Methods

Arc Welding Process Package Interface

getArcOnData()

ArcOnData getArcOnData(String ^ arconDataName, [Out] ErrorCode ^ % ec)

Get arc start parameters. This function returns the corresponding arc start parameter data based on the specified arc start parameter name. If the operation is successful (error code is 0), the returned parameters are valid; if it fails (error code is non-zero), default values are returned.

• Parameters:
  • [in] arconDataName: Arc start parameter name, used to specify the arc start parameter to be retrieved
  • [out] ec: Error code, used to indicate whether the function execution was successful (0 means success, non-zero means failure)

setArcOnData()

void setArcOnData(ArcOnData arconData, [Out] ErrorCode ^ % ec)

Set arc start parameters. This function is used to save the specified arc start parameter data to the system for subsequent use.

• Parameters:
  • [in] arconData: Arc start parameters, containing the arc start parameter data to be set
  • [out] ec: Error code, used to indicate whether the function execution was successful (0 means success, non-zero means failure)

removeArcOnData() [1/2]

void removeArcOnData(String ^ arconDataName, [Out] ErrorCode ^ % ec)

Delete the specified arc start parameters. This function removes the corresponding arc start parameter data from the system based on the arc start parameter name.

• Parameters:
  • [in] arconDataName: Arc start parameter name, specifying the arc start parameter to be deleted
  • [out] ec: Error code, used to indicate whether the function execution was successful (0 means success, non-zero means failure)

removeArcOnData() [2/2]

void removeArcOnData(List<String ^> ^ arconDataNames, [Out] ErrorCode ^ % ec)

Batch delete arc start parameters. This function removes multiple arc start parameter data from the system at once based on the provided list of arc start parameter names.

• Parameters:
  • [in] arconDataNames: List of arc start parameter names, containing all arc start parameter names to be deleted
  • [out] ec: Error code, used to indicate whether the function execution was successful (0 means success, non-zero means failure)

getArcData()

ArcData getArcData(String ^ arcDataName, [Out] ErrorCode ^ % ec)

Get welding parameters. This function returns the corresponding welding parameter data based on the specified welding parameter name. If the operation is successful (error code is 0), the returned parameters are valid; if it fails (error code is non-zero), default values are returned.

• Parameters:
  • [in] arcDataName: Welding parameter name, used to specify the welding parameter to be retrieved
  • [out] ec: Error code, used to indicate whether the function execution was successful (0 means success, non-zero means failure)

setArcData()

void setArcData(ArcData arcData, [Out] ErrorCode ^ % ec)

Set welding parameters. This function is used to save the specified welding parameter data to the system for subsequent use.

• Parameters:
  • [in] arcData: Welding parameters, containing the welding parameter data to be set
  • [out] ec: Error code, used to indicate whether the function execution was successful (0 means success, non-zero means failure)

removeArcData() [1/2]

void removeArcData(String ^ arcDataName, [Out] ErrorCode ^ % ec)

Delete welding parameters. This function removes the corresponding welding parameter data from the system based on the welding parameter name.

• Parameters:
  • [in] arcDataName: Welding parameter name, specifying the welding parameter to be deleted
  • [out] ec: Error code, used to indicate whether the function execution was successful (0 means success, non-zero means failure)

removeArcData() [2/2]

void removeArcData(List<String ^> ^ arcDataNames, [Out] ErrorCode ^ % ec)

Batch delete welding parameters. This function removes multiple welding parameter data from the system at once based on the provided list of welding parameter names.

• Parameters:
  • [in] arcDataNames: List of welding parameter names, containing all welding parameter names to be deleted
  • [out] ec: Error code, used to indicate whether the function execution was successful (0 means success, non-zero means failure)

enableArcData()

void enableArcData(ArcData arcData, [Out] ErrorCode ^ % ec)

Enable welding parameters. When not running, send welding parameters to the welder. You can check whether communication is established and settings are accurate by observing the welder panel display. This operation does not save parameters.

• Parameters:
  • [in] arcData: Welding parameters, containing the welding parameter data to be temporarily enabled
  • [out] ec: Error code, used to indicate whether the function execution was successful (0 means success, non-zero means failure)

getArcOffData()

ArcOffData getArcOffData(String ^ arcoffDataName, [Out] ErrorCode ^ % ec)

Get arc end parameters. This function returns the corresponding arc end parameter data based on the specified arc end parameter name. If the operation is successful (error code is 0), the returned parameters are valid; if it fails (error code is non-zero), default values are returned.

• Parameters:
  • [in] arcoffDataName: Arc end parameter name, used to specify the arc end parameter to be retrieved
  • [out] ec: Error code, used to indicate whether the function execution was successful (0 means success, non-zero means failure)

setArcOffData()

void setArcOffData(ArcOffData arcoffData, [Out] ErrorCode ^ % ec)

Set arc end parameters. This function is used to save the specified arc end parameter data to the system for subsequent use.

