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 scratch arc start, default: false
int distance Scratch distance, unit: mm, range: [0 - 500], default: 20
int back_speed Return speed, unit: mm/s, default: 50
int step Scratch step, unit: mm, range: [0 - 500], default: 5
3 Arc Start Parameters rokae::ArcWelding::ArcOnData
string name File number name, default: "default"
string annotation Annotation
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"
string current_mode Current mode, current: "current", wire feed: "wire_feed", default: "current"
string voltage_mode Voltage mode, separate: "separate", unified: "unified", default: "unified"
double current Arc start current, unit: A for current, mm/s for wire feed, range: [0 - 2000], default: 0
double voltage Arc start voltage, unit: V for separate, range: [0, 100], V or % for unified, range: [-30, 30], 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 Pre-flow gas time, unit: ms, range: [1 - 10000], default: 200
int prearc_time Pre-arc time, unit: ms, range: [0, +inf], 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
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
string name File number name, default: "default"
string annotation File number annotation
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"
string current_mode Current mode, current: "current", wire feed: "wire_feed", default: "current"
string voltage_mode Voltage mode, separate: "separate", unified: "unified", default: "unified"
double current Welding current, unit: A for current, mm/s for wire feed, range: [0, 2000], default: 0
double voltage Welding voltage, unit: V for separate, range: [0, 100], V or % for unified, range: [-30, 30], default: 0
double weld_speed Welding speed, unit: mm/s, 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
string name File number name, default: "default"
string annotation File number annotation
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"
string current_mode Current mode, current: "current", wire feed: "wire_feed", default: "current"
string voltage_mode Voltage mode, separate: "separate", unified: "unified", default: "unified"
double current Arc end current, unit: A for current, mm/s for wire feed, range: [0, 2000], default: 0
double voltage Arc end voltage, unit: V for separate, range: [0, 100], V or % for unified, range: [-30, 30], default: 0
int hold_time Arc end hold time, unit: ms, range: [0 - 10000], default: 500
int delay_gasoff_time Delay gas off 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, default: 500
AntiWireStickParam anti_wire_stick_param Anti-stick wire parameters
8 Weave 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: deg, range: [ -90, 90 ], default: 0
double right Right elevation angle, unit: deg, range: [ -90, 90 ], default: 0
10 Weave Parameters rokae::ArcWelding::WeaveData
string name File number name, default: "default"
string annotation File number annotation
string weaving_reference Weave reference (only supports cycle-based weaving), length: "length", cycle: "cycle", default: "cycle"
string pattern Weave shape (only supports triangular, sine and circular weave), triangular: "triangular", sine: "sine", circular: "circular", figure 8: "figure_8", default: "triangular"
double weave_length_frequency Weave length, frequency (matches weave reference), length: unit: mm, range: [ 1, 500 ]; frequency: unit: Hz, range: [ 0.1, 5 ], default: 0.1
Amplitude amplitude Weave amplitude, weave frequency multiplied by left/right amplitude must be less than 50
string dwell_type Dwell type (effective for triangular and sine weave, circular weave needs to be set to weave stop), robot stay: "robot_stay", weave stop: "weave_stop", default: "robot_stay"
int[] dwell_time Dwell time (left, center, right), unit: ms, length 3, default: {0, 0, 0}
double radius Weave radius (effective for circular, figure 8), unit: mm, range: [ 0.1, 100 ], default: 0.1
bool phase_invert Waveform inversion (not supported, default forward), inverted: true; forward: false, default: false
string elevation_type Elevation type (effective for triangular and sine weave, currently only supports v-pattern), 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 weave), unit: deg, range: [-90, 90], default: 0
double acc Weave acceleration, unit: mm/s^2, range: (0, 5), open interval, default: 0.5
double jerk Weave jerk, unit: mm/s^3, range: (0, 50], default: 5
11 Weave 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 Stitch Welding Parameters rokae::ArcWelding::SegData
string name File number name, default: "default"
string annotation File number annotation
string seg_type Stitch welding type, normal: "normal", default: "normal"
string non_welded_speed Non-weld segment speed, xCore predefined v5, v10..., default: "v200"
double welded_distance Weld segment length, unit: mm, range: [0.1, 1000], default: 50
double non_welded_distance Non-weld segment length, unit: mm, range: [0.1, 1000], default: 50
int welded_count Weld segment count, range: [2, 1000], default: 2
13 Multi-layer Multi-pass Parameters rokae::ArcWelding::LayerData
string name File name, default: "default"
string annotation Annotation
double start_offset Start point offset, unit: mm, range: [-500, 500], default: 0
double end_offset End point 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: deg, range: [-90, 90], default: 0
double tilt_angle Tilt angle, unit: deg, range: [-90, 90], default: 0
int z_axis_fixed_type Z axis fixed type, {0: Specify reference axis, 1: Custom vector calculation}, default: 0
