Data Structures
1 Re-arc Parameters rokae::ArcWelding::ReArcOnParam
bool enable Whether to re-arc, default: false
int retry_time Arc start retry count, range: [1 - 20], default: 3
int wire_retract_delay_time Re-arc wire retract wait time, unit: ms, range: [0 - 10000], default: 50
int wire_retract_time Re-arc wire retract time, unit: ms, range: [0 - 10000], default: 200
double current_step Re-arc current increment, unit: A, range: [0 - 50], default: 0
double voltage_step Re-arc voltage increment, unit: V or %, range: [0 - 10], default: 0
2 Scratch Arc Start Parameters rokae::ArcWelding::ScratchArconParam
bool enable Whether to scratch arc start, default: false
int distance Scratch distance, unit: mm, range: [0 - 500], default: 20
int back_speed Return speed, unit: mm/s, range: (0 - 7000], default: 50
int step Scratch step length, unit: mm, range: [0 - 500], default: 5
3 Arc Start Parameters rokae::ArcWelding::ArcOnData
std::string name File name, default: "default"
std::string annotation Annotation
std::string mode Welder work mode, flat characteristic: "flat_characteristic", low spatter: "low_spatter", pulse: "pulse",
double pulse: "double_pulse", DC spot welding: "dc_spot_welding", pulsed spot welding: "pulsed_spot_welding",
deep penetration: "deep_penetration", fast pulse: "fast_pulse", low spatter spot welding: "low_spatter_spot_welding",
ASMT: "asmt", ASMT spot welding: "asmt_spot_welding", job: "job", panel control: "panel_control", high speed welding: "high_speed_welding", constrict arc: "constrict_arc", root pass: "root_pass",
(consistent with `mode` values in `ArcOnData`/`ArcData`/`ArcOffData` header files), default: "flat_characteristic"
std::string current_mode Current mode, current: "current", wire feed: "wire_feed", default: "current"
std::string voltage_mode Voltage mode, separate: "separate", unified: "unified", default: "unified"
double current Arc start current, unit: A under current mode, mm/s under wire feed mode, range: [0 - 2000], default: 0
double voltage Arc start voltage, unit: V under separate mode, range: [0, 100], V or % under unified mode, range: [-30, 30], default: 0
int job_number Job number, effective when work mode is job, must be > 0, default: 0
int hold_time Arc start hold time, unit: ms, range: [0 - 10000], default: 200
int detect_time Arc start detect time, unit: ms, range: [0 - 10000], default: 2000
int confirm_time Arc start confirm time, unit: ms, range: [0 - 10000], default: 200
int preflow_time Preflow gas time, unit: ms, range: [1 - 10000], default: 200
int prearc_time Pre-arc time, unit: ms, range: [0, +∞], default: 0
double slow_wire_feed_speed Slow wire feed speed, unit: m/min, range: [1 - 21], default: 1
int pre_wirefeed_time Pre wire feed time, unit: ms, range: [0, 10000], default: 200
int ramp_time Ramp time, unit: ms, range: [1 - 10000], default: 200
ReArcOnParam re_arcon Re-arc parameters
ScratchArconParam scratch_arcon Scratch arc start parameters
4 Arc Break and Re-arc Parameters rokae::ArcWelding::ArcBreakParam
int detect_time Arc break detect time, unit: ms, range: [1 - 10000], default: 100
std::string arc_break_option Arc break option, stop and alarm: "stop_and_alarm", auto arc reignition: "auto_arc_reignition", default: "stop_and_alarm"
int restart_back_distance Restart back distance, unit: mm, range: [0 - 100], default: 10
5 Welding Parameters rokae::ArcWelding::ArcData
std::string name File name, default: "default"
std::string annotation File annotation
std::string mode Welder work mode, flat characteristic: "flat_characteristic", low spatter: "low_spatter", pulse: "pulse",
double pulse: "double_pulse", DC spot welding: "dc_spot_welding", pulsed spot welding: "pulsed_spot_welding",
deep penetration: "deep_penetration", fast pulse: "fast_pulse", low spatter spot welding: "low_spatter_spot_welding",