• Parameters:
  • [in] arcoffData: Arc end parameters, containing the arc end parameter data to be set
  • [out] ec: Error code, used to indicate whether the function execution was successful (0 means success, non-zero means failure)

removeArcOffData() [1/2]

void removeArcOffData(String ^ arcoffDataName, [Out] ErrorCode ^ % ec)

Delete arc end parameters. This function removes the corresponding arc end parameter data from the system based on the arc end parameter name.

• Parameters:
  • [in] arcoffDataName: Arc end parameter name, specifying the arc end parameter to be deleted
  • [out] ec: Error code, used to indicate whether the function execution was successful (0 means success, non-zero means failure)

removeArcOffData() [2/2]

void removeArcOffData(List<String ^> ^ arcoffDataNames, [Out] ErrorCode ^ % ec)

Batch delete arc end parameters. This function removes multiple arc end parameter data from the system at once based on the provided list of arc end parameter names.

• Parameters:
  • [in] arcoffDataNames: List of arc end parameter names, containing all arc end parameter names to be deleted
  • [out] ec: Error code, used to indicate whether the function execution was successful (0 means success, non-zero means failure)

getWeaveData()

WeaveData getWeaveData(String ^ weaveDataName, [Out] ErrorCode ^ % ec)

Get weave parameters. This function returns the corresponding weave parameter data based on the specified weave parameter name. If the operation is successful (error code is 0), the returned parameters are valid; if it fails (error code is non-zero), default values are returned.

• Parameters:
  • [in] weaveDataName: Weave parameter name, used to specify the weave parameter to be retrieved
  • [out] ec: Error code, used to indicate whether the function execution was successful (0 means success, non-zero means failure)

setWeaveData()

void setWeaveData(WeaveData weaveData, [Out] ErrorCode ^ % ec)

Set weave parameters. This function is used to save the specified weave parameter data to the system for subsequent use.

• Parameters:
  • [in] weaveData: Weave parameters, containing the weave parameter data to be set
  • [out] ec: Error code, used to indicate whether the function execution was successful (0 means success, non-zero means failure)

removeWeaveData() [1/2]

void removeWeaveData(String ^ weaveDataName, [Out] ErrorCode ^ % ec)

Delete weave parameters. This function removes the corresponding weave parameter data from the system based on the weave parameter name.

• Parameters:
  • [in] weaveDataName: Weave parameter name, specifying the weave parameter to be deleted
  • [out] ec: Error code, used to indicate whether the function execution was successful (0 means success, non-zero means failure)

removeWeaveData() [2/2]

void removeWeaveData(List<String ^> ^ weaveDataNames, [Out] ErrorCode ^ % ec)

Batch delete weave parameters. This function removes multiple weave parameter data from the system at once based on the provided list of weave parameter names.

• Parameters:
  • [in] weaveDataNames: List of weave parameter names, containing all weave parameter names to be deleted
  • [out] ec: Error code, used to indicate whether the function execution was successful (0 means success, non-zero means failure)

getWeaveAdaptiveData()

WeaveAdaptiveData getWeaveAdaptiveData([Out] ErrorCode ^ % ec)

Get weave-adaptive parameters. This function returns the current weave adaptive parameter data in the system. If the operation is successful (error code is 0), the returned parameters are valid; if it fails (error code is non-zero), default values are returned.

• Parameters:
  • [out] ec: Error code, used to indicate whether the function execution was successful (0 means success, non-zero means failure)

setWeaveAdaptiveData()

void setWeaveAdaptiveData(WeaveAdaptiveData weaveAdaptiveData, [Out] ErrorCode ^ % ec)

Set weave-adaptive parameters. This function is used to save the specified weave adaptive parameter data to the system for subsequent use.

• Parameters:
  • [in] weaveAdaptiveData: Weave-adaptive parameters, containing the weave adaptive parameter data to be set
  • [out] ec: Error code, used to indicate whether the function execution was successful (0 means success, non-zero means failure)

getSegData()

SegData getSegData(String ^ segDataName, [Out] ErrorCode ^ % ec)

Get stitch welding parameters. This function returns the corresponding stitch welding parameter data based on the specified stitch welding parameter name. If the operation is successful (error code is 0), the returned parameters are valid; if it fails (error code is non-zero), default values are returned.

• Parameters:
  • [in] segDataName: Stitch welding parameter name, used to specify the stitch welding parameter to be retrieved
  • [out] ec: Error code, used to indicate whether the function execution was successful (0 means success, non-zero means failure)

setSegData()

void setSegData(SegData segData, [Out] ErrorCode ^ % ec)

Set stitch welding parameters. This function is used to save the specified stitch welding parameter data to the system for subsequent use.