int point_num Custom point count, range: [1, 3], CreateDefault is 0
int axis_type Reference 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 Auxiliary point type, {1: One-point method, 3: Three-point method}, CreateDefault is 0
int offset_coord_system Offset XYZ reference coordinate system, {0: Weld coordinate system, 1: Z direction reference axis, 2: XY plane reference point}, default: 0
double[] custom_point_1 Custom point 1 coordinates xyz, unit mm, length 3, default {0,0,0}
double[] custom_point_2 Custom point 2 coordinates xyz, unit mm, length 3
double[] custom_point_3 Custom point 3 coordinates xyz, unit mm, length 3
double[] aux_point_1 Auxiliary point 1 coordinates xyz, unit mm, length 3
double[] aux_point_2 Auxiliary point 2 coordinates xyz, unit mm, length 3
double[] aux_point_3 Auxiliary point 3 coordinates xyz, unit mm, length 3
int check_aux_point_count_1 Auxiliary point 1 teach count, default: 0
int check_aux_point_count_2 Auxiliary point 2 teach count, default: 0
int check_aux_point_count_3 Auxiliary point 3 teach count, default: 0
14 Laser Tracking Parameters rokae::ArcWelding::LaserTrackData
string name File number 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 stop distance, unit: mm, range: (0, 50], default: 10
15 Laser Search Parameters rokae::ArcWelding::LaserSearchData
string name File number name, default: "default"
int job_number Laser search process number, range: [0,63], default: 0
string search_type Search type, point search: "point", default: "point"
string search_mode Search mode, continuous: "continuous", step: "step" (currently only supports continuous), default: "continuous"
double step_length Step length, unit: mm, default: 2.0
string joint_type Weld type, corner joint: "corner_joint", lap joint: "lap_joint", butt joint: "butt_joint", default: "corner_joint"
16 IO Port rokae::ArcWelding::IOData
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 Error
18 Characteristic Curve Parameters rokae::ArcWelding::CharacteristicCurveData
string name File number name, default: "default"
double intercept Intercept, default: 0
List<Tuple<double,double>> 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, +inf], 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
string state Welder status, default: "disabled"
int speed Welding speed, unit: mm/s, default: 0
ErrorCode running_error Running error code
string welding_name Currently welding file number, used with arc_welding, default: ""
int arc_welding Current welding status, 0 - arc start, 1 - welding, 2 - arc end, -1 - default, default: -1
double welding_distance Welding distance completed in one arc start-end cycle, cleared at next arc start, unit: m, default: 0
int welding_path_num Welding path count in one arc start-end cycle, cleared at next arc start, default: 0
double welding_time Welding time, cleared at next arc start, unit: min, default: 0
double welding_wire_used Wire usage length, cleared at next arc start, unit: m, default: 0
int welder_error_code Welder error code, default: 0
bool welder_ready Whether welder is ready (welder enabled and slave connection normal), default: false
21 Welder Settings rokae::ArcWelding::WelderSetting
string protocol Protocol, default: ""
string mfr Manufacturer, default: ""
string model Welder model, default: ""
int current_type Current type, default: 0
string current_file Current file number, default: ""
string voltage_file Voltage file number, default: ""
double wire_diameter Wire diameter, default: 0
string shielding_gas Shielding gas, default: ""
int program_number Program number, default: 0
int dry_extension Dry extension, unit: mm, default: 0
22 Hand-eye Calibration Result rokae::ArcWelding::HandeyeData
string name Hand-eye calibration result file number, default: ""
bool mode Calibration result form, true:xyz_abc, false:RT matrix, default: false
double[] xyz_abc Cartesian space pose form, unit: mm, rad, length 6, default all 0
double[] rotMatrix Rotation matrix row-major vector, length 9, default all 0
double[] transVector Translation vector, length 3, default all 0
23 Auto Calibration Point Result rokae::ArcWelding::CalibrationResult
int id Point index, default: 0
List<double> p_robot Robot coordinates (managed List)
List<double> p_laser Laser camera coordinates (managed List)
24 Laser Sensor Configuration Settings rokae::ArcWelding::LaserSensorCfg
string name Device name, default: "sensor0"
string ip IP address, default: "192.168.2.3"
int port Port number, default: 502
LaserSensorType type Laser manufacturer type (currently supports: 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 value below this is not 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 value below this is not 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 duration sampling period, range: [ 1, 50 ], default: 1
27 Arc Tracking Parameter Settings rokae::ArcWelding::ArcTrackParam
string name File number
string annotation File number annotation
int delay_time Delay time, delay of 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
string arc_data Welding parameter name, non-empty means need to adjust welding parameters
bool ref_start true - Relative to next path start point to execute welding parameter modification | false - Relative to next path end point
double distance Position on path where welding parameter starts 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 Anti-collision Status rokae::ArcWelding::AnticollisionState
string signal DI signal name, default: ""
