Data Structures
1 Re-arc-on Parameters ReArcOnParam
bool enable Whether to re-arc-on, default: false
int retry_time Arc-on times, range: [1 - 20], default: 3
int wire_retract_delay_time Re-arc-on wire retract wait time, unit: ms, range: [0 - 10000], default: 50
int wire_retract_time Re-arc-on wire retract time, unit: ms, range: [0 - 10000], default: 200
flout current_step Re-arc-on current increment, unit: A, range: [0 - 50], default: 0
flout voltage_step Re-arc-on voltage increment, unit: V or %; % under unified mode, range: [0 - 10] V or [0 - 10] %
2 Scratch Arc-on Parameters ScratchArconParam
bool enable Whether to use scratch arc-on, 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, unit: mm, range: [0 - 500], default: 5
3 Arc-on Parameters ArcOnData
str name File number name, default: "default"
str annotation Annotation
str mode Welder working 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", call: "job", panel control: "panel_control",
high speed welding: "high_speed_welding", constrict arc: "constrict_arc", root pass: "root_pass",
default: "flat_characteristic"
str current_mode Current mode, current: "current", wire feed: "wire_feed", default: "current"
str voltage_mode Voltage mode, separate: "separate", unified: "unified", default: "unified"
flout current Arc-on current, unit: A under current mode, mm/s under wire feed mode, range: [0 - 2000], default: 0
flout voltage Arc-on voltage, unit: V under separate mode, V or % under unified mode, range: [-30, 30], default: 0
int hold_time Arc-on hold time, unit: ms, range: [0 - 10000], default: 200
int detect_time Arc-on detection time, unit: ms, range: [0 - 10000], default: 2000
int confirm_time Arc-on confirm time, unit: ms, range: [0 - 10000], default: 200
int preflow_time Pre-gas time, unit: ms, range: [1 - 10000], default: 200
int prearc_time Pre-arc time, unit: ms, range: [0, +∞], default: 0
flout slow_wire_feed_speed Slow wire feed speed, unit: m/min, range: [1 - 21], default: 1
int pre_wirefeed_time Pre-wirefeed 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-on parameters
ScratchArconParam scratch_arcon Scratch arc-on parameters
4 Arc Break and Re-arc Parameters ArcBreakParam
int detect_time Arc break detection time, unit: ms, range: [0 - 10000], default: 200
str arc_break_option Arc break option, stop and alarm: "stop_and_alarm", auto re-arc: "auto_arc_reignition", default: "stop_and_alarm"
int restart_back_distance Restart back distance, unit: mm, range: [0 - 100], default: 10
5 Welding Parameters ArcData
str name File number name, default: "default"
str annotation File number annotation
str mode Welder working 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", call: "job", panel control: "panel_control",
high speed welding: "high_speed_welding", constrict arc: "constrict_arc", root pass: "root_pass",
default: "flat_characteristic"
str current_mode Current mode, current: "current", wire feed: "wire_feed", default: "current"
str voltage_mode Voltage mode, separate: "separate", unified: "unified", default: "unified"
flout current Arc-on current, unit: A under current mode, mm/s under wire feed mode, range: [0, 2000], default: 0
flout voltage Arc-on voltage, unit: V under separate mode, V or % under unified mode, range: [-30, 30], default: 0
flout 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-wire Stick Parameters AntiWireStickParam
bool enable Anti-wire stick switch, default: false
flout current Anti-wire stick current, unit: A, range: [0 - 100], default: 30
flout voltage Anti-wire stick voltage, unified: unit: %, range: [0 - 50]; separate: unit: V, range: [0 - 20], default: 10
int time Anti-wire stick time, unit: ms, range: [0 - 10000], default: 500
7 Arc-off Parameters ArcOffData
str name File number name, default: "default"
str annotation File number annotation
str mode Welder working 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", call: "job", panel control: "panel_control",
high speed welding: "high_speed_welding", constrict arc: "constrict_arc", root pass: "root_pass",
default: "flat_characteristic"
str current_mode Current mode, current: "current", wire feed: "wire_feed", default: "current"
str voltage_mode Voltage mode, separate: "separate", unified: "unified", default: "unified"
flout current Arc-off current, unit: A under current mode, mm/s under wire feed mode, range: [0, 2000], default: 0
flout voltage Arc-off voltage, unit: V under separate mode, V or % under unified mode, range: [-30, 30], default: 0
int hold_time Arc-off 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-off detection time, unit: ms, range: [0 - 10000], default: 5000
int retract_time Arc-off wire 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-wire stick parameters
8 Weave Amplitude Amplitude
flout left Left amplitude, unit: mm, range: [ 0.1, 50 ], default: 0.1
flout right Right amplitude, unit: mm, range: [ 0.1, 50 ], default: 0.1