• Parameters:
  • [in] segData: Stitch welding parameters, containing the stitch welding parameter data to be set
  • [out] ec: Error code, used to indicate whether the function execution was successful (0 means success, non-zero means failure)

removeSegData() [1/2]

void removeSegData(String ^ segDataName, [Out] ErrorCode ^ % ec)

Delete stitch welding parameters. This function removes the corresponding stitch welding parameter data from the system based on the stitch welding parameter name.

• Parameters:
  • [in] segDataName: Stitch welding parameter name, specifying the stitch welding parameter to be deleted
  • [out] ec: Error code, used to indicate whether the function execution was successful (0 means success, non-zero means failure)

removeSegData() [2/2]

void removeSegData(List<String ^> ^ segDataNames, [Out] ErrorCode ^ % ec)

Batch delete stitch welding parameters. This function removes multiple stitch welding parameter data from the system at once based on the provided list of stitch welding parameter names.

• Parameters:
  • [in] segDataNames: List of stitch welding parameter names, containing all stitch welding parameter names to be deleted
  • [out] ec: Error code, used to indicate whether the function execution was successful (0 means success, non-zero means failure)

getLayerData()

LayerData getLayerData(String ^ layerDataName, [Out] ErrorCode ^ % ec)

Get multi-layer multi-pass offset parameters. Returns valid data when error code is 0, otherwise returns default values.

• Parameters:
  • [in] layerDataName: Multi-layer multi-pass parameter name
  • [out] ec: Error code

setLayerData()

void setLayerData(LayerData layerData, [Out] ErrorCode ^ % ec)

Set multi-layer multi-pass offset parameters.

• Parameters:
  • [in] layerData: Multi-layer multi-pass parameters
  • [out] ec: Error code

removeLayerData() [1/2]

void removeLayerData(String ^ layerDataName, [Out] ErrorCode ^ % ec)

Delete multi-layer multi-pass offset parameters.

• Parameters:
  • [in] layerDataName: Multi-layer multi-pass parameter name
  • [out] ec: Error code

removeLayerData() [2/2]

void removeLayerData(List<String ^> ^ layerDataNames, [Out] ErrorCode ^ % ec)

Batch delete multi-layer multi-pass offset parameters.

• Parameters:
  • [in] layerDataNames: List of multi-layer multi-pass parameter names
  • [out] ec: Error code

getLaserTrackData()

LaserTrackData getLaserTrackData(String ^ laserTrackDataName, [Out] ErrorCode ^ % ec)

Get laser tracking parameters. This function returns the corresponding laser tracking parameter data based on the specified laser tracking parameter name. If the operation is successful (error code is 0), the returned parameters are valid; if it fails (error code is non-zero), default values are returned.

• Parameters:
  • [in] laserTrackDataName: Laser tracking parameter name, used to specify the laser tracking parameter to be retrieved
  • [out] ec: Error code, used to indicate whether the function execution was successful (0 means success, non-zero means failure)

setLaserTrackData()

void setLaserTrackData(LaserTrackData laserTrackData, [Out] ErrorCode ^ % ec)

Set laser tracking parameters. This function is used to save the specified laser tracking parameter data to the system for subsequent use.

• Parameters:
  • [in] laserTrackData: Laser tracking parameters, containing the laser tracking parameter data to be set
  • [out] ec: Error code, used to indicate whether the function execution was successful (0 means success, non-zero means failure)

removeLaserTrackData() [1/2]

void removeLaserTrackData(String ^ laserTrackDataName, [Out] ErrorCode ^ % ec)

Delete laser tracking parameters. This function removes the corresponding laser tracking parameter data from the system based on the laser tracking parameter name.

• Parameters:
  • [in] laserTrackDataName: Laser tracking parameter name, specifying the laser tracking parameter to be deleted
  • [out] ec: Error code, used to indicate whether the function execution was successful (0 means success, non-zero means failure)

removeLaserTrackData() [2/2]

void removeLaserTrackData(List<String ^> ^ laserTrackDataNames, [Out] ErrorCode ^ % ec)

Batch delete laser tracking parameters. This function removes multiple laser tracking parameter data from the system at once based on the provided list of laser tracking parameter names.

• Parameters:
  • [in] laserTrackDataNames: List of laser tracking parameter names, containing all laser tracking parameter names to be deleted
  • [out] ec: Error code, used to indicate whether the function execution was successful (0 means success, non-zero means failure)

getLaserSearchData()

LaserSearchData getLaserSearchData(String ^ laserSearchDataName, [Out] ErrorCode ^ % ec)

Get laser search parameters. This function returns the corresponding laser search parameter data based on the specified laser search parameter name. If the operation is successful (error code is 0), the returned parameters are valid; if it fails (error code is non-zero), default values are returned.

• Parameters:
  • [in] laserSearchDataName: Laser search parameter name, used to specify the laser search parameter to be retrieved
  • [out] ec: Error code, used to indicate whether the function execution was successful (0 means success, non-zero means failure)

setLaserSearchData()

void setLaserSearchData(LaserSearchData laserSearchData, [Out] ErrorCode ^ % ec)

Set laser search parameters. This function is used to save the specified laser search parameter data to the system for subsequent use.

