Arc Welding C++ SDK Usage Examples

Document Conventions

Each section follows this structure:

1. Applicable Scenarios — When this scenario applies
2. Objective — Expected system state when complete
3. Recommended Steps — Ordered procedural highlights
4. Common APIs and Types — Quick lookup for SDK symbols; not a full parameter table
5. Notes — Common pitfalls

General Programming Conventions

1. Obtain an ArcWelding reference via robot.arcWelding() and call process-parameter and welder APIs on it; motion queueing remains on robot.
2. Every API takes error_code &ec (or an equivalent overload); check ec after each call.
3. Welding trajectories that are queued then started typically use MotionControlMode::NrtCommand with moveAppend / moveStart; distinguish this from parameter-only download scenarios.

Shared Prerequisites (Common to Sample Code in Each Scenario)

The following matches arcwelding_example.cpp lines 10–60 in the SDK package (including print_helper.hpp and the anonymous namespace with robot, arcWeld(), waitForFinish, etc.).

#include "rokae/arcwelding.h"
#include "rokae/robot.h"
#include "print_helper.hpp"
#include "rokae/data_types.h"
#include <unordered_map>
#include <thread>
#include <iostream>
#include <chrono>
#include <future>

using namespace rokae;
using namespace std;

#define ROKAE_EXE(CMD) \
CMD; \
if(ec) { print(std::cerr, __LINE__, __FUNCTION__, ":", ec.message()); }

namespace {
 xMateRobot robot;
 ArcWelding& arcWeld() {
   static ArcWelding v = robot.arcWelding();
   return v;
 }

 void waitForFinish(BaseRobot &robot, const std::string &traj_id, int index){
   using namespace rokae::EventInfoKey::MoveExecution;
   error_code ec;
   while(true) {
     auto info = robot.queryEventInfo(Event::moveExecution, ec);
     auto _id = std::any_cast<std::string>(info.at(ID));
     auto _index = std::any_cast<int>(info.at(WaypointIndex));
     if(auto _ec = std::any_cast<error_code>(info.at(Error))) {
       print(std::cout, "路径", _id, ":", _index, "错误:", _ec.message());
       return;
     }
     if(_id == traj_id && _index == index) {
       if(std::any_cast<bool>(info.at(ReachTarget))) {
         print(std::cout, "路径", traj_id, ":", index, "已完成");
       }
       return;
     }
     std::this_thread::sleep_for(std::chrono::milliseconds(200));
   }
 }

 std::ostream &operator<<(std::ostream &os, const ArcWelding::WelderStatus &data) {
   os << "Name: " << data.welding_name << ", Current: " << data.current << ", Voltage: " << data.voltage
   << ", Distance: " << data.welding_distance << ", Path num: " << data.welding_path_num << std::endl;
   return os;
 }
}

Scenario 1: Initial Robot and Welder Setup

Applicable Scenarios First arc-welding run on a new station, or after replacing the welder / fieldbus configuration, you need to verify that the controller and welder side are ready.

Objective The robot is connected; the arc welding process package is available; welder model and communication parameters match the site; IO and ENI expectations are configured when required.

Recommended Steps

The key steps relate as follows (they map to the subsections below):

1. connectToRobot establishes the connection to the controller.

2. Use getWelderStatus to inspect the welder side: if state is "disabled" etc., no valid connection is established yet; if it is "ok" etc., the welder is ready (exact enumerations follow the API reference).

3. If already connected: use getWelderSetting to read the current protocol, brand mfr, model model, current rating current_type, etc.

4. To replace the welder or reconfigure parameters: call disconnectFromWelder first, then follow the EtherCAT or analog branch below, reconfigure, and call connectToWelder again.

5. EtherCAT welders: setIsEniHaveWeld must be true (equivalent to whether a physical welder is connected on the HMI), then upload the welder’s ENI file in the HMI software. In setWelder (or WelderSetting), set protocol to the EtherCAT value (e.g. "ethercat" per SDK convention), mfr to the vendor key in the table below, model to the model key, and current_type must be one tier from that model’s current_range (aligned with the process package). If the model also constrains wire_diameter, shielding_gas, program_number, dry_extension, firmware_version, etc., those fields in setWelder must come only from the allowed sets below.

   Vendor / model and current tiers (and optional constraints) (mfr and model strings when downloading must match these keys):

{
  "aotai": {
    "RL/RPL": { "current_range": [350, 500, 630, 800] },
    "RP/RPH": { "current_range": [350, 500, 630, 800] }
  },
  "megmeet": {
    "Artsen Plus": { "current_range": [350, 400, 500] },
    "Artsen Pro": { "current_range": [350, 400, 500] },
    "Ehave2": { "current_range": [350, 500, 630] },
    "Artsen3": { "current_range": [400, 500] },
    "Dex2": { "current_range": [350, 400, 500] },
    "Dex2 Ultra": { "current_range": [400] },
    "Megwave": { "current_range": [350, 400, 500] },
    "Megwave 400AC": { "current_range": [400] },
    "MetaTig": { "current_range": [315, 400, 500] },
    "RevoTig": { "current_range": [315, 400, 500] }
  },
  "riland": {
    "TiTans Low Spatter": {
      "current_range": [500],
      "wire_diameter": [0.8, 1.0, 1.2, 1.6],
      "shielding_gas": ["CO2", "80%Ar+20%CO2"]
    },
    "TiTans DP": {
      "current_range": [400, 500, 600],
      "wire_diameter": [0.8, 1.0, 1.2, 1.6],
      "shielding_gas": ["CO2", "80%Ar+20%CO2"]
    }
  },
  "panasonic": {
    "GS6": {
      "current_range": [350, 500],
      "program_number": [1, 97],
      "dry_extension": [10, 12, 15, 20, 25, 30, 35]
    }
  },
  "tayor": {
    "RB-350P": { "current_range": [350] },
    "RB-500P": { "current_range": [500] }
  },
  "headux": {
    "headux": { "current_range": [550] }
  },
  "beijingtime": {
    "time": { "current_range": [1000] }
  },
  "hugong": {
    "NVPM": { "current_range": [500] }
  },
  "ewm": {
    "TIG": { "current_range": [1000], "program_number": [0, 15] },
    "Plasma": { "current_range": [1000], "program_number": [0, 15] },
    "Phoenix": { "current_range": [1000], "program_number": [0, 15] },
    "alpha Q": { "current_range": [1000], "program_number": [0, 15] }
  },
  "bohler": {
    "URANOS NX": {
      "current_range": [3000, 4000, 5000],
      "firmware_version": ["v.14-v.24", "v.25"]
    }
  },
  "esab": {
    "Aristo 500ix": { "current_range": [500] }
  }
}

Example (Aotai RL/RPL, 500 A tier): mfr = "aotai", model = "RL/RPL", current_type = 500 (must be within [350,500,630,800]).