9 Elevation Angle ElevationAngle
flout left Left elevation angle, unit: °, range: [ -90, 90 ], default: 0
flout right Right elevation angle, unit: °, range: [ -90, 90 ], default: 0
10 Weave Parameters WeaveData
str name File number name, default: "default"
str annotation File number annotation
str weaving_reference Weave reference (only supports cycle-based weaving), length: "length", cycle: "cycle", default: "cycle"
str pattern Weave pattern (only supports triangular, sine, and circular weave), triangular: "triangular", sine: "sine", circular: "circular", figure 8: "figure_8", default: "triangular"
flout 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
str 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[3] Dwell time (left, middle, right), unit: ms, default: {0, 0, 0}
flout radius Weave radius (effective for circular and figure 8), unit: mm, range: [ 0.1, 100 ], default: 0.1
bool phase_invert Waveform inversion (not supported yet, default forward), reverse: true; forward: false, default: false
str 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
flout inclination_angle Inclination angle (effective for triangular and sine weave), unit: °, range: [-90, 90], default: 0
flout acc Weave acceleration, unit: mm/s^2, range: (0, 5), open interval, default: 0.5
flout jerk Weave jerk, unit: mm/s^3, range: (0, 50], default: 5
11 Weave Adaptive Parameters WeaveAdaptiveData
bool isAdaptive Whether adaptive, true: yes, false: no, default: false
flout groove_width_standard Standard groove width, unit: mm, default: 4.00
flout groove_width_ratio Groove width ratio, default: 4.00
flout max_groove_width Maximum groove width, unit: mm, default: 6.00
flout max_electric Maximum current, unit: A, default: 300.0
flout max_speed Maximum speed, unit: mm/s, default: 8.00
12 Segment Welding Parameters SegData
str name File number name, default: "default"
str annotation File number annotation
str seg_type Segment welding type, normal: "normal", default: "normal"
str non_welded_speed Non-welding segment speed, xCore predefined v5, v10..., default: "v5"
flout welded_distance Welding segment length, unit: mm, range: > 0.1, default: 0.1
flout non_welded_distance Non-welding segment length, unit: mm, range: > 0.1, default: 0.1
13 Laser Tracking Parameters LaserTrackData
str 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
flout max_invalid_length Maximum invalid weld stop distance, unit: mm, range: (0, 50], default: 10
14 Laser Search Parameters LaserSearchData
str name File number name, default: "default"
int job_number Laser search process number, range: [0,63], default: 0
str search_type Search type, point search: "point", default: "point"
str search_mode Search mode, continuous: "continuous" | static search "static" | step: "step" (currently supports continuous and static search), default: "continuous"
flout step_length Step distance, unit: mm, default: 2.0
str joint_type Weld joint type, corner joint: "corner_joint", lap joint: "lap_joint", butt joint: "butt_joint", default: "corner_joint"
15 IO Port IOData
str 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
16 IO Settings IOSetting
IOData arc_on Arc-on port
IOData wire_feed Wire feed
IOData wire_feed_back Wire retract
IOData gas_test Gas detection
IOData positioning_enable Positioning enable signal
IOData arc_on_success Arc-on success judgment
IOData positioning_feedback Positioning feedback signal
IOData current_set Current setting
IOData voltage_set Voltage/arc length correction setting
IOData current_get Current acquisition
IOData voltage_get Voltage acquisition
IOData robot_ready Robot ready
IOData error Alarm
17 Characteristic Curve Parameters CharacteristicCurveData
str name File number name, default: "default"
flout intercept Intercept, default: 0
list[list[float]] Bit array
flout slope Slope, default: 0
18 Running Parameters ArcWeldRunningParam
flout test_run_speed Dry run Cartesian speed, unit: mm/s, range: [ 1, 250 ], default: 200
flout 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 detection time, unit: s, range: [ 1, 30 ], default: 15
19 Welder Status WelderStatus
flout current Current current, unit: A, default: 0
flout voltage Current voltage, unit: V, default: 0
str state Welder state, default: "disabled"
int speed Welding speed, unit: mm/s, default: 0
dict running_error Running error code (read-only)
str welding_name Welding file number being welded, used with arc_welding, default: ""
int arc_welding Current welding state: 0 arc-on, 1 welding, 2 arc-off, -1 default, default: -1
flout welding_distance Completed welding distance for one arc-on/arc-off cycle, cleared next arc-on, unit: m, default: 0
int welding_path_num Number of welding paths for one arc-on/arc-off cycle (number of WMoveLCommand/WMoveCCommand started), cleared next arc-on, default: 0
flout welding_time Welding time, cleared next arc-on, unit: min