• Parameters:
  • [in] laserSearchData: Laser search parameters, containing the laser search parameter data to be set
  • [out] ec: Error code, used to indicate whether the function execution was successful (0 means success, non-zero means failure)

removeLaserSearchData() [1/2]

void removeLaserSearchData(String ^ laserSearchDataName, [Out] ErrorCode ^ % ec)

Delete laser search parameters. This function removes the corresponding laser search parameter data from the system based on the laser search parameter name.

• Parameters:
  • [in] laserSearchDataName: Laser search parameter name, specifying the laser search parameter to be deleted
  • [out] ec: Error code, used to indicate whether the function execution was successful (0 means success, non-zero means failure)

removeLaserSearchData() [2/2]

void removeLaserSearchData(List<String ^> ^ laserSearchDataNames, [Out] ErrorCode ^ % ec)

Batch delete laser search parameters. This function removes multiple laser search parameter data from the system at once based on the provided list of laser search parameter names.

• Parameters:
  • [in] laserSearchDataNames: List of laser search parameter names, containing all laser search parameter names to be deleted
  • [out] ec: Error code, used to indicate whether the function execution was successful (0 means success, non-zero means failure)

getIOSetting()

IOSetting getIOSetting([Out] ErrorCode ^ % ec)

Get IO settings. This function returns the current IO configuration parameters. If the operation is successful (error code is 0), the returned parameters are valid; if it fails (error code is non-zero), default values are returned.

• Parameters:
  • [out] ec: Error code, used to indicate whether the function execution was successful (0 means success, non-zero means failure)

setIOSetting()

void setIOSetting(IOSetting ioSetting, [Out] ErrorCode ^ % ec)

Set IO settings. This function is used to configure the system's IO parameters. Note: This interface can only be called when welding is not enabled.

• Parameters:
  • [in] ioSetting: IO settings, containing the IO parameter data to be configured
  • [out] ec: Error code, used to indicate whether the function execution was successful (0 means success, non-zero means failure)

getCurrentCharacteristicCurveData()

CharacteristicCurveData getCurrentCharacteristicCurveData(String ^ name, [Out] ErrorCode ^ % ec)

Get current characteristic curve parameters. This function returns the corresponding current characteristic curve data based on the specified file name. If the operation is successful (error code is 0), the returned parameters are valid; if it fails (error code is non-zero), default values are returned.

• Parameters:
  • [in] name: File name, used to specify the current characteristic curve to be retrieved
  • [out] ec: Error code, used to indicate whether the function execution was successful (0 means success, non-zero means failure)

setCurrentCharacteristicCurveData()

void setCurrentCharacteristicCurveData(CharacteristicCurveData data, [Out] ErrorCode ^ % ec)

Set current characteristic curve parameters, and perform calculation and save operations simultaneously. This function is used to configure and save the current characteristic curve. Only the name (name) and key point data (points) need to be passed in.

• Parameters:
  • [in] data: Current characteristic curve parameters, containing the name and key point data to be set
  • [out] ec: Error code, used to indicate whether the function execution was successful (0 means success, non-zero means failure)

getVoltageCharacteristicCurveData()

CharacteristicCurveData getVoltageCharacteristicCurveData(String ^ name, [Out] ErrorCode ^ % ec)

Get voltage characteristic curve parameters. This function returns the corresponding voltage characteristic curve data based on the specified file name. If the operation is successful (error code is 0), the returned parameters are valid; if it fails (error code is non-zero), default values are returned.

• Parameters:
  • [in] name: File name, used to specify the voltage characteristic curve to be retrieved
  • [out] ec: Error code, used to indicate whether the function execution was successful (0 means success, non-zero means failure)

setVoltageCharacteristicCurveData()

void setVoltageCharacteristicCurveData(CharacteristicCurveData data, [Out] ErrorCode ^ % ec)

Set voltage characteristic curve parameters, and perform calculation and save operations simultaneously. This function is used to configure and save the voltage characteristic curve. Only the name (name) and key point data (points) need to be passed in.

• Parameters:
  • [in] data: Voltage characteristic curve parameters, containing the name and key point data to be set
  • [out] ec: Error code, used to indicate whether the function execution was successful (0 means success, non-zero means failure)

calculateCurrentCurve()

CharacteristicCurveData calculateCurrentCurve(CharacteristicCurveData data, [Out] ErrorCode ^ % ec)

Calculate current characteristic curve parameters, only perform calculation operation, no saving. This function is used to calculate the current characteristic curve based on the passed-in key point data, suitable for previewing or verifying calculation results.