6. Analog welders: complete the following three steps in order, then setWelder:

   • ① IO binding: call setIOSetting first to map arc start, wire feed, wire retract, gas check, current/voltage set and feedback, welder ready, fault, etc. to actual DI/DO or registers. Verify with getIOSetting.
   • ② Current / voltage curves: use setCurrentCharacteristicCurveData, setVoltageCharacteristicCurveData (and calculateCurrentCurve / calculateVoltageCurve when needed) to create and name curve data on the controller.
   • ③ setWelder: set protocol to analog (exact string per SDK / process package, e.g. "analog"); mfr may only be "manual_welding" or "aotai"; model follows the analog scheme; current_file and voltage_file are the current curve name and voltage curve name from step ②. Other fields use defaults or leave empty per the API reference.

7. Call connectToWelder to connect and enable the welder; use disconnectFromWelder before reconfiguration or when finished debugging.

Sample Code

For analog welder configuration, see setIOSetting and setCharacteristicCurveData in the same example file.

// 选择焊机，启用焊接功能，断开焊机
void setWelderAndConnect() {
  cout << "enter setWelder" << endl;
  error_code ec;

  auto printWelderSetting = [](const ArcWelding::WelderSetting &welderSetting) {
    cout << "protocol: " << welderSetting.protocol << endl;
    cout << "mfr: " << welderSetting.mfr << endl;
    cout << "model: " << welderSetting.model << endl;
    cout << "current_type: " << welderSetting.current_type << endl;
    cout << "current_file: " << welderSetting.current_file << endl;
    cout << "voltage_file: " << welderSetting.voltage_file << endl;
    cout << "wire_diameter: " << welderSetting.wire_diameter << endl;
    cout << "shielding_gas: " << welderSetting.shielding_gas << endl;
    cout << "program_number: " << welderSetting.program_number << endl;
    cout << "dry_extension: " << welderSetting.dry_extension << endl;
  };

  auto welderSetting = arcWeld().getWelderSetting(ec);// 获取当前焊机设置，部分参数如果该焊机不涉及可以忽略
  cout << "ec: " << ec.value() << ", " << ec.message() << endl;
  printWelderSetting(welderSetting);

  welderSetting.protocol = "ethercat";
  welderSetting.mfr = "aotai";
  welderSetting.model = "RL/RPL";
  welderSetting.current_type = 500;
  welderSetting.current_file = "current2";
  welderSetting.voltage_file = "voltage2";
  welderSetting.wire_diameter = 0.8;
  welderSetting.shielding_gas = "CO2";
  welderSetting.program_number = 10;
  welderSetting.dry_extension = 10;
  arcWeld().setWelder(welderSetting, ec);// 设置焊机（方式一），部分参数如果该焊机不涉及可以忽略
  cout << "ec: " << ec.value() << ", " << ec.message() << endl;

  welderSetting = arcWeld().getWelderSetting(ec);// 验证设置是否成功
  cout << "ec: " << ec.value() << ", " << ec.message() << endl;
  printWelderSetting(welderSetting);

  arcWeld().setWelder("ethercat", "aotai", "RL/RPL", 500, ec);// 设置焊机（方式二）
  cout << "ec: " << ec.value() << ", " << ec.message() << endl;

  arcWeld().connectToWelder(ec);// 启用和连接焊机
  cout << "ec: " << ec.value() << ", " << ec.message() << endl;

  arcWeld().disconnectFromWelder(ec);// 断开和禁用焊机
  cout << "ec: " << ec.value() << ", " << ec.message() << endl;
}

// 读取和设置是否连接物理焊机（切换ENI文件）
void setEniHaveWeld(){
  cout << "enter setEniHaveWeld" << endl;
  error_code ec;
  auto ret = arcWeld().isEniHaveWeld(ec);
  cout << "ec: " << ec.value() << ", " << ec.message() << endl;
  cout << "isEniHaveWeld: " << ret << endl;

  arcWeld().setIsEniHaveWeld(true, ec);
  cout << "ec: " << ec.value() << ", " << ec.message() << endl;

  ret = arcWeld().isEniHaveWeld(ec);
  cout << "ec: " << ec.value() << ", " << ec.message() << endl;
  cout << "isEniHaveWeld: " << ret << endl;

  arcWeld().setIsEniHaveWeld(false, ec);
  cout << "ec: " << ec.value() << ", " << ec.message() << endl;

  ret = arcWeld().isEniHaveWeld(ec);
  cout << "ec: " << ec.value() << ", " << ec.message() << endl;
  cout << "isEniHaveWeld: " << ret << endl;
}

Common APIs and Types

getWelderStatus, getWelderSetting, setWelder, WelderSetting, connectToWelder, disconnectFromWelder, isEniHaveWeld, setIsEniHaveWeld, setIOSetting, getIOSetting, IOSetting, IOData, setCurrentCharacteristicCurveData, setVoltageCharacteristicCurveData, getCurrentCharacteristicCurveData, getVoltageCharacteristicCurveData, calculateCurrentCurve, calculateVoltageCurve

Notes

When changing welder parameters, if arc welding is already connected and you need to switch welders, disconnect the welder first, then change parameters.

Scenario 2: Welding Runtime Parameters

Applicable Scenarios You need to adjust globally dry-run Cartesian speed, manual wire feed / retract speed, gas detection time, and other welding-related runtime options in one place (distinct from single arc-on / arc weld named data).

Objective ArcWeldRunningParam is written to the controller; dry run, wire feed/retract, and parameterless gas detection behavior match site conventions.

Recommended Steps

1. Build ArcWeldRunningParam: set test_run_speed (mm/s), wire_feed_speed (m/min), gas_detect_time (s), etc. within the process-package limits (field meanings and ranges: Appendix: Data Structures, “Runtime parameters ArcWeldRunningParam”).
2. Call setRunningParam to download; use getRunningParam to read back and verify.
3. The parameterless detectGas() overload uses a gas-check duration tied to gas_detect_time in the runtime parameters; overloads with time and enable follow the arguments passed at call time (see API Description).

Sample Code

// 读写运行参数
void setRunningParam()
{
  cout << "enter setRunningParam" << endl;
  error_code ec;
  ArcWelding::ArcWeldRunningParam runningParam{100, 2, 10};

  arcWeld().setRunningParam(runningParam, ec);
  cout << "ec: " << ec.value() << ", " << ec.message() << endl;

  auto data = arcWeld().getRunningParam(ec);
  cout << "ec: " << ec.value() << ", " << ec.message() << endl;

  cout << "test_run_speed: " << data.test_run_speed << endl;
  cout << "wire_feed_speed: " << data.wire_feed_speed << endl;
  cout << "gas_detect_time: " << data.gas_detect_time << endl;
}

Common APIs and Types

setRunningParam, getRunningParam, ArcWeldRunningParam, detectGas

Notes

Manual wire feed/retract speed depends on whether the welder supports that function.