flout welding_wire_used Wire used length, cleared next arc-on, unit: m
bool welder_ready Welder ready: true when welder is enabled and robot is connected to welder slave normally
int welder_error_code Welder error code
20 Welder Settings WelderSetting
str protocol Protocol, default: "ethercat"
str mfr Manufacturer, default: ""
str model Welder model, default: ""
int current_type Current type, default: 0
str current_file Current file number, default: ""
str voltage_file Voltage file number, default: ""
flout wire_diameter Wire diameter, default: 0
str shielding_gas Shielding gas, default: ""
int program_number Program number, default: 0
21 Hand-eye Calibration Result HandeyeData
str name Hand-eye calibration result file number, default: ""
bool mode Calibration result format, true: xyz_abc, false: RT matrix, default: false
list[float] xyz_abc Cartesian space pose format, unit: mm rad, length: 6, default: {0.0,0.0,0.0,0.0,0.0,0.0}
list[float] rotMatrix Rotation matrix row-major vector, length: 9, default: {0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0}
list[float] transVector Translation vector, length: 3, default: {0.0,0.0,0.0}
22 Auto Calibration Point Result CalibrationResult
int id Point sequence number, default: 0
list[float] p_robot Robot coordinates, default: {0.0, 0.0, 0.0, 0.0, 0.0, 0.0}
list[float] p_laser Camera coordinates, default: {0.0, 0.0, 0.0}
23 Laser Sensor Configuration LaserSensorCfg
str name Device name, default: "sensor0"
str 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
24 Arc Tracking Left/Right Tracking Parameters LrTrackParam
flout pid Proportional gain, adjusts left/right tracking speed, range: [0, 10], default: 5
flout curr_bias_offset Current bias coefficient, compensates inherent left/right current bias during normal weaving, range: [0, 10], default: 5
flout min_compensation Minimum compensation, minimum single compensation, no compensation if control amount is less than this value, unit mm, range: [1, 10], default: 0.01
flout max_compensation Maximum compensation, maximum single compensation, unit mm, range: [1, 10], default: 0.4
25 Arc Tracking Up/Down Tracking Parameters UdTrackParam
flout pid Proportional gain, adjusts up/down tracking speed, range: [0, 10], default: 5
flout curr_bias_offset Current bias coefficient, compensates inherent up/down current bias during normal weaving, range: [0, 10], default: 5
flout min_compensation Minimum compensation, minimum single compensation, no compensation if control amount is less than this value, unit mm, range: [1, 10], default: 0.01
flout max_compensation Maximum compensation, maximum single compensation, unit mm, range: [1, 10], default: 0.4
flout base_current Base current value, only needs to be set when "base current method" is "fixed value", unit: A, range: [0, 1000], default: 0
int sampling_start_period Adaptive up/down base current start sampling period, range: [3, 50], default: 5
int sampling_duration_period Adaptive up/down base current continuous sampling period, range: [1, 50], default: 1
26 Arc Tracking Parameters ArcTrackParam
str name File number
str annotation File number annotation
int delay_time Delay time: delay of current sampling and transmission time, unit ms, range [3, 50], default 30
int cycle Start cycle
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
27 Welding Parameter Settings ArcSetOpt
str arc_data Welding parameter name, non-empty means need to adjust welding parameters
bool ref_start true - adjust welding parameters relative to next path start | false - relative to next path end
flout distance Position on path where welding parameters start to change, unit mm. Note: if longer than path, adjustment occurs at path endpoint; for cases with turn zone, adjustment occurs at turn zone midpoint, default: 0
28 Anti-collision State AnticollisionState
str signal DI signal name, default: ""
bool enable Enable/Disable, default: false
bool block Block switch, set to true to enable block, set to false after block time ends, default: false
int countdown Countdown, default: 60
29 Welding Command - Arc-on ArcOnCommand
setArcOnData(arcOnData) Set arc-on parameters
getArcOnData() Get arc-on parameters
setArcData(arcData) Set welding parameters
getArcData() Get welding parameters
str m_arcOnData Arc-on parameter name, default: "default"
str m_arcData Welding parameter name, default: "default"
30 Welding Command - Arc-off ArcOffCommand
setArcOffData(arcOffData) Set arc-off parameters
getArcOffData() Get arc-off parameters
str m_arcOffData Arc-off parameter name, default: "default"
31 Welding Command - Wire Feed FeedOnWireCommand
setFeedOnWireData(time, speed, isFeed) Set wire feed parameters
getFeedOnWireData(time, speed, isFeed) Get wire feed parameters
flout m_time Time, unit: seconds
flout m_speed Speed, unit: m/min
bool m_isFeed Whether to feed wire
32 Welding Command - Wire Retract FeedBackWireCommand