• Parameters:
  • [in] data: Current characteristic curve parameters, containing the name and key point data to be calculated
  • [out] ec: Error code, used to indicate whether the function execution was successful (0 means success, non-zero means failure)

calculateVoltageCurve()

CharacteristicCurveData calculateVoltageCurve(CharacteristicCurveData data, [Out] ErrorCode ^ % ec)

Calculate voltage characteristic curve parameters, only perform calculation operation, no saving. This function is used to calculate the voltage characteristic curve based on the passed-in key point data, suitable for previewing or verifying calculation results.

• Parameters:
  • [in] data: Voltage characteristic curve parameters, containing the name and key point data to be calculated
  • [out] ec: Error code, used to indicate whether the function execution was successful (0 means success, non-zero means failure)

getWelderStatus()

WelderStatus getWelderStatus([Out] ErrorCode ^ % ec)

Get welder status. This function returns the current running status information of the welder. If the operation is successful (error code is 0), the returned parameters are valid; if it fails (error code is non-zero), default values are returned.

• Parameters:
  • [out] ec: Error code, used to indicate whether the function execution was successful (0 means success, non-zero means failure)

setWelder() [1/2]

void setWelder(String ^ protocol, String ^ mfr, String ^ type, int current, [Out] ErrorCode ^ % ec)

Set welder parameters. This function configures the welder by specifying the communication protocol, manufacturer, type, and current specification. Note: Must be called when welding is not enabled.

• Parameters:
  • [in] protocol: Communication protocol, e.g., "ethercat"
  • [in] mfr: Manufacturer, e.g., "aotai"
  • [in] type: Welder type, e.g., "RL/RPL", "RP/RPH"
  • [in] current: Current type, e.g., 350, 500, 630, 800
  • [out] ec: Error code, used to indicate whether the function execution was successful (0 means success, non-zero means failure)

setWelder() [2/2]

void setWelder(WelderSetting welderSetting, [Out] ErrorCode ^ % ec)

Set welder parameters. This function configures the welder by passing in a complete welder setting parameter structure.

• Parameters:
  • [in] welderSetting: Welder setting parameters, containing all welder information to be configured
  • [out] ec: Error code, used to indicate whether the function execution was successful (0 means success, non-zero means failure)

getWelderSetting()

WelderSetting getWelderSetting([Out] ErrorCode ^ % ec)

Get welder settings. This function returns the currently configured welder setting parameters. If the operation is successful (error code is 0), the returned parameters are valid; if it fails (error code is non-zero), default values are returned.

• Parameters:
  • [out] ec: Error code, used to indicate whether the function execution was successful (0 means success, non-zero means failure)

connectToWelder()

void connectToWelder([Out] ErrorCode ^ % ec)

Connect to welder, enable arc welding function. This function is used to establish a connection with the welder, making the arc welding function available.

• Parameters:
  • [out] ec: Error code, used to indicate whether the function execution was successful (0 means success, non-zero means failure)

disconnectFromWelder()

void disconnectFromWelder([Out] ErrorCode ^ % ec)

Disconnect from welder, disable arc welding function. This function is used to disconnect from the welder and disable arc welding related functions.

• Parameters:
  • [out] ec: Error code, used to indicate whether the function execution was successful (0 means success, non-zero means failure)

isEniHaveWeld()

bool isEniHaveWeld([Out] ErrorCode ^ % ec)

Read whether a physical welder is currently connected (only for EtherCAT welders, determined by the currently used ENI file). This function is used to detect whether an actual physical welder is currently connected.

• Parameters:
  • [out] ec: Error code, used to indicate whether the function execution was successful (0 means success, non-zero means failure)
• Return Value:
  • Valid when error code is 0, returns false if error code is non-zero

setIsEniHaveWeld()

void setIsEniHaveWeld(bool isEniHaveWeld, [Out] ErrorCode ^ % ec)

Set whether to connect physical welder (only for EtherCAT welders, requires switching ENI file and restarting controller to take effect). This function is used to configure whether to connect an actual physical welder, usually requiring support from the corresponding ENI file.

• Note: The reason for failure is mostly due to missing the corresponding ENI file. Please ensure that the corresponding ENI file has been imported.
• Parameters:
  • [in] isEniHaveWeld: Whether to connect physical welder, true means connect, false means not connect
  • [out] ec: Error code, used to indicate whether the function execution was successful (0 means success, non-zero means failure)

getWeldMode()

WeldMode getWeldMode([Out] ErrorCode ^ % ec)

Get welding mode. This function returns the currently configured welding mode parameters. If the operation is successful (error code is 0), the returned parameters are valid; if it fails (error code is non-zero), default values are returned.

• Parameters:
  • [out] ec: Error code, used to indicate whether the function execution was successful (0 means success, non-zero means failure)

setWeldMode()

void setWeldMode(WeldMode weldMode, [Out] ErrorCode ^ % ec)

Set welding mode. This function is used to configure the system to use the specified welding mode.