Scenario 3: Anti-Collision (Torch Collision Detection)

Applicable Scenarios The site uses a torch collision / anti-collision DI; the program must configure the signal name, enable, block, and countdown, and the host or logic must subscribe to anti-collision state.

Objective Anti-collision parameters are downloaded; signal, enable, block, countdown, etc. can be read via query or event callback and match the HMI or interlocks.

Recommended Steps

1. Choose the DI signal name used for anti-collision (e.g. "DI0_0").
2. Call setAnticollision(signal, enable, block, countdown): enable turns the feature on/off, block is the block/mute switch, countdown is the countdown (second-level semantics per process package).
3. For HMI or logic linkage, use getAnticollisionState for a snapshot, or register setEventWatcher(Event::anticollisionState, callback, ec) and parse EventInfoKey::AnticollisionState in the callback (see AnticollisionState in Appendix: Data Structures).

Sample Code

void printAnticollisionState(const EventInfo& info) {
  using namespace rokae::EventInfoKey::AnticollisionState;
  cout << "anticollision: \n"
        << "signale: " << std::any_cast<std::string>(info.at(Signal))
        << "\nenable: " << std::any_cast<bool>(info.at(Enable))
        << "\nblock: " << std::any_cast<bool>(info.at(Block))
        << "\ncountdown: " << std::any_cast<int>(info.at(Countdown)) << std::endl;
}

void SetAnticollision() {
  error_code ec;
  robot.setEventWatcher(Event::anticollisionState, printAnticollisionState, ec);
  if (ec)
      cout << "setEventWatcher" << ec.message() << std::endl;

  arcWeld().setAnticollision("DI0_0", true, false, 30, ec);
  if (ec)
      cout << "setAnticollision" << ec.message() << std::endl;

  auto ret = arcWeld().getAnticollisionState(ec);
  if (ec)
      cout << "getAnticollisionState" << ec.message() << std::endl;
  cout << "anticollision: \n"
       << "signale: " << ret.signal << "\nenable: " << ret.enable << "\nblock: " << ret.block << "\ncountdown: " << ret.countdown << std::endl;
}

Common APIs and Types

setAnticollision, getAnticollisionState, Event::anticollisionState, EventInfoKey::AnticollisionState, setEventWatcher

Notes

The bound DI signal must not be used by other system functions.

Scenario 4: Maintain Named Process Data in Application

Applicable Scenarios You want the host or an offline tool to download or edit arc-on, arc weld, arc-off, weave, and stitch (segmented) named process data, or to keep parameter names aligned with the teach pendant HMI.

Objective The controller holds a set of referenceable parameter names for later use by ArcOnCommand and other commands or teach programs.

Recommended Steps

1. Build the corresponding structs (e.g. ArcOnData, ArcData, ArcOffData, WeaveData, SegData), set name and process fields.
2. Call setXxxData to write; use getXxxData(name, ec) to read back and verify.
3. Remove one entry with removeXxxData(name); use the overload that takes a name list for batch removal.
4. For existing pendant names: get, change fields, then set to overwrite or fine-tune.

Sample Code

The snippets below cover setArcOnData (arc on), setArcData (weld), setArcOffData (arc off), setWeaveData (weave), and setSegData (stitch weld). The printArcOnData / printArcData / printArcOffData / printWeaveData helpers are defined earlier in the same file (around lines 63–147) and must live in the same translation unit as these functions.

// 读写起弧参数arcondata
void setArcOnData()
{
  cout << "enter setArcOnData" << endl;
  error_code ec;
  // 默认参数
  ArcWelding::ArcOnData arcOnData;
  arcWeld().setArcOnData(arcOnData, ec);
  cout << "ec: " << ec.value() << ", " << ec.message() << endl;

  auto data = arcWeld().getArcOnData("default", ec);
  cout << "ec: " << ec.value() << ", " << ec.message() << endl;
  cout << "default" << endl;
  printArcOnData(data);

  data = arcWeld().getArcOnData("aaa", ec); // 如果获取不存在的参数，提示-272
  cout << "ec: " << ec.value() << ", " << ec.message() << endl;

  // 自定义参数
  ArcWelding::ArcOnData arcOnData2 = {
    "example_arcondata", "example_annotation", "low_spatter", "wire_feed", "unified", 100, 2, 0, 300, 4000, 500, 600, 0, 2, 300, 100, {true, 10, 100, 200, 15, 5}, // re_arcon
    {true, 50, 100, 20}  // scaratch_arcon
  };
  arcWeld().setArcOnData(arcOnData2, ec);
  cout << "ec: " << ec.value() << ", " << ec.message() << endl;

  data = arcWeld().getArcOnData(arcOnData2.name, ec);
  cout << "ec: " << ec.value() << ", " << ec.message() << endl;
  cout << "example_arcondata" << endl;
  printArcOnData(data);

  // 删除参数
  arcWeld().removeArcOnData("default",ec);
  data = arcWeld().getArcOnData("default", ec);
  cout << "ec: " << ec.value() << ", " << ec.message() << endl; // -272

  // 批量删除
  arcOnData.name = "remove1";
  arcWeld().setArcOnData(arcOnData, ec);
  arcOnData.name = "remove2";
  arcWeld().setArcOnData(arcOnData, ec);
  arcWeld().removeArcOnData(std::vector<std::string>({"remove1", "remove2"}), ec);
  data = arcWeld().getArcOnData("remove1", ec);
  cout << "ec: " << ec.value() << ", " << ec.message() << endl; // -272
  data = arcWeld().getArcOnData("remove2", ec);
  cout << "ec: " << ec.value() << ", " << ec.message() << endl; // -272

  // 可以对hmi工艺包的参数进行修改
  data = arcWeld().getArcOnData("arcondata1", ec);
  cout << "ec: " << ec.value() << ", " << ec.message() << endl;
  printArcOnData(data);

  arcOnData.name = "arcondata1";
  arcWeld().setArcOnData(arcOnData, ec);
  data = arcWeld().getArcOnData("arcondata1", ec);
  cout << "ec: " << ec.value() << ", " << ec.message() << endl;
  printArcOnData(data);

  arcWeld().removeArcOnData("arcondata1",ec);
  data = arcWeld().getArcOnData("arcondata1", ec);
  cout << "ec: " << ec.value() << ", " << ec.message() << endl; // -272
}

// 读写焊接参数arcdata
void setArcData()
{
  cout << "enter setArcData" << endl;
  error_code ec;
  // 默认参数
  ArcWelding::ArcData arcData;
  arcWeld().setArcData(arcData, ec);
  cout << "ec: " << ec.value() << ", " << ec.message() << endl;

  auto data = arcWeld().getArcData(arcData.name, ec);
  cout << "ec: " << ec.value() << ", " << ec.message() << endl;
  cout << "default" << endl;
  printArcData(data);