ASMT: "asmt", ASMT spot welding: "asmt_spot_welding", job: "job", panel control: "panel_control", high speed welding: "high_speed_welding", constrict arc: "constrict_arc", root pass: "root_pass",
(consistent with `mode` values in `ArcOnData`/`ArcData`/`ArcOffData` header files), default: "flat_characteristic"
std::string current_mode Current mode, current: "current", wire feed: "wire_feed", default: "current"
std::string voltage_mode Voltage mode, separate: "separate", unified: "unified", default: "unified"
double current Arc start current, unit: A under current mode, mm/s under wire feed mode, range: [0, 2000], default: 0
double voltage Arc start voltage, unit: V under separate mode, range: [0, 100], V or % under unified mode, range: [-30, 30], default: 0
int job_number Job number, effective when work mode is job, must be > 0, default: 0
double weld_speed Welding speed, unit: mm/s, range: (0, 10000], default: 10
int ramp_time Ramp time, unit: ms, range: [1 - 10000], default: 200
ArcBreakParam arc_break_param Arc break and re-arc parameters
6 Anti-stick Wire Parameters rokae::ArcWelding::AntiWireStickParam
bool enable Anti-stick wire switch, default: false
double current Anti-stick wire current, unit: A, range: [0 - 100], default: 30
double voltage Anti-stick wire voltage, unified: unit: %, range: [0 - 50]; separate: unit: V, range: [0 - 20], default: 10
int time Anti-stick wire time, unit: ms, range: [0 - 10000], default: 500
7 Arc End Parameters rokae::ArcWelding::ArcOffData
std::string name File name, default: "default"
std::string annotation File annotation
std::string mode Welder work mode, flat characteristic: "flat_characteristic", low spatter: "low_spatter", pulse: "pulse",
double pulse: "double_pulse", DC spot welding: "dc_spot_welding", pulsed spot welding: "pulsed_spot_welding",
deep penetration: "deep_penetration", fast pulse: "fast_pulse", low spatter spot welding: "low_spatter_spot_welding",
ASMT: "asmt", ASMT spot welding: "asmt_spot_welding", job: "job", panel control: "panel_control", high speed welding: "high_speed_welding", constrict arc: "constrict_arc", root pass: "root_pass",
default: "flat_characteristic"
std::string current_mode Current mode, current: "current", wire feed: "wire_feed", default: "current"
std::string voltage_mode Voltage mode, separate: "separate", unified: "unified", default: "unified"
double current Arc end current, unit: A under current mode, mm/s under wire feed mode, range: [0, 2000], default: 0
double voltage Arc end voltage, unit: V under separate mode, range: [0, 100], V or % under unified mode, range: [-30, 30], default: 0
int job_number Job number, effective when work mode is job, must be > 0, default: 0
int hold_time Arc end hold time, unit: ms, range: [0 - 10000], default: 500
int delay_gasoff_time Post gas time, unit: ms, range: [0 - 10000], default: 200
int detect_time Arc end detect time, unit: ms, range: [0 - 10000], default: 5000
int retract_time Arc end retract time, unit: ms, range: [0 - 10000], default: 100
int wire_stick_detection_time Wire stick detection time, unit: ms, range: [0 - 10000], default: 500
AntiWireStickParam anti_wire_stick_param Anti-stick wire parameters
8 Weaving Amplitude rokae::ArcWelding::Amplitude
double left Left amplitude, unit: mm, range: [ 0.1, 50 ], default: 0.1
double right Right amplitude, unit: mm, range: [ 0.1, 50 ], default: 0.1
9 Elevation Angle rokae::ArcWelding::ElevationAngle
double left Left elevation angle, unit: °, range: [ -90, 90 ], default: 0
double right Right elevation angle, unit: °, range: [ -90, 90 ], default: 0
10 Weaving Parameters rokae::ArcWelding::WeaveData
std::string name File name, default: "default"
std::string annotation File annotation
std::string weaving_reference Weaving reference (only cycle-based weaving supported), length: "length", cycle: "cycle", default: "cycle"
std::string pattern Weaving shape (only triangular, sine and circular weaving supported), triangular: "triangular", sine: "sine", circular: "circular", figure 8: "figure_8", default: "triangular"