• Parameters:
  • [in] weldMode: Welding mode, containing the welding mode parameters to be set
  • [out] ec: Error code, used to indicate whether the function execution was successful (0 means success, non-zero means failure)

getRunningParam()

ArcWeldRunningParam getRunningParam([Out] ErrorCode ^ % ec)

Read welding running parameters. This function returns the currently configured welding running parameters. If the operation is successful (error code is 0), the returned parameters are valid; if it fails (error code is non-zero), default values are returned.

• Parameters:
  • [out] ec: Error code, used to indicate whether the function execution was successful (0 means success, non-zero means failure)

setRunningParam()

void setRunningParam(ArcWeldRunningParam data, [Out] ErrorCode ^ % ec)

Set welding running parameters. This function is used to configure the system to use the specified welding running parameters.

• Parameters:
  • [in] data: Welding running parameters, containing the running parameter data to be set
  • [out] ec: Error code, used to indicate whether the function execution was successful (0 means success, non-zero means failure)

feedOnWire()

void feedOnWire(Double time, Boolean enable, [Out] ErrorCode ^ % ec)

Wire feed. Wire feed time unit is seconds (must be greater than 0.1), only effective when enable is true.

• Parameters:
  • [in] time: Wire feed time, unit: seconds, range must be greater than 0.1
  • [in] enable: Whether to feed wire, true for feed, false for stop
  • [out] ec: Error code

feedBackWire()

void feedBackWire(Double time, Boolean enable, [Out] ErrorCode ^ % ec)

Wire retract. Wire retract time unit is seconds (must be greater than 0.1), only effective when enable is true.

• Parameters:
  • [in] time: Wire retract time, unit: seconds, range must be greater than 0.1
  • [in] enable: Whether to retract wire, true for retract, false for stop
  • [out] ec: Error code

detectGas()

void detectGas(Double time, Boolean enable, [Out] ErrorCode ^ % ec)

Gas check. Gas check time unit is seconds (must be greater than 0.1), only effective when enable is true.

• Parameters:
  • [in] time: Gas check time, unit: seconds, range must be greater than 0.1
  • [in] enable: Whether to check gas, true for check, false for stop
  • [out] ec: Error code

setCurrentAndVoltage()

void setCurrentAndVoltage(double current, double voltage, [Out] ErrorCode ^ % ec)

Set current and voltage online. This function is used to set current and voltage parameters in real-time during welding state, only effective when in welding state. Current unit can be A or mm/s (depending on current current mode), voltage unit can be V or % (depending on current voltage mode).

• Parameters:
  • [in] current: Current or wire feed speed, unit can be A or mm/s depending on current mode
  • [in] voltage: Voltage, unit can be V or % depending on current mode
  • [out] ec: Error code, used to indicate whether the function execution was successful (0 means success, non-zero means failure)

saveCurrentAndVoltage()

void saveCurrentAndVoltage(double current, double voltage, [Out] ErrorCode ^ % ec)

Save current and voltage online. This function is used to save the set current and voltage parameters in real-time during welding state, only effective when in welding state. Current unit can be A or mm/s (depending on current current mode), voltage unit can be V or % (depending on current voltage mode).

• Parameters:
  • [in] current: Current or wire feed speed, unit can be A or mm/s depending on current mode
  • [in] voltage: Voltage, unit can be V or % depending on current mode
  • [out] ec: Error code, used to indicate whether the function execution was successful (0 means success, non-zero means failure)

startWelding() [1/2]

void startWelding(Double current, Double voltage, String ^ voltage_mode, [Out] ErrorCode ^ % ec)

Start tack welding. Work mode is DC, current mode is current; voltage mode needs to be specified.

• Parameters:
  • [in] current: Current, unit: A, range [1,300]
  • [in] voltage: Voltage, unit: V or %, range [-30,30]
  • [in] voltage_mode: Voltage mode, "separate" for separate, "unified" for unified
  • [out] ec: Error code

startWelding() [2/2]

void startWelding(Double current, Double voltage, String ^ voltage_mode, String ^ current_mode, String ^ work_mode, [Out] ErrorCode ^ % ec)

Start tack welding (extended overload). Current mode and work mode can be specified; work mode values are consistent with process parameter mode, default "flat_characteristic".

• Parameters:
  • [in] current: Current, unit: A, range [1,300]
  • [in] voltage: Voltage, unit: V or %, range [-30,30]
  • [in] voltage_mode: Voltage mode, "separate" / "unified"
  • [in] current_mode: Current mode, "current" for current, "wire_speed" for wire feed speed (consistent with header file comments)
  • [in] work_mode: Work mode, same as process parameter mode, default "flat_characteristic"
  • [out] ec: Error code

stopWelding()

void stopWelding([Out] ErrorCode ^ % ec)

Stop tack welding.

• Parameters:
  • [out] ec: Error code

clearWelderAlarm()

void clearWelderAlarm([Out] ErrorCode ^ % ec)

Clear welder alarm.