bool enable On/Off, 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
string m_arcOnData Arc start parameter name, default: "default"
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
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() 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() 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 Trajectory rokae::ArcWelding::WMoveLCommand
setWeaveData(weaveData) Set weave parameters
getWeaveData() Get weave parameters
setTrackData(trackData) Set arc tracking parameters
getTrackData() Get arc tracking parameters
CartesianPosition target Target Cartesian point
int speed Robot end maximum linear velocity, unit mm/s
double rotSpeed Spatial rotation speed, unit rad/s; effective when >= 0, default about 200 deg/s when < 0
int zone Blend zone radius, unit mm
CartesianPosition::Offset cartTargetOffset Cartesian target point offset option
string customInfo Custom information, can be returned in motion information feedback
ArcSetOpt arc_set_opt Set welding parameter options
string m_weaveData Weave parameter name
string m_trackData Arc tracking parameter name
35 Welding Command - Circular Trajectory rokae::ArcWelding::WMoveCCommand
setWeaveData(weaveData) Set weave parameters
getWeaveData() Get weave parameters
setTrackData(trackData) Set arc tracking parameters
getTrackData() Get arc tracking parameters
CartesianPosition target Target Cartesian point
CartesianPosition aux Auxiliary point
int speed Robot end maximum linear velocity, unit mm/s
double rotSpeed Spatial rotation speed, unit rad/s; effective when >= 0, default about 200 deg/s when < 0
int zone Blend zone radius, unit mm
CartesianPosition::Offset cartTargetOffset Cartesian target point offset option
CartesianPosition::Offset auxPointOffset Auxiliary point offset option
string customInfo Custom information, can be returned in motion information feedback
ArcSetOpt arc_set_opt Set welding parameter options
string m_weaveData Weave parameter name
string m_trackData Arc tracking parameter name
36 Welding Command - Full Circle Trajectory rokae::ArcWelding::WMoveCFCommand
setWeaveData(weaveData) Set weave parameters
getWeaveData() Get weave parameters
setTrackData(trackData) Set arc tracking parameters
getTrackData() Get arc tracking parameters
CartesianPosition target Target point
CartesianPosition aux Auxiliary point
int speed Robot end maximum linear velocity, unit mm/s
double rotSpeed Spatial rotation speed, unit rad/s; effective when >= 0, default about 200 deg/s when < 0
int zone Blend zone radius, unit mm
double angle Execution angle, unit: radians
CartesianPosition::Offset cartTargetOffset Cartesian target point offset option
CartesianPosition::Offset auxPointOffset Auxiliary point offset option
int rotType Rotation pose type, 0 fixed pose | 1 moving axis rotation | 2 fixed axis rotation
string customInfo Custom information, can be returned in motion information feedback
ArcSetOpt arc_set_opt Set welding parameter options
string m_weaveData Weave parameter name
string m_trackData Arc tracking parameter name
37 Welding Command - Pendulum Trajectory rokae::ArcWelding::WMoveLPendulumCommand
CartesianPosition startAux Start auxiliary Cartesian point
CartesianPosition targetAux Target auxiliary Cartesian point
CartesianPosition target Target point
CartesianPosition::Offset startAuxTPointOffset Start auxiliary point offset option
CartesianPosition::Offset targetAuxPointOffset Target auxiliary point offset option
CartesianPosition::Offset targetPointOffset Cartesian target point offset option
int speed Robot end maximum linear velocity, unit mm/s
double frequency Weave frequency, unit Hz, range [0.1, 5]
double dwellTimeLeft Left edge dwell time, unit ms, range [0, 10000]
double dwellTimeRight Right edge dwell time, unit ms, range [0, 10000]
double rotSpeed Spatial rotation speed, unit rad/s; effective when >= 0, default about 200 deg/s when < 0
ArcSetOpt arc_set_opt Set welding parameter options
bool nonLeadingPendulum true means non-first pendulum (only needs targetAux + target construction)
38 Welding Command - Start Weave rokae::ArcWelding::WeaveOnCommand
setWeaveData(weaveData) Set weave parameters
getWeaveData() Get weave parameters
string m_weaveData Weave parameter name, default: "default"
39 Welding Command - Stop Weave 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
string m_handEyeData Hand-eye calibration parameter name, default: "default"
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
string laserHandEyeData Hand-eye calibration parameter name
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 Stitch Welding rokae::ArcWelding::SegOnCommand
string segData Stitch welding parameter name, default: "default"
44 Welding Command - Stop Stitch Welding rokae::ArcWelding::SegOffCommand
45 Welding Command - Start Offset rokae::ArcWelding::OffsetOnCommand
setOffsetOnData(layerData, ec) Set multi-layer multi-pass offset parameter name
setOffsetOnData(layerData, rpm, ec) Set offset parameter name and deviation storage area number
getOffsetLayerData() Get multi-layer multi-pass file number
getOffsetRpmData() Get deviation storage area number
string m_layerDataName Offset parameter 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 Parameters rokae::ArcWelding::ChangeLayerDataCommand
ChangeLayerDataCommand(layerDataName, startOffset, endOffset, yOffset, zOffset, travelAngle, tiltAngle) Construct with given values
getChangeLayerData() Return currently associated LayerData (ArcWelding::LayerData^)