double weave_length_frequency Weaving length, frequency (matches weaving reference), length: unit: mm, range: [ 1, 500 ]; frequency: unit: Hz, range: [ 0.1, 5 ], default: 0.1
Amplitude amplitude Weaving amplitude, weaving frequency multiplied by left/right amplitude must be less than 50
std::string dwell_type Dwell type (effective for triangular and sine weaving, circular weaving needs to be set to weave stop), robot wait: "robot_stay", weave stop: "weave_stop", default: "robot_stay"
int dwell_time[3] Dwell time (left, center, right), unit: ms, default: {0, 0, 0}
double radius Weaving radius (effective for circular, figure 8), unit: mm, range: [ 0.1, 100 ], default: 0.1
bool phase_invert Waveform inversion (not supported temporarily, default forward), inverted: true; forward: false, default: false
std::string elevation_type Elevation type (effective for triangular and sine weaving, currently only V-pattern supported), V-pattern: "v_pattern", triangular: "triangular", default: "v_pattern"
ElevationAngle elevation_angle Elevation angle, when elevation type is "V-pattern", angle set to 0, robot moves in single plane; when elevation type is "triangular", sum of two angles cannot be 0, 180, -180
double inclination_angle Inclination angle (effective for triangular and sine weaving), unit: °, range: [-90, 90], default: 0
double acc Weaving acceleration, unit: mm/s^2, range: (0, 5), open interval, default: 0.5
double jerk Weaving jerk, unit: mm/s^3, range: (0, 50], default: 5
11 Weaving Adaptive Parameters rokae::ArcWelding::WeaveAdaptiveData
bool isAdaptive Whether adaptive, true: yes, false: no, default: false
double groove_width_standard Standard groove width, unit: mm, default: 4.00
double groove_width_ratio Groove width ratio, default: 4.00
double max_groove_width Maximum groove width, unit: mm, default: 6.00
double max_electric Maximum current, unit: A, default: 300.0
double max_speed Maximum speed, unit: mm/s, default: 8.00
12 Segmented Welding Parameters rokae::ArcWelding::SegData
std::string name File name, default: "default"
std::string annotation File annotation
std::string seg_type Segmented welding type, normal: "normal", specified weld segment count: "bycount", default: "normal"
std::string non_welded_speed Non-welded segment speed, xCore predefined v5, v10..., default: "v5"
double welded_distance Welded segment length, unit: mm, range: [1, 1000], default: 1
double non_welded_distance Normal segmented welding: non-welded segment length, unit: mm, range: [1, 1000], default: 1
int welded_count Specified weld segment count mode (bycount): weld segment count, range: [2, 1000], default: 2
13 Multi-layer Multi-pass Parameters rokae::ArcWelding::LayerData
std::string name File name
std::string annotation Annotation
double start_offset Start offset, unit: mm, range: [-500, 500], default: 0
double end_offset End offset, unit: mm, range: [-500, 500], default: 0
double y_offset Y direction offset, unit: mm, range: [-150, 150], default: 0
double z_offset Z direction offset, unit: mm, range: [-150, 150], default: 0
double travel_angle Travel angle, unit: °, range: [-90, 90], default: 0
double tilt_angle Tilt angle, unit: °, range: [-90, 90], default: 0
bool layer_reverse Layer reverse, default: false
int z_axis_fixed_type 0: specified reference axis, 1: custom vector calculation, default: 0
int point_num Custom point count, range: [1, 3], default: 0
int axis_type 0: positive Z axis, 1: negative Z axis, 2: positive Y axis, 3: negative Y axis, 4: positive X axis, 5: negative X axis, default: 0
int aux_type 1: one-point method, 3: three-point method, default: 0
int offset_coord_system Offset XYZ reference: 0 weld seam coordinate system, 1 Z direction reference axis, 2 XY plane reference point, default: 0
std::array<double, 3> custom_point_1 Custom vector point 1 (xyz)