  // 自定义参数
  ArcWelding::ArcData arcData2 = {
    "example_arcdata", "example_annotation", "low_spatter", "wire_feed", "unified", 100, 20, 0, 30, 400, {500, "auto_arc_reignition", 15}};
  arcWeld().setArcData(arcData2, ec);
  cout << "ec: " << ec.value() << ", " << ec.message() << endl;

  data = arcWeld().getArcData(arcData2.name, ec);
  cout << "ec: " << ec.value() << ", " << ec.message() << endl;
  cout << "example_arcdata" << endl;
  printArcData(data);

  // 删除参数
  arcWeld().removeArcData("default", ec);
  data = arcWeld().getArcData("default", ec);
  cout << "ec: " << ec.value() << ", " << ec.message() << endl; // -272

  // 批量删除
  arcData.name = "remove1";
  arcWeld().setArcData(arcData, ec);
  arcData.name = "remove2";
  arcWeld().setArcData(arcData, ec);
  arcWeld().removeArcData(std::vector<std::string>({"remove1", "remove2"}), ec);
  data = arcWeld().getArcData("remove1", ec);
  cout << "ec: " << ec.value() << ", " << ec.message() << endl; // -272
  data = arcWeld().getArcData("remove2", ec);
  cout << "ec: " << ec.value() << ", " << ec.message() << endl; // -272

  // 可以对hmi工艺包的参数进行修改
  data = arcWeld().getArcData("arcdata1", ec);
  cout << "ec: " << ec.value() << ", " << ec.message() << endl;
  printArcData(data);

  arcData.name = "arcdata1";
  arcWeld().setArcData(arcData, ec);
  data = arcWeld().getArcData("arcdata1", ec);
  cout << "ec: " << ec.value() << ", " << ec.message() << endl;
  printArcData(data);

  arcWeld().removeArcData("arcdata1", ec);
  data = arcWeld().getArcData("arcdata1", ec);
  cout << "ec: " << ec.value() << ", " << ec.message() << endl; // -272
}

// 读写收弧参数arcoffdata
void setArcOffData()
{
  cout << "enter setArcOffData" << endl;
  error_code ec;
  // 默认参数
  ArcWelding::ArcOffData arcOffData;
  arcWeld().setArcOffData(arcOffData, ec);
  cout << "ec: " << ec.value() << ", " << ec.message() << endl;

  auto data = arcWeld().getArcOffData("default", ec);
  cout << "ec: " << ec.value() << ", " << ec.message() << endl;
  cout << "default" << endl;
  printArcOffData(data);

  // 自定义参数
  ArcWelding::ArcOffData arcOffData2 = {
    "example_arcoffdata", "example_annotation", "low_spatter", "wire_feed", "unified", 100, 20, 0, 300, 400, 5500, 600, 700, {true, 20, 15, 100}};
  arcWeld().setArcOffData(arcOffData2, ec);
  cout << "ec: " << ec.value() << ", " << ec.message() << endl;

  data = arcWeld().getArcOffData(arcOffData2.name, ec);
  cout << "ec: " << ec.value() << ", " << ec.message() << endl;
  cout << "example_arcoffdata" << endl;
  printArcOffData(data);

  // 删除参数
  arcWeld().removeArcOffData("default", ec);
  data = arcWeld().getArcOffData("default", ec);
  cout << "ec: " << ec.value() << ", " << ec.message() << endl; // -272

  // 批量删除
  arcOffData.name = "remove1";
  arcWeld().setArcOffData(arcOffData, ec);
  arcOffData.name = "remove2";
  arcWeld().setArcOffData(arcOffData, ec);
  arcWeld().removeArcOffData(std::vector<std::string>({"remove1", "remove2"}), ec);
  data = arcWeld().getArcOffData("remove1", ec);
  cout << "ec: " << ec.value() << ", " << ec.message() << endl; // -272
  data = arcWeld().getArcOffData("remove2", ec);
  cout << "ec: " << ec.value() << ", " << ec.message() << endl; // -272

  // 可以对hmi工艺包的参数进行修改
  data = arcWeld().getArcOffData("arcoffdata1", ec);
  cout << "ec: " << ec.value() << ", " << ec.message() << endl;
  printArcOffData(data);

  arcOffData.name = "arcoffdata1";
  arcWeld().setArcOffData(arcOffData, ec);
  data = arcWeld().getArcOffData("arcoffdata1", ec);
  cout << "ec: " << ec.value() << ", " << ec.message() << endl;
  printArcOffData(data);

  arcWeld().removeArcOffData("arcoffdata1", ec);
  data = arcWeld().getArcOffData("arcoffdata1", ec);
  cout << "ec: " << ec.value() << ", " << ec.message() << endl; // -272
}

// 读写摆动参数
void setWeaveData()
{
  cout << "enter setWeaveData" << endl;
  error_code ec;
  // 默认参数
  ArcWelding::WeaveData weaveData;
  arcWeld().setWeaveData(weaveData, ec);
  cout << "ec: " << ec.value() << ", " << ec.message() << endl;

  auto data = arcWeld().getWeaveData("default", ec);
  cout << "ec: " << ec.value() << ", " << ec.message() << endl;
  cout << "default" << endl;
  printWeaveData(data);

  // 自定义参数
  ArcWelding::WeaveData weaveData2 = {
    "example_weavedata", "example_annotation", "cycle", "sine", 1, {2, 2}, "weave_stop", {10, 0, 20}, 5, true, "v_pattern", {0, 0}, 0, 1, 10};
  arcWeld().setWeaveData(weaveData2, ec);
  cout << "ec: " << ec.value() << ", " << ec.message() << endl;

  data = arcWeld().getWeaveData(weaveData2.name, ec);
  cout << "ec: " << ec.value() << ", " << ec.message() << endl;

  cout << "example_weavedata" << endl;
  printWeaveData(data);

  // 删除参数
  arcWeld().removeWeaveData("default", ec);
  data = arcWeld().getWeaveData("default", ec);
  cout << "ec: " << ec.value() << ", " << ec.message() << endl; // -272

  // 批量删除
  weaveData.name = "remove1";
  arcWeld().setWeaveData(weaveData, ec);
  weaveData.name = "remove2";
  arcWeld().setWeaveData(weaveData, ec);
  arcWeld().removeWeaveData(std::vector<std::string>({"remove1", "remove2"}), ec);
  data = arcWeld().getWeaveData("remove1", ec);
  cout << "ec: " << ec.value() << ", " << ec.message() << endl; // -272
  data = arcWeld().getWeaveData("remove2", ec);
  cout << "ec: " << ec.value() << ", " << ec.message() << endl; // -272