• Parameters:
  • [out] ec: Error code

setHandeyeData()

void setHandeyeData(HandeyeData handeyedata, [Out] ErrorCode ^ % ec)

Add and set hand-eye calibration result parameters.

• Parameters:
  • [in] handeyedata: Hand-eye calibration result
  • [out] ec: Error code

getHandeyeData()

HandeyeData getHandeyeData(String ^ name, [Out] ErrorCode ^ % ec)

Get currently set hand-eye calibration result.

• Parameters:
  • [in] name: Hand-eye calibration result file number
  • [out] ec: Error code
• Return Value:
  • Hand-eye calibration result

removeHandeyeData() [1/2]

void removeHandeyeData(String ^ name, [Out] ErrorCode ^ % ec)

Delete hand-eye calibration result.

• Parameters:
  • [in] name: Hand-eye calibration file number
  • [out] ec: Error code

removeHandeyeData() [2/2]

void removeHandeyeData(List<String ^> ^ names, [Out] ErrorCode ^ % ec)

Delete multiple hand-eye calibration results.

• Parameters:
  • [in] names: List of hand-eye calibration file numbers
  • [out] ec: Error code

startHandeyeCalibration()

void startHandeyeCalibration(String ^ name, int type, [Out] ErrorCode ^ % ec)

Start hand-eye calibration, requires laser sensor to be already connected.

• Parameters:
  • [in] name: Hand-eye calibration file number
  • [in] type: Calibration point count, currently can only be 6
  • [out] ec: Error code

calibratePoint()

CalibrationResult calibratePoint(int id, [Out] ErrorCode ^ % ec)

Add point for hand-eye calibration.

• Parameters:
  • [in] id: Point number, 0: tip collection point, 1-6: calibration points
  • [out] ec: Error code
• Return Value:
  • Point result

calibrateEnd()

List<double> ^ calibrateEnd(HandeyeData % handeyedata, [Out] ErrorCode ^ % ec)

End hand-eye calibration, calculate calibration result.

• Parameters:
  • [in,out] handeyedata: Hand-eye calibration result (passed by reference/writable structure, written back by interface)
  • [out] ec: Error code
• Return Value:
  • Self-check error [max, min, mean]

setLaserSensorCfg()

void setLaserSensorCfg(LaserSensorCfg cfg, [Out] ErrorCode ^ % ec)

Add and set laser sensor configuration parameters.

• Parameters:
  • [in] cfg: Laser sensor basic configuration data
  • [out] ec: Error code

getLaserSensorCfg()

LaserSensorCfg getLaserSensorCfg(String ^ name, [Out] ErrorCode ^ % ec)

Get laser sensor configuration parameters.

• Parameters:
  • [in] name: Laser sensor name
  • [out] ec: Error code
• Return Value:
  • Sensor configuration parameters

removeLaserSensorCfg() [1/2]

void removeLaserSensorCfg(String ^ device_name, [Out] ErrorCode ^ % ec)

Delete laser sensor configuration parameters.

• Parameters:
  • [in] device_name: Laser sensor device name
  • [out] ec: Error code

removeLaserSensorCfg() [2/2]

void removeLaserSensorCfg(List<String ^> ^ device_names, [Out] ErrorCode ^ % ec)

Delete multiple laser sensor configuration parameters.

• Parameters:
  • [in] device_names: List of laser sensor device names
  • [out] ec: Error code

connLaserSensorDev()

void connLaserSensorDev(String ^ device_name, [Out] ErrorCode ^ % ec)

Connect laser sensor. This function is used to connect the laser sensor device with the specified name.

• Parameters:
  • [in] device_name: Laser sensor device name
  • [out] ec: Error code

disconnLaserSensorDev()

void disconnLaserSensorDev(String ^ device_name, [Out] ErrorCode ^ % ec)

Disconnect laser sensor. This function is used to disconnect from the laser sensor device with the specified name.

• Parameters:
  • [in] device_name: Laser sensor device name
  • [out] ec: Error code

openLaserTrack()

void openLaserTrack(String ^ device_name, [Out] ErrorCode ^ % ec)

Open seam tracker, start getting laser welder data. This function is used to start the seam tracking function of the specified laser sensor device.

• Parameters:
  • [in] device_name: Laser sensor device name
  • [out] ec: Error code

closeLaserTrack()

void closeLaserTrack(String ^ device_name, [Out] ErrorCode ^ % ec)

Close seam tracker, stop getting laser welder data. This function is used to stop the seam tracking function of the specified laser sensor device.

• Parameters:
  • [in] device_name: Laser sensor device name
  • [out] ec: Error code

setArcTrackParam()

void setArcTrackParam(ArcTrackParam param, [Out] ErrorCode ^ % ec)

Set arc tracking parameters.

• Parameters:
  • [in] param: Arc tracking parameters
  • [out] ec: Error code

getArcTrackParam()

ArcTrackParam getArcTrackParam(String ^ name, [Out] ErrorCode ^ % ec)

Get arc tracking parameter settings. This function is used to get the arc tracking parameters of the specified file number.