std::array<double, 3> custom_point_2 Custom vector point 2 (xyz)
std::array<double, 3> custom_point_3 Custom vector point 3 (xyz)
std::array<double, 3> aux_point_1 Auxiliary point 1 (xyz, mm)
std::array<double, 3> aux_point_2 Auxiliary point 2 (xyz, mm)
std::array<double, 3> aux_point_3 Auxiliary point 3 (xyz, mm)
14 Laser Tracking Parameters rokae::ArcWelding::LaserTrackData
std::string name File name, default: "default"
int job_number Tracker process number, range: [0,63], default: 0
bool y_comp Y direction compensation switch, default: false
bool z_comp Z direction compensation switch, default: false
double max_invalid_length Maximum invalid weld seam stop distance, unit: mm, range: (0, 50], default: 10
15 Laser Search Parameters rokae::ArcWelding::LaserSearchData
std::string name File name, default: "default"
int job_number Laser search process number, range: [0,63], default: 0
std::string search_type Search type, point search: "point", default: "point"
std::string search_mode Search mode, continuous: "continuous" | static search "static" | step: "step" (currently supports continuous and static search), default: "continuous"
double step_length Step length, unit: mm, default: 2.0
std::string joint_type Weld joint type, corner joint: "corner_joint", lap joint: "lap_joint", butt joint: "butt_joint", default: "corner_joint"
16 IO Port rokae::ArcWelding::IOData
std::string name Name, DI0, DO1, AO2, AI3... or register name, default: ""
int type Type, 0: not set; 1: DI; 2: DO; 3: AO; 4: AI; 5: register, default: 0
int bias Bias, effective when type is register, default: 0
bool enable Whether enabled, default: false
17 IO Settings rokae::ArcWelding::IOSetting
IOData arc_on Arc start port
IOData wire_feed Wire feed
IOData wire_feed_back Wire retract
IOData gas_test Gas test
IOData positioning_enable Positioning enable signal
IOData arc_on_success Arc start success judgment
IOData positioning_feedback Positioning feedback signal
IOData current_set Current set
IOData voltage_set Voltage/arc length correction set
IOData current_get Current get
IOData voltage_get Voltage get
IOData robot_ready Robot ready
IOData error Alarm
18 Characteristic Curve Parameters rokae::ArcWelding::CharacteristicCurveData
std::string name File name, default: "default"
double intercept Intercept, default: 0
std::vector<std::array<double, 2>> points Point array
double slope Slope, default: 0
19 Running Parameters rokae::ArcWelding::ArcWeldRunningParam
double test_run_speed Dry run Cartesian speed, unit: mm/s, range: [ 1, 250 ], default: 200
double wire_feed_speed Manual jog wire feed/retract speed, unit: m/min, related to welder itself, range: (0, +∞], default: 1
int gas_detect_time Gas detect time, unit: s, range: [ 1, 30 ], default: 15
20 Welding Status rokae::ArcWelding::WelderStatus
double current Current current, unit: A, default: 0
double voltage Current voltage, unit: V, default: 0
std::string state Welder status, default: "disabled"
int speed Welding speed, unit: mm/s, default: 0
std::error_code running_error Running error code
std::string welding_name Currently welding file name, type string, used with arc_welding, default: ""
int arc_welding Current welding state, type int, 0 - arc start, 1 - welding state, 2 - arc end state, -1 - default, default: -1
double welding_distance Welding distance completed in one arc start/end cycle, cleared on next arc start, unit: m, default: 0
int welding_path_num Welding path count in one arc start/end cycle, i.e., number of WMoveLCommand/WMoveCCommand instructions already started, cleared on next arc start, default: 0
double welding_time Welding time, cleared on next arc start, unit: min, default: 0
double welding_wire_used Wire usage length, cleared on next arc start, unit: m, default: 0
int welder_error_code Welder error code, default: 0