  // 可以对hmi工艺包的参数进行修改
  data = arcWeld().getWeaveData("weavedata1", ec);
  cout << "ec: " << ec.value() << ", " << ec.message() << endl;
  printWeaveData(data);

  weaveData.name = "weavedata1";
  arcWeld().setWeaveData(weaveData, ec);
  data = arcWeld().getWeaveData("weavedata1", ec);
  cout << "ec: " << ec.value() << ", " << ec.message() << endl;
  printWeaveData(data);

  arcWeld().removeWeaveData("weavedata1", ec);
  data = arcWeld().getWeaveData("weavedata1", ec);
  cout << "ec: " << ec.value() << ", " << ec.message() << endl; // -272
}

// 读写间断焊参数
void setSegData(){
  cout << "enter setSegData" << endl;
  error_code ec;
  ArcWelding::SegData segdata{"segdata1","segannotation","normal","v10",10,20};
  arcWeld().setSegData(segdata, ec);
  cout << "ec: " << ec.value() << ", " << ec.message() << endl;

  auto data = arcWeld().getSegData("segdata1", ec);
  cout << "ec: " << ec.value() << ", " << ec.message() << endl;
  cout << "name: " << data.name << "\n"
       << "annotation: " << data.annotation << "\n"
       << "seg_type: " << data.seg_type << "\n"
       << "non_welded_speed: " << data.non_welded_speed << "\n"
       << "welded_distance: " << data.welded_distance << "\n"
       << "non_welded_distance: " << data.non_welded_distance << endl;

  // 删除参数
  arcWeld().removeSegData("segdata1", ec);
  data = arcWeld().getSegData("segdata1", ec);
  cout << "ec: " << ec.value() << ", " << ec.message() << endl; // -272

  // 批量删除
  segdata.name = "segdata2";
  arcWeld().setSegData(segdata, ec);
  segdata.name = "segdata3";
  arcWeld().setSegData(segdata, ec);
  arcWeld().removeSegData(std::vector<std::string>({"segdata2","segdata3"}), ec);
  data = arcWeld().getSegData("segdata2", ec);
  cout << "ec: " << ec.value() << ", " << ec.message() << endl; // -272
}

Common APIs and Types

Named process-data APIs grouped by set / get / remove (signatures and overloads: API Description, Appendix: Methods).

• Arc on / arc weld / arc off / weave / stitch
  setArcOnData / getArcOnData / removeArcOnData setArcData / getArcData / removeArcData, enableArcData
setArcOffData / getArcOffData / removeArcOffData
setWeaveData / getWeaveData / removeWeaveData
setSegData / getSegData / removeSegData
setWeaveAdaptiveData / getWeaveAdaptiveData

• Multi-pass / multi-layer
  setLayerData / getLayerData / removeLayerData
setLayerCout, MpmlPathCheck, GetLayerStartPoint

• Laser track / laser search (named parameters)
  setLaserTrackData / getLaserTrackData / removeLaserTrackData
setLaserSearchData / getLaserSearchData / removeLaserSearchData

• Arc tracking (named parameters)
  setArcTrackParam / getArcTrackParam / removeArcTrackParam

• Current / voltage characteristic curves (named curve data)
  setCurrentCharacteristicCurveData / getCurrentCharacteristicCurveData
setVoltageCharacteristicCurveData / getVoltageCharacteristicCurveData
calculateCurrentCurve, calculateVoltageCurve (compute only; not persisted)

Notes

When reading by name and the parameter does not exist, the controller may return a defined error code (e.g. -272); handle this in application logic.

Scenario 5: Welding Mode Selection and Manual / Auto Behavior

Applicable Scenarios You need dry run to verify the path, simulation to verify cycle and weave, or real welding with arc, and you need to understand differences under teach pendant manual step, manual continuous, and automatic (arc or not, speed slider, stitch, weave, arc tracking, etc.).

Objective The active weld mode matches the line phase (commissioning → simulation → production).

Recommended Steps

1. Call setWeldMode to switch among WeldMode::TestRun (dry run), Simu (simulation), and Real (live welding).
2. Confirm with getWeldMode.
3. Together with how the teach pendant is run on site, use the table below for expected behavior (aligned with the process package).

Sample Code

// 读写焊接模式
void setWeldMode()
{
  cout << "enter setWeldMode" << endl;
  error_code ec;
  // 切换为空运行模式
  arcWeld().setWeldMode(ArcWelding::WeldMode::TestRun, ec);
  cout << "ec: " << ec.value() << ", " << ec.message() << endl;
  auto mode = arcWeld().getWeldMode(ec); // 读取当前模式
  cout << "mode: " << mode << endl;
  cout << "ec: " << ec.value() << ", " << ec.message() << endl;

  // 切换为仿真模式
  arcWeld().setWeldMode(ArcWelding::WeldMode::Simu, ec);
  cout << "ec: " << ec.value() << ", " << ec.message() << endl;
  mode = arcWeld().getWeldMode(ec);
  cout << "mode: " << mode << endl;
  cout << "ec: " << ec.value() << ", " << ec.message() << endl;

  // 切换为实焊模式
  arcWeld().setWeldMode(ArcWelding::WeldMode::Real, ec);
  cout << "ec: " << ec.value() << ", " << ec.message() << endl;
  mode = arcWeld().getWeldMode(ec);
  cout << "mode: " << mode << endl;
  cout << "ec: " << ec.value() << ", " << ec.message() << endl;
}

Welding Mode vs. Run Mode (Illustration)

Common APIs and Types

setWeldMode, getWeldMode, ArcWelding::WeldMode

Notes

Scenario 6: Typical Seam — Arc On → Linear/Arc Weld → Arc Off

Applicable Scenarios The most common straight or arc seam: under non-real-time command mode, enqueue ordinary motions and arc-welding commands in order into one queue and start it.

Objective The robot runs in order: approach (optional) → arc-on and weld parameters apply → weld path with or without weave → arc-off.

Recommended Steps

1. Enable the welder first (Scenario 1).
2. setMotionControlMode(NrtCommand, ec).
3. Ensure the welder is configured and connectToWelder (as in Scenario 1).
4. Build ArcOnCommand and bind the downloaded arc-on and arc weld parameter names (e.g. same names as on the teach pendant).
5. Build weld segments: WMoveLCommand / WMoveCCommand, etc.
6. Build ArcOffCommand and bind the arc-off parameter name.
7. Call moveAppend multiple times with the same queue id in order; after power-on, moveStart runs the queue.
8. For pause / resume, use stop and moveStart again (see motion control documentation).