• Parameters:
  • [in] name: Arc tracking parameter file number
  • [out] ec: Error code
• Return Value:
  • Arc tracking parameters

removeArcTrackParam() [1/2]

void removeArcTrackParam(String ^ name, [Out] ErrorCode ^ % ec)

Delete arc tracking parameters. This function is used to delete the arc tracking parameters of the specified file number.

• Parameters:
  • [in] name: Arc tracking parameter file number
  • [out] ec: Error code

removeArcTrackParam() [2/2]

void removeArcTrackParam(List<String ^> ^ names, [Out] ErrorCode ^ % ec)

Delete multiple arc tracking parameters. This function is used to batch delete multiple arc tracking parameter files.

• Parameters:
  • [in] names: List of arc tracking parameter file numbers
  • [out] ec: Error code

setAnticollision()

void setAnticollision(String ^ signal, bool enable, bool block, int countdown, [Out] ErrorCode ^ % ec)

Set anti-collision sensor. This function is used to configure anti-collision related parameters, including DI signal, enable status, block switch, and countdown.

• Parameters:
  • [in] signal: DI signal name
  • [in] enable: On/Off
  • [in] block: Block switch
  • [in] countdown: Countdown, opens anti-collision device after countdown ends
  • [out] ec: Error code, -260 - Missing required parameters; -14510 - Failed to bind system input (DI signal does not exist or is already bound as system input)

getAnticollisionState()

AnticollisionState getAnticollisionState([Out] ErrorCode ^ % ec)

Get anti-collision sensor settings or status. This function is used to query the current anti-collision configuration or status information.

• Parameters:
  • [out] ec: Error code
• Return Value:
  • Anti-collision settings or status, invalid when error code is not 0

getWelderWorkModes()

array<String ^> ^ getWelderWorkModes([Out] ErrorCode ^ % ec)

Get the list of work mode strings supported by the current connected welder.

• Parameters:
  • [out] ec: Error code
• Return Value:
  • Work mode array; invalid when error code is non-zero

weldOffsetJog()

void weldOffsetJog(WeldOffsetJogDir dir, [Out] ErrorCode ^ % ec)

Superimposed weave offset Jog: During welding, jog robot TCP along the Y and Z directions of the path coordinate system.

• Parameters:
  • [in] dir: Offset direction WeldOffsetJogDir
  • [out] ec: Error code

executeLaserSearch()

Tuple<Boolean, CartesianPosition ^> ^ executeLaserSearch(ArcWelding::LaserSearchCommand ^ cmd, Boolean isMove, System::TimeSpan ^ timeout, [Out] ErrorCode ^ % ec)

Laser search. If timeout is set, this function will block until timeout or search ends.

• Parameters:
  • [in] cmd: Laser search command
  • [in] isMove: Whether to start motion immediately. false: only add search command, needs additional moveStart() to execute; true: add search command and execute
  • [in] timeout: Timeout time. 0: Do not wait for search result and exit directly, return default value; >0: Wait for search result, return default value if timeout
  • [out] ec: Error code
• Return Value:
  • (Whether found, found pose), the found pose is based on the tool workpiece coordinate system

calcIntersection()

CartesianPosition ^ calcIntersection(array<CartesianPosition ^> ^ points, [Out] ErrorCode ^ % ec)

Laser search - Calculate intersection from four points. Only calculate position, orientation takes the orientation of the first point in points.

• Parameters:
  • [in] points: 4 found points, first two form line 1, last two form line 2
  • [out] ec: Error code, generally calculation failure, see SDK logs for reasons
• Return Value:
  • Calculated intersection, valid when there is no error code

GetLaserPos()

CartesianPosition ^ GetLaserPos(CartesianPosition ^ pos, String ^ laserHandEyeData, [Out] ErrorCode ^ % ec, String ^ refSys)

Get laser position. Only calculate position, orientation unchanged.

• Parameters:
  • [in] pos: TCP point, used to get orientation
  • [in] laserHandEyeData: Hand-eye calibration parameter name
  • [out] ec: Error code, generally calculation timeout or parameter error
  • [in] refSys: Coordinate system, "R_WORLD" world, "R_BASE" base, "R_WOBJ" workpiece
• Return Value:
  • Calculated point, valid when there is no error code

getRefBy3Points()

Frame ^ getRefBy3Points(array<CartesianPosition ^> ^ points, bool withOrigin, DirType dt, [Out] ErrorCode ^ % ec)

Laser search - Three-point method to get a coordinate system.

• Parameters:
  • [in] points: Search points
  • [in] withOrigin: Whether to determine coordinate system origin directly from search points
  • [in] dt: Workpiece coordinate system pose calibration order DirType
  • [out] ec: Error code
• Return Value:
  • Coordinate system Frame