bool welder_ready Whether welder is ready (whether robot-welder communication is normal), default: false
21 Welder Settings rokae::ArcWelding::WelderSetting
std::string protocol Protocol, default: "ethercat"
std::string mfr Manufacturer, default: ""
std::string model Welder model, default: ""
int current_type Current type, default: 0
std::string current_file Current file name, default: ""
std::string voltage_file Voltage file name, default: ""
double wire_diameter Wire diameter, default: 0
std::string shielding_gas Shielding gas, default: ""
int program_number Program number, default: 0
int dry_extension Stick-out length, unit: mm, default: 0
22 Hand-eye Calibration Result rokae::ArcWelding::HandeyeData
std::string name Hand-eye calibration result file number, default: ""
bool mode Calibration result format, true: xyz_abc, false: RT matrix, default: false
std::array<double, 6> xyz_abc Cartesian space pose format, unit: mm rad, default: {0.0,0.0,0.0,0.0,0.0,0.0}
std::array<double, 9> rotMatrix Rotation matrix row-major vector, default: {0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0}
std::array<double, 3> transVector Translation vector, default: {0.0,0.0,0.0}
23 Automatic Calibration Point Result rokae::ArcWelding::CalibrationResult
int id Point sequence number, default: 0
std::vector<double> p_robot Robot coordinates, default: {0.0, 0.0, 0.0, 0.0, 0.0, 0.0}
std::vector<double> p_laser Camera coordinates, default: {0.0, 0.0, 0.0}
24 Laser Sensor Configuration Settings rokae::ArcWelding::LaserSensorCfg
std::string name Device name, default: "sensor0"
std::string ip IP address, default: "192.168.2.3"
int port Port number, default: 502
LaserSensorType type Laser manufacturer type (currently supported: CRNT, SMART_IMAGE, INTELLIGENT), default: LaserSensorType::CRNT
int overtime Connection timeout setting, unit: ms, range: 1-100000, default: 1000
int communication_cycle Controller and laser tracker communication cycle, unit: ms, range: 1-10000, default: 70
25 Arc Tracking Left-Right Tracking Parameters rokae::ArcWelding::LrTrackParam
double pid Proportional gain, adjusts left-right tracking speed, range: [ 0, 10 ], default: 5.0
double curr_bias_offset Current bias coefficient, compensates for inherent left-right current deviation during normal weaving, range: [ 0, 10 ], default: 5.0
double min_compensation Minimum compensation, minimum single compensation value, control amount below this value will not be compensated, unit mm, range: [ 0, 10 ], default: 0.01
double max_compensation Maximum compensation, maximum single compensation value, unit mm, range: [ 0, 10 ], default: 0.7
26 Arc Tracking Up-Down Tracking Parameters rokae::ArcWelding::UdTrackParam
double pid Proportional gain, adjusts up-down tracking speed, range: [ 0, 10 ], default: 5.0
double curr_bias_offset Current bias coefficient, compensates for inherent up-down current deviation during normal weaving, range: [ 0, 10 ], default: 5.0
double min_compensation Minimum compensation, minimum single compensation value, control amount below this value will not be compensated, unit mm, range: [ 0, 10 ], default: 0.01
double max_compensation Maximum compensation, maximum single compensation value, unit mm, range: [ 0, 10 ], default: 0.7
double base_current Base current value, only needs to be set when "base current method" is "fixed value", unit: A, range: [ 0, 1000 ], default: 0.0
int sampling_start_period Adaptive up-down base current start sampling period, range: [ 2, 50 ], default: 5
int sampling_duration_period Adaptive up-down base current sampling duration period, range: [ 1, 50 ], default: 1
27 Arc Tracking Parameter Settings rokae::ArcWelding::ArcTrackParam
std::string name File name
std::string annotation File annotation
int delay_time Delay time, delay for current sampling and transmission time, unit ms, range: [ 0, 50 ], default: 0
int cycle Start cycle, range: [ 3, 50 ], default: 6