Sample Code

// 指令示例
void exampleCommand()
{
  cout << "enter exampleCommand" << endl;
  error_code ec;

  ArcWelding::ArcOnCommand arcon;
  arcon.setArcOnData("default", ec);
  cout << "ec: " << ec.value() << ", " << ec.message() << endl;

  arcon.setArcData("default", ec);
  cout << "ec: " << ec.value() << ", " << ec.message() << endl;

  ArcWelding::ArcOffCommand arcoff;
  arcoff.setArcOffData("default", ec);
  cout << "ec: " << ec.value() << ", " << ec.message() << endl;

  ArcWelding::WMoveLCommand wml({0.556769, -0.15, 0.4872, -M_PI, 0, M_PI}, 10, 1); // 直线摆动
  cout << "ec: " << ec.value() << ", " << ec.message() << endl;

  MoveLCommand ml({0.556769, -0.15, 0.4872, -M_PI, 0, M_PI}, 10, 1); // 直线

  ArcWelding::WMoveCCommand wmc({0.786, 0, 0.431, 3, 0.98, 3}, {0.786, 0, 0.431, 3, 0.98, 3}, 10, 1); // 圆弧摆动

  robot.setMotionControlMode(MotionControlMode::NrtCommand, ec);
  string id;

  robot.moveAppend(arcon, id, ec);
  cout << "ec: " << ec.value() << ", " << ec.message() << endl;

  robot.moveAppend(wml, id, ec);
  cout << "ec: " << ec.value() << ", " << ec.message() << endl;

  robot.moveAppend(arcoff, id, ec);
  cout << "ec: " << ec.value() << ", " << ec.message() << endl;

  robot.setPowerState(true,ec);

  robot.moveStart(ec);
  cout << "ec: " << ec.value() << ", " << ec.message() << endl;

  std::this_thread::sleep_for(std::chrono::seconds(1));
  robot.stop(ec); // 暂停
  cout << "ec: " << ec.value() << ", " << ec.message() << endl;

  robot.moveStart(ec);// 继续
  cout << "ec: " << ec.value() << ", " << ec.message() << endl;
}

Common APIs and Types

ArcOnCommand, ArcOffCommand, WMoveLCommand, WMoveCCommand, moveAppend, moveStart, MoveLCommand

Notes

Waypoints, speed, and Conf must suit this robot model.
moveStart() is non-blocking; avoid exiting the program immediately.
You must use ordinary MoveCommand moves before arcon and arcoff; between them you must use WMoveCommand.
When calling moveAppend(arcon, id, ec), ensure the controller has already stored the arc-on and arc weld parameters referenced by arcon; do not call setArcOnData on the line just above or adjacent to this call to save data, or controller latency may cause errors.
For fly arc start (pre-arc time in ArcOnData non-zero), add a MoveLCommand before arcon.

Scenario 7: Change Process Parameters During Welding with arc_set_opt (ArcSet)

Applicable Scenarios On a seam after arc start, you want one straight or arc segment to switch to another arcdata set without extinguishing the arc or splitting the program.

Objective On queued WMoveLCommand / WMoveCCommand weld moves, use arc_set_opt to specify the weld parameter name to switch to.

Recommended Steps

1. Use setArcData ahead of time to maintain multiple named process sets (e.g. arcdata1, arcdata2).
2. For straight segments use WMoveLCommand; for arc segments use WMoveCCommand, and set arc_set_opt on the command object.

Sample Code

/**
 * @brief 示例 - 焊接过程中设置焊接参数。点位适用机型XMS5
 */
void arcSetExample() {
  std::string cmd_id;
  error_code ec;
  ArcWelding::ArcOnCommand arc_on_command("arcondata1", "arcdata1");
  ArcWelding::ArcOffCommand arc_off_command("arcoffdata1");
  MoveAbsJCommand absj {{0, M_PI / 6, -M_PI_2, 0, -M_PI / 3, 0}, 1000};
  MoveLCommand l {{0.614, 0.136, 0.389, -M_PI, 0, M_PI }, 500};
  ArcWelding::WMoveLCommand wmovel1 {{0.553, -0.107, 0.309, -M_PI, 0, M_PI}, 20};
  ArcWelding::WMoveLCommand wmovel2 {{0.553, 0.107, 0.309, -M_PI, 0, M_PI}, 20};
  wmovel2.arc_set_opt = { "arcdata2", true, 80 };

  robot.setPowerState(true, ec);

  robot.moveAppend(absj, cmd_id, ec);
  robot.moveAppend(l, cmd_id, ec);
  robot.moveAppend(arc_on_command, cmd_id, ec);
  robot.moveAppend({wmovel1, wmovel2}, cmd_id, ec);
  robot.moveAppend(arc_off_command, cmd_id, ec);
  robot.moveStart(ec);
  while(getchar() != '\n');

  robot.setPowerState(false, ec);
}

Common APIs and Types

WMoveLCommand::arc_set_opt, WMoveCCommand::arc_set_opt, setArcData

Scenario 8: Linear / Arc Weaving Welding

Applicable Scenarios Fillet or vertical-corner seams need weave overlaid on a straight or arc segment; the process package resolves amplitude and frequency from the weave data name.

Objective Weave data is downloaded and bound to weld motions; use WeaveOnCommand / WeaveOffCommand to span multiple segments.

Recommended Steps

1. Use setWeaveData to store the weave process name (e.g. weavedata1).
2. Create WeaveOnCommand and WeaveOffCommand.
3. Straight: build WMoveLCommand, then call setWeaveData("…", ec), or use a constructor overload that takes the weave index (per SDK).
4. Arc: build WMoveCCommand and call setWeaveData similarly; auxiliary point, target, and speed must meet robot and process-package limits.
5. Typical sequence: ArcOnCommand → WeaveOnCommand → one or more WMoveL / WMoveC → WeaveOffCommand → ArcOffCommand.

Sample Code

void weaveOnExample() {
  error_code ec;

  ArcWelding::ArcOnCommand arcon;
  arcon.setArcOnData("default", ec);
  cout << "ec: " << ec.value() << ", " << ec.message() << endl;

  arcon.setArcData("default", ec);
  cout << "ec: " << ec.value() << ", " << ec.message() << endl;

  ArcWelding::ArcOffCommand arcoff;
  arcoff.setArcOffData("default", ec);
  cout << "ec: " << ec.value() << ", " << ec.message() << endl;

  ArcWelding::WMoveLCommand wml({0.556769, -0.15, 0.4872, -M_PI, 0, M_PI}, 10, 1); // 直线摆动
  wml.setWeaveData("default", ec);
  cout << "ec: " << ec.value() << ", " << ec.message() << endl;
  cout << "wml: " << wml.getWeaveData() << endl;

  ArcWelding::WeaveOnCommand weaveon;
  weaveon.setWeaveData("aaa", ec);
 