setFeedBackWireData(time, speed, isReverse) Set wire retract parameters
getFeedBackWireData(time, speed, isReverse) Get wire retract parameters
flout m_time Time, unit: seconds
flout m_speed Speed, unit: m/min
bool m_isReverse Whether to retract wire
33 Welding Command - Linear Track 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 End linear speed, unit mm/s
flout rotSpeed Spatial rotation speed
int zone Turn zone size, unit mm
CartesianPosition ::Offset offset Offset
str customInfo Custom information, can be returned in motion information feedback
ArcSetOpt arc_set_opt Welding parameter options
str m_weaveData Weave parameter name
str m_trackData Arc tracking parameter name
34 Welding Command - Arc Track 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 End linear speed, unit mm/s
flout rotSpeed Spatial rotation speed
int zone Turn zone size, unit mm
CartesianPosition ::Offset targetOffset Target point offset
CartesianPosition ::Offset auxOffset Auxiliary point offset
str customInfo Custom information, can be returned in motion information feedback
ArcSetOpt arc_set_opt Welding parameter options
str m_weaveData Weave parameter name
str m_trackData Arc tracking parameter name
35 Welding Command - Full Circle Track WMoveCFCommand
setWeaveData(weaveData) Set weave parameters
getWeaveData() Get weave 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 speed, unit mm/s
flout rotSpeed Spatial rotation speed
int zone Turn zone size, unit mm
flout 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
str customInfo Custom information, can be returned in motion information feedback
ArcSetOpt arc_set_opt Welding parameter options
str m_weaveData Weave parameter name
str m_trackData Arc tracking parameter name
36 Welding Command - Pendulum Track WMoveLPendulumCommand
bool enableStartAux Flag, identifies 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
flout frequency Weave frequency, range [0.1, 5], unit Hz
flout dwellTimeLeft Left edge dwell time, range [0, 10000], unit ms
flout dwellTimeRight Right edge dwell time, range [0, 10000], unit ms
(The pendulum command in type stub has no arc_set_opt member; see WMoveL/WMoveC/WMoveCF below for track linear/arc/full circle types.)
37 Welding Command - Start Weave WeaveOnCommand
setWeaveData(weaveData) Set weave parameters
getWeaveData() Get weave parameters
str m_weaveData Weave parameter name, default: "default"
38 Welding Command - Stop Weave WeaveOffCommand
39 Welding Command - Start Laser Tracking 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
str m_handEyeData Hand-eye calibration parameter name, default: "default"
str m_laserTrackData Laser tracking parameter name, default: "default"
40 Welding Command - Stop Laser Tracking LaserTrackOffCommand
41 Welding Command - Laser Search LaserSearchCommand
str laserHandEyeData Hand-eye calibration parameter name
str laserSearchData Laser search parameter name
CartesianPosition endPoint Laser search end point, in tool workpiece coordinate system
int speed End linear speed, unit mm/s
int zone Turn zone size, unit mm
42 Welding Command - Start Segment Welding SegOnCommand
str segData Segment welding parameter name, default: "default"
43 Welding Command - Stop Segment Welding SegOffCommand
44 Multi-layer Multi-pass Offset Parameters LayerData
str name File name
str annotation Annotation
flout start_offset Start offset [mm], range [-50, 50]
flout end_offset End offset [mm], range [-50, 50]
flout y_offset Y direction offset [mm], range [-150, 150]
flout z_offset Z direction offset [mm], range [-150, 150]
flout travel_angle Travel angle [°], range [-90, 90]
flout tilt_angle Tilt angle [°], range [-90, 90]
int offset_coord_system Offset XYZ reference coordinate system {0: weld coordinate system, 1: Z reference axis, 2: XY plane reference point}
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}
int z_axis_fixed_type {0: specified reference axis, 1: custom vector calculation}
int aux_type {1: one-point method, 3: three-point method}
list aux_point_1 Auxiliary point 1 [x,y,z], unit mm
list aux_point_2 Auxiliary point 2 [x,y,z], unit mm
list aux_point_3 Auxiliary point 3 [x,y,z], unit mm
int point_num Custom point count, range [1, 3]
list custom_point_1 Custom vector 1 [x,y,z]
list custom_point_2 Custom vector 2 [x,y,z]
list custom_point_3 Custom vector 3 [x,y,z]
45 Welding Command - Modify Offset Parameters ChangeLayerDataCommand
Constructor __init__(layerData='default', startOffset=0.0, endOffset=0.0, yOffset=0.0, zOffset=0.0, travelAngle=0.0, tileAngle=0.0)
LayerData m_layerData Multi-layer multi-pass parameters (readable and writable)
getChangeLayerData() Return LayerData
46 Welding Command - Start Layer Pass Offset OffsetOnCommand
Constructor __init__(layerData='default', rpm=0)
str layerData Multi-layer multi-pass parameter name
int rpm Deviation storage area number
47 Welding Command - Stop Layer Pass Offset OffsetOffCommand
Constructor __init__()