bool lr_enable Whether to enable left-right tracking, default: false
bool ud_enable Whether to enable up-down tracking, default: false
LrTrackParam lr_param Left-right tracking parameters
UdTrackParam ud_param Up-down tracking parameters
28 Welding Parameter Settings rokae::ArcWelding::ArcSetOpt
std::string arc_data Welding parameter name, non-empty means welding parameters need to be adjusted
bool ref_start true - execute welding parameter modification relative to next path start point | false - relative to next path end point
double distance Position on path where welding parameters start to change, unit mm. Note: if longer than path, adjustment occurs at path endpoint; for blend zone cases, adjustment occurs at blend zone midpoint, default: 0
29 Collision Sensor Status rokae::ArcWelding::AnticollisionState
std::string signal DI signal name, default: ""
bool enable Open/Close, default: false
bool block Block switch, enable block set to true, set to false after block time ends, default: false
int countdown Countdown, default: 60
30 Welding Command - Arc Start rokae::ArcWelding::ArcOnCommand
setArcOnData(arcOnData) Set arc start parameters
getArcOnData() Get arc start parameters
setArcData(arcData) Set welding parameters
getArcData() Get welding parameters
std::string m_arcOnData Arc start parameter name, default: "default"
std::string m_arcData Welding parameter name, default: "default"
31 Welding Command - Arc End rokae::ArcWelding::ArcOffCommand
setArcOffData(arcOffData) Set arc end parameters
getArcOffData() Get arc end parameters
std::string m_arcOffData Arc end parameter name, default: "default"
32 Welding Command - Wire Feed rokae::ArcWelding::FeedOnWireCommand
setFeedOnWireData(time, speed, isFeed) Set wire feed parameters
getFeedOnWireData(time, speed, isFeed) Get wire feed parameters
double m_time Time, unit: seconds
double m_speed Speed, unit: m/min
bool m_isFeed Whether to feed wire
33 Welding Command - Wire Retract rokae::ArcWelding::FeedBackWireCommand
setFeedBackWireData(time, speed, isReverse) Set wire retract parameters
getFeedBackWireData(time, speed, isReverse) Get wire retract parameters
double m_time Time, unit: seconds
double m_speed Speed, unit: m/min
bool m_isReverse Whether to retract wire
34 Welding Command - Linear Path rokae::ArcWelding::WMoveLCommand
setWeaveData(weaveData) Set weaving parameters
getWeaveData() Get weaving parameters
setTrackData(trackData) Set arc tracking parameters
getTrackData() Get arc tracking parameters
CartesianPosition target Target Cartesian point
int speed End linear velocity, unit mm/s
double rotSpeed Spatial rotation speed
int zone Blend zone size, unit mm
CartesianPosition ::Offset offset Offset amount
std::string customInfo Custom information, can be returned in motion information feedback
ArcSetOpt arc_set_opt Set welding parameter options
std::string m_weaveData Weaving parameter name
std::string m_trackData Arc tracking parameter name
35 Welding Command - Circular Path rokae::ArcWelding::WMoveCCommand
setWeaveData(weaveData) Set weaving parameters
getWeaveData() Get weaving parameters
setTrackData(trackData) Set arc tracking parameters
getTrackData() Get arc tracking parameters
CartesianPosition target Target Cartesian point
CartesianPosition aux Auxiliary point
int speed End linear velocity, unit mm/s
double rotSpeed Spatial rotation speed
int zone Blend zone size, unit mm
CartesianPosition ::Offset targetOffset Target point offset
CartesianPosition ::Offset auxOffset Auxiliary point offset
std::string customInfo Custom information, can be returned in motion information feedback
ArcSetOpt arc_set_opt Set welding parameter options
std::string m_weaveData Weaving parameter name
std::string m_trackData Arc tracking parameter name
36 Welding Command - Full Circle Path rokae::ArcWelding::WMoveCFCommand
setWeaveData(weaveData) Set weaving parameters
getWeaveData() Get weaving parameters