  ArcWelding::WeaveOffCommand weaveoff;

  robot.setMotionControlMode(MotionControlMode::NrtCommand, ec);
  string id;

  robot.moveAppend(arcon, id, ec);
  cout << "ec: " << ec.value() << ", " << ec.message() << endl;

  robot.moveAppend(weaveon, id, ec);
  cout << "ec: " << ec.value() << ", " << ec.message() << endl;

  robot.moveAppend(wml, id, ec);
  cout << "ec: " << ec.value() << ", " << ec.message() << endl;

  robot.moveAppend(weaveoff, id, ec);
  cout << "ec: " << ec.value() << ", " << ec.message() << endl;

  robot.moveAppend(arcoff, id, ec);
  cout << "ec: " << ec.value() << ", " << ec.message() << endl;

  robot.setPowerState(true,ec);

  robot.moveStart(ec);
  cout << "ec: " << ec.value() << ", " << ec.message() << endl;

  std::this_thread::sleep_for(std::chrono::seconds(1));
  robot.stop(ec); // 暂停
  cout << "ec: " << ec.value() << ", " << ec.message() << endl;

  robot.moveStart(ec);// 继续
  cout << "ec: " << ec.value() << ", " << ec.message() << endl;
}

Common APIs and Types

setWeaveData, WMoveLCommand, WMoveCCommand, WeaveOnCommand, WeaveOffCommand

Notes

1. Motions that must weave must lie between WeaveOnCommand and WeaveOffCommand; setting weave parameters only on WMoveLCommand / WMoveCCommand alone has no effect.
2. Segments between WeaveOnCommand and WeaveOffCommand that omit weave parameters still run using the weave parameters from WeaveOnCommand by default.

Scenario 9: Linear / Arc Segmented Welding

Applicable Scenarios Only part of the path needs a “weld—pause—weld” rhythm; weave is not required, or weave is handled on other segments separately.

Objective Between SegOnCommand and SegOffCommand, WMoveL / WMoveC follow the intermittent rhythm in SegData; outside that window the weld is continuous or ordinary weld motion.

Recommended Steps

1. Use setSegData to store the stitch (intermittent) weld parameter name (e.g. segdata1).
2. Queue: ArcOnCommand → (optional dry moves or non-stitch segments) → SegOnCommand("segdata1") → one or more straight/arc weld moves → SegOffCommand → further continuous weld or arc-off.

Sample Code

// 间断焊。适用CR机型，SR机型需要调整偏移量
void segOnExample(){
  error_code ec;

  // 根据起始轴角度，计算笛卡尔位姿
  auto model = robot.model();
  std::array<double, 6> drag_posture = {0, M_PI / 6, -M_PI_2, 0, -M_PI / 3, 0};
  auto p_start = model.calcFk(drag_posture, ec);
  print(std::cout, "start pose: ", p_start);

  // 设置间断焊参数
  ArcWelding::SegData segdata {"segdata1", "segannotation", "normal","v5",15,30};
  arcWeld().setSegData(segdata, ec);
  // 开始间断焊指令，设置间断焊参数为segdata1
  ArcWelding::SegOnCommand segOnCmd("segdata1");
  ArcWelding::SegOffCommand segOffCmd;
  // 几条焊接运动指令
  ArcWelding::WMoveLCommand non_seg_wmovel0(p_start, 20, 0);
  non_seg_wmovel0.offset.type = CartesianPosition::Offset::Type::offs;
  non_seg_wmovel0.offset.frame.trans = {0.01, 0.03, -0.02};
  ArcWelding::WMoveLCommand seg_wmovel0(p_start, 20, 0);
  seg_wmovel0.offset.type = CartesianPosition::Offset::Type::offs;
  seg_wmovel0.offset.frame.trans = {0, -0.01, -0.02};
  seg_wmovel0.arc_set_opt = { "arcdata2", true, 0 };
  ArcWelding::WMoveLCommand seg_wmovel1(p_start, 20, 0);
  seg_wmovel1.offset.type = CartesianPosition::Offset::Type::offs;
  seg_wmovel1.offset.frame.trans = {0, 0.08, -0.02};
  seg_wmovel1.arc_set_opt = { "arcdata3", true, 0 };
  ArcWelding::WMoveCCommand seg_wmc(p_start, p_start, 10, 0);
  seg_wmc.targetOffset.type = CartesianPosition::Offset::Type::offs;
  seg_wmc.targetOffset.frame.trans = {0, -0.05, 0.01};
  seg_wmc.auxOffset.type = CartesianPosition::Offset::Type::offs;
  seg_wmc.auxOffset.frame.trans = {0, 0.070, 0};

  ArcWelding::WMoveLCommand non_seg_wmovel1(p_start, 20, 1);
  non_seg_wmovel1.offset.type = CartesianPosition::Offset::Type::offs;
  non_seg_wmovel1.offset.frame.trans = {-0.05, 0, 0};
  non_seg_wmovel1.arc_set_opt = { "arcdata1", true, 0 };

  ArcWelding::ArcOnCommand arcOnCmd("arcondata1", "arcdata1");
  ArcWelding::ArcOffCommand arcOffCmd("arcoffdata1");
  MoveAbsJCommand absj {{0, M_PI / 6, -M_PI_2, 0, -M_PI / 3, 0}, 500};

  string id;

  robot.setPowerState(true, ec);
  robot.moveAppend(absj, id, ec);
  robot.moveAppend(arcOnCmd, id, ec);
  robot.moveAppend({non_seg_wmovel0}, id, ec);
  robot.moveAppend(segOnCmd, id, ec);
  robot.moveAppend({seg_wmovel0, seg_wmovel1}, id, ec);
  robot.moveAppend(seg_wmc, id, ec);
  robot.moveAppend(segOffCmd, id, ec);
  robot.moveAppend(non_seg_wmovel1, id, ec);
  robot.moveAppend(arcOffCmd, id, ec);
  robot.moveStart(ec);

  while(getchar() != '\n');
}

Common APIs and Types

setSegData, SegOnCommand, SegOffCommand, WMoveLCommand, WMoveCCommand

Scenario 10: Linear / Arc Segmented Welding with Weaving

Applicable Scenarios Intermittent rhythm and weave apply to the same arc interval.

Objective The WeaveOn span and the SegOn–SegOff window are ordered correctly in the queue, and arc_set_opt, offsets, etc. on each WMoveL / WMoveC match field calibration.

Recommended Steps

1. Complete both setWeaveData and setSegData.
2. Typical order (see segOnExample): ArcOnCommand → WeaveOnCommand → optional non-stitch transition WMoveL → SegOnCommand → multiple WMoveL / WMoveC inside the stitch window → SegOffCommand → further motion → WeaveOffCommand → ArcOffCommand.
3. If stitch and continuous segments use different process data, set arc_set_opt on the corresponding commands.
4. For arc segments, configure target and auxiliary offsets like the sample on the command’s offset / targetOffset members (see SDK headers).

