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 - Arc start parameter name list | |
| 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 - Welding parameter name list | |
| 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 - Arc end parameter name list | |
| Get weave parameters | getWeaveData(weaveDataName) | weaveDataName - Weave parameter name | Weave parameters |
| Set weave parameters | setWeaveData(weaveData) | weaveData - Weave parameters | |
| Delete weave parameters | removeWeaveData(weaveDataName) | weaveDataName - Weave parameter name | |
| Batch delete weave parameters | removeWeaveData(weaveDataNames) | weaveDataNames - Weave parameter name list | |
| Get weave-adaptive parameters | getWeaveAdaptiveData() | Weave-adaptive parameters | |
| Set weave-adaptive parameters | setWeaveAdaptiveData(weaveAdaptiveData) | weaveAdaptiveData - Weave-adaptive parameters | |
| Get stitch welding parameters | getSegData(segDataName) | segDataName - Stitch welding parameter name | Stitch welding parameters |
| Set stitch welding parameters | setSegData(segData) | segData - Stitch welding parameters | |
| Delete stitch welding parameters | removeSegData(segDataName) | segDataName - Stitch welding parameter name | |
| Batch delete stitch welding parameters | removeSegData(segDataNames) | segDataNames - Stitch welding parameter name list | |
| Get multi-layer multi-pass parameters | getLayerData(layerDataName) | layerDataName - Multi-layer multi-pass parameter name | Multi-layer multi-pass offset 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 - Multi-layer multi-pass parameter name list | |
| 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 - Laser tracking parameter name list | |
| 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 - Laser search parameter name list | |
| 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 welder | connectToWelder() | ||
| Disconnect 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(time, enable) | time - Wire feed time, seconds, > 0.1 enable effective when true | |
| Wire retract | feedBackWire(time, enable) | time - Wire retract time, seconds, > 0.1 enable effective when true | |
| Gas check | detectGas(time, enable) | time - Gas check time, seconds, > 0.1 enable effective when true | |
| 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, voltage_mode) | current - Current (A, [1,300]) voltage - Voltage (V or %, [-30,30]) voltage_mode - "separate" / "unified" | |
| Start tack welding | startWelding(current, voltage, voltage_mode, current_mode, work_mode) | current_mode - "current" / "wire_speed" work_mode - Same as process mode, default "flat_characteristic" | |
| Stop tack welding | stopWelding() | ||
| Clear welder alarm | clearWelderAlarm() | ||
| Add hand-eye calibration result parameters | setHandeyeData(handeyedata) | 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 - Hand-eye calibration file number list | |
| Start hand-eye calibration | startHandeyeCalibration(name, type) | name - Hand-eye calibration file number type - Calibration point count | |
| Add hand-eye calibration point | calibratePoint(id) | id - Point number | Point result |
| End hand-eye calibration and calculate result | calibrateEnd(handeyedata) | handeyedata - Hand-eye calibration result (written back by interface) | Self-check error [max,min,mean] (List) |
| 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 - Laser sensor device name list | |
| 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 seam tracker | openLaserTrack(device_name) | device_name - Laser sensor device name | |
| Close seam 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 - Arc tracking parameter file number list | |
| Set anti-collision sensor | setAnticollision(signal, enable, block, countdown) | signal - DI signal name enable - On/Off block - Block switch countdown - Countdown | |
| Get anti-collision status | getAnticollisionState() | Anti-collision settings or status | |
| Get current connected welder work modes | getWelderWorkModes() | Current connected welder work modes | |
| Superimposed weave offset Jog | weldOffsetJog(dir) | dir - Offset direction | |
| Laser search | executeLaserSearch(cmd, isMove, timeout) | cmd - Laser search command isMove - Whether to start motion immediately (false only adds command, needs moveStart) timeout - Timeout, 0 means no wait | Tuple (found or not, pose), pose in tool workpiece coordinate system |
| Laser search four-point intersection calculation | calcIntersection(points) | points - 4 points (first two form line 1, last two form line 2) | Calculated intersection, orientation from first point in points |
| Get laser position | GetLaserPos(pos, laserHandEyeData, refSys) | pos - TCP point for orientation laserHandEyeData - Hand-eye calibration parameter name refSys - Coordinate system: "R_WORLD", "R_BASE", "R_WOBJ" | Calculated point |
| Three-point method to get coordinate system | getRefBy3Points(points, withOrigin, dt) | points - Search points withOrigin - Whether to determine origin directly from search points dt - Orientation calibration order DirType | Frame |