setTrackData(trackData) Set arc tracking parameters
getTrackData() Get arc tracking parameters
CartesianPosition target Auxiliary point 1
CartesianPosition aux Auxiliary point 2
int speed End linear velocity, unit mm/s
double rotSpeed Spatial rotation speed
int zone Blend zone size, unit mm
double angle Full circle execution angle, unit: radians
CartesianPosition ::Offset targetOffset Target point offset
CartesianPosition ::Offset auxOffset Auxiliary point offset
RotType rotType Full circle pose rotation mode
std::string customInfo Custom information, can be returned in motion information feedback
ArcSetOpt arc_set_opt Set welding parameter options
std::string m_weaveData Weaving parameter name
std::string m_trackData Arc tracking parameter name
37 Welding Command - Pendulum Path rokae::ArcWelding::WMoveLPendulumCommand
bool enableStartAux Flag to identify whether to use start auxiliary point
CartesianPosition startAux Start auxiliary point, can be NULL for non-first pendulum
CartesianPosition::Offset startAuxOffset Offset option
CartesianPosition targetAux Target auxiliary point
CartesianPosition::Offset targetAuxOffset Offset option
CartesianPosition::Offset targetOffset Offset option
double frequency Weaving frequency, range [0.1, 5], unit Hz
double dwellTimeLeft Left edge dwell time, range [0, 10000], unit ms
double dwellTimeRight Right edge dwell time, range [0, 10000], unit ms
ArcSetOpt arc_set_opt Set welding parameter options
38 Welding Command - Start Weaving rokae::ArcWelding::WeaveOnCommand
setWeaveData(weaveData) Set weaving parameters
getWeaveData() Get weaving parameters
std::string m_weaveData Weaving parameter name, default: "default"
39 Welding Command - Stop Weaving rokae::ArcWelding::WeaveOffCommand
40 Welding Command - Start Laser Tracking rokae::ArcWelding::LaserTrackOnCommand
setHandEyeData(handEyeData) Set hand-eye calibration parameter name
getHandEyeData() Get hand-eye calibration parameter name
setLaserTrackData(laserTrackData) Set laser tracking parameter name
getLaserTrackData() Get laser tracking parameter name
std::string m_handEyeData Hand-eye calibration parameter name, default: "default"
std::string m_laserTrackData Laser tracking parameter name, default: "default"
41 Welding Command - Stop Laser Tracking rokae::ArcWelding::LaserTrackOffCommand
42 Welding Command - Laser Search rokae::ArcWelding::LaserSearchCommand
std::string laserHandEyeData Hand-eye calibration parameter name
std::string laserSearchData Laser search parameter name
CartesianPosition endPoint Laser search end point, in tool workpiece coordinate system
int speed End linear velocity, unit mm/s
int zone Blend zone size, unit mm
43 Welding Command - Start Segmented Welding rokae::ArcWelding::SegOnCommand
std::string segData Segmented welding parameter name, default: "default"
44 Welding Command - Stop Segmented Welding rokae::ArcWelding::SegOffCommand
45 Welding Command - Start Offset rokae::ArcWelding::OffsetOnCommand
setOffsetOnData(layerData) Set multi-layer multi-pass file name
setOffsetOnData(layerData, rpm) Set multi-layer multi-pass file name and deviation storage area number
getOffsetNameData() Get multi-layer multi-pass file name
getOffsetRpmData() Get deviation storage area number, range: [1, 100]
std::string m_layerDataName Multi-layer multi-pass file name, default: "default"
int m_rpm Deviation storage area number, default: 0
46 Welding Command - Stop Offset rokae::ArcWelding::OffsetOffCommand
47 Welding Command - Modify Multi-layer Multi-pass Offset rokae::ArcWelding::ChangeLayerDataCommand
LayerData getChangeLayerData() Get offset parameters carried by this command
LayerData m_layerData Modification parameters (consistent with LayerData fields)
Constructor parameters layerData, startOffset, endOffset, yOffset, zOffset, travelAngle, tiltAngle, reverse correspond to LayerData, units and ranges same as LayerData