltage | |
| Save current and voltage online | saveCurrentAndVoltage(current, voltage) | current - Current or wire feed speed voltage - Voltage | |
| Start tack welding | startWelding(current, voltage) | current - Current voltage - Voltage voltage_mode - Voltage mode current_mode - Current mode work_mode - Work mode | |
| Stop tack welding | stopWelding() | ||
| Clear welder alarm | clearWelderAlarm() | ||
| Get welder supported work modes | getWelderWorkModes() | List of work mode strings (empty on error, non-zero, or no corresponding mode) | |
| Weave offset jog | weldOffsetJog(dir) | dir - Offset direction along Y, Z directions of path coordinate system during welding | |
| Add hand-eye calibration result parameters | setHandeyeData(eyedata) | handeyedata - Hand-eye calibration result | |
| Get hand-eye calibration result | getHandeyeData(name) | name - Hand-eye calibration result file number | Hand-eye calibration result |
| Delete hand-eye calibration result | removeHandeyeData(name) | name - Hand-eye calibration file number | |
| Batch delete hand-eye calibration results | removeHandeyeData(names) | names - List of hand-eye calibration file numbers | |
| Start hand-eye calibration | startHandeyeCalibration(name, type) | name - Hand-eye calibration file number type - Number of calibration points | |
| Add calibration point for hand-eye calibration | calibratePoint(id) | id - Point number | Point result |
| End hand-eye calibration and calculate result | calibrateEnd(data, result) | data - Hand-eye calibration result result - Used to return self-check error | Self-check error array |
| Set laser sensor configuration parameters | setLaserSensorCfg(cfg) | cfg - Laser sensor basic configuration data | |
| Get laser sensor configuration parameters | getLaserSensorCfg(name) | name - Laser sensor name | Sensor configuration parameters |
| Delete laser sensor configuration parameters | removeLaserSensorCfg(device_name) | device_name - Laser sensor device name | |
| Batch delete laser sensor configuration parameters | removeLaserSensorCfg(device_names) | device_names - List of laser sensor device names | |
| Connect laser sensor device | connLaserSensorDev(device_name) | device_name - Laser sensor device name | |
| Disconnect laser sensor device | disconnLaserSensorDev(device_name) | device_name - Laser sensor device name | |
| Open laser tracker | openLaserTrack(device_name) | device_name - Laser sensor device name | |
| Close laser tracker | closeLaserTrack(device_name) | device_name - Laser sensor device name | |
| Set arc tracking parameters | setArcTrackParam(param) | param - Arc tracking parameters | |
| Get arc tracking parameters | getArcTrackParam(name) | name - Arc tracking parameter file number | Arc tracking parameters |
| Delete arc tracking parameters | removeArcTrackParam(name) | name - Arc tracking parameter file number | |
| Batch delete arc tracking parameters | removeArcTrackParam(names) | names - List of arc tracking parameter file numbers | |
| Set collision sensor | setAnticollision(signal, enable, block, countdown) | signal - DI signal name enable - Open/Close block - Block switch countdown - Countdown | |
| Get collision status | getAnticollisionState() | Collision settings or status | |
| Cancel auto go back once | cancelAutoGoBackOnce() | ||
| Laser search | executeLaserSearch(cmd, isMove, timeout) | cmd - Laser search command isMove - Whether to start motion immediately timeout - Timeout time | Whether found + found pose |
| Calculate intersection from laser search four points | calcIntersection(points) | points - 4 points (first two form line 1, last two form line 2) | Calculated intersection, pose takes first point's pose from points |
| Get laser absolute position | GetLaserPos(pos, laserHandEyeData, refSys) | pos - TCP point (used to get pose) laserHandEyeData - Hand-eye calibration file name refSys - Coordinate system: R_WORLD, R_BASE, R_WOBJ, default R_WORLD | Recognized weld point position (same pose as pos) |
| Build coordinate system by laser search three-point method | getRefBy3Points(points, withOrigin, dt) | points - Search points withOrigin - Whether to determine origin directly from search points dt - Pose calibration sequence DirType | Coordinate system Frame |