Sample Code

/**
 * @brief 示例 - 间断焊。适用CR机型，SR机型需要调整偏移量
 */
void segOnExample(){
  error_code ec;

  // 根据起始轴角度，计算笛卡尔位姿
  auto model = robot.model();
  std::array<double, 6> drag_posture = {0, M_PI / 6, -M_PI_2, 0, -M_PI / 3, 0};
  auto p_start = model.calcFk(drag_posture, ec);
  print(std::cout, "start pose: ", p_start);

  // 设置间断焊参数
  ArcWelding::SegData segdata {"segdata1", "segannotation", "normal","v5",15,30};
  arcWeld().setSegData(segdata, ec);
  // 开始间断焊指令，设置间断焊参数为segdata1
  ArcWelding::SegOnCommand segOnCmd("segdata1");
  ArcWelding::SegOffCommand segOffCmd;
  // 几条焊接运动指令
  ArcWelding::WMoveLCommand non_seg_wmovel0(p_start, 20, 0);
  non_seg_wmovel0.offset.type = CartesianPosition::Offset::Type::offs;
  non_seg_wmovel0.offset.frame.trans = {0.01, 0.03, -0.02};
  ArcWelding::WMoveLCommand seg_wmovel0(p_start, 20, 0);
  seg_wmovel0.offset.type = CartesianPosition::Offset::Type::offs;
  seg_wmovel0.offset.frame.trans = {0, -0.01, -0.02};
  seg_wmovel0.arc_set_opt = { "arcdata2", true, 0 };
  ArcWelding::WMoveLCommand seg_wmovel1(p_start, 20, 0);
  seg_wmovel1.offset.type = CartesianPosition::Offset::Type::offs;
  seg_wmovel1.offset.frame.trans = {0, 0.08, -0.02};
  seg_wmovel1.arc_set_opt = { "arcdata3", true, 0 };
  ArcWelding::WMoveCCommand seg_wmc(p_start, p_start, 10, 0);
  seg_wmc.targetOffset.type = CartesianPosition::Offset::Type::offs;
  seg_wmc.targetOffset.frame.trans = {0, -0.05, 0.01};
  seg_wmc.auxOffset.type = CartesianPosition::Offset::Type::offs;
  seg_wmc.auxOffset.frame.trans = {0, 0.070, 0};

  ArcWelding::WMoveLCommand non_seg_wmovel1(p_start, 20, 1);
  non_seg_wmovel1.offset.type = CartesianPosition::Offset::Type::offs;
  non_seg_wmovel1.offset.frame.trans = {-0.05, 0, 0};
  non_seg_wmovel1.arc_set_opt = { "arcdata1", true, 0 };

  ArcWelding::ArcOnCommand arcOnCmd("arcondata1", "arcdata1");
  ArcWelding::ArcOffCommand arcOffCmd("arcoffdata1");
  MoveAbsJCommand absj {{0, M_PI / 6, -M_PI_2, 0, -M_PI / 3, 0}, 500};
  ArcWelding::WeaveOnCommand weave_on_command("weavedata1");
  ArcWelding::WeaveOffCommand weaveOffCmd;

  string id;

  robot.setPowerState(true, ec);
  robot.moveAppend(absj, id, ec);
  robot.moveAppend(arcOnCmd, id, ec);
  robot.moveAppend(weave_on_command, id, ec);
  robot.moveAppend({non_seg_wmovel0}, id, ec);
  robot.moveAppend(segOnCmd, id, ec);
  robot.moveAppend({seg_wmovel0, seg_wmovel1}, id, ec);
  robot.moveAppend(seg_wmc, id, ec);
  robot.moveAppend(segOffCmd, id, ec);
  robot.moveAppend(non_seg_wmovel1, id, ec);
  robot.moveAppend(weaveOffCmd, id, ec);
  robot.moveAppend(arcOffCmd, id, ec);
  robot.moveStart(ec);

  while(getchar() != '\n');
}

Common APIs and Types

Combine the types listed in Scenario 8 and Scenario 9.

Notes

Wrong ordering may prevent weave or stitch from taking effect; always verify in simulation or dry run before live welding.

Scenario 11: Pendulum Path Welding

Applicable Scenarios Seam geometry is defined as a pendulum path (dedicated pendulum motion command).

Objective Correctly set start, auxiliary, target, and speed on WMoveLPendulumCommand; use arc_set_opt on the member when switching process data.

Recommended Steps

1. Fill in each point of WMoveLPendulumCommand per process package and teach data (as in arcSetPendulumExample).
2. Combine with ArcOnCommand / ArcOffCommand like ordinary weld moves: enqueue under non-real-time mode, then moveStart.
3. If the same program also uses ordinary weave, distinguish from Scenario 8: pendulum is a separate motion type; do not usually wrap the same pendulum segment with WeaveOn (per process package).

Sample Code

/**
 * @brief 示例 - 焊接钟摆过程中设置焊接参数。
 */
void arcSetPendulumExample() {
    std::string cmd_id;
    error_code ec;
    // 设置起弧/收弧
    ArcWelding::ArcData arcData;
    arcData.name = "arcdata1";
    arcWeld().setArcData(arcData, ec);

    arcData.name = "arcdata2";
    arcData.current = 20;
    arcData.voltage = 15;
    arcWeld().setArcData(arcData, ec);

    arcData.name = "arcdata3";
    arcData.current = 100;
    arcData.voltage = 20;
    arcData.weld_speed = 15;
    arcWeld().setArcData(arcData, ec);

    ArcWelding::ArcOnData arconData;
    arconData.name = "arcondata1";
    arcWeld().setArcOnData(arconData, ec);

    ArcWelding::ArcOffData arcOffData;
    arcOffData.name = "arcoffdata1";
    arcWeld().setArcOffData(arcOffData, ec);

    // 设置摆动
    ArcWelding::WeaveData weaveData;
    weaveData.weave_length_frequency = 3.5;
    weaveData.amplitude.left = 6;
    weaveData.amplitude.right = 4.5;
    arcWeld().setWeaveData(weaveData, ec);

    ArcWelding::ArcOnCommand arc_on_command("arcondata1", "arcdata1");
    ArcWelding::ArcOffCommand arc_off_command("arcoffdata1");

    MoveAbsJCommand absj{ {0.168,0.369, -0.883,-0.210,-0.637,-0.137}, 1000 };
    // 使用栈上对象而不是堆上对象，避免内存泄漏
    CartesianPosition start1{ 0.68015, -0.077702, 0.777555, -2.319, 1.112, -2.228 };
    CartesianPosition startAux1{ 0.672849, -0.0777043, 0.777555,   -2.319, 1.112, -2.228 };
    CartesianPosition targetAux1{ 0.647849, -0.0943, 0.750882,   -2.319, 1.112, -2.228 };
    CartesianPosition target1{ 0.647849, -0.09473, 0.747882,   -2.319, 1.112, -2.228 };

    CartesianPosition targetAux2{ 0.437346, -0.2597, 0.793403,   -2.319, 1.112, -2.228 };
    CartesianPosition target2{ 0.435346, -0.2597, 0.796403,   -2.319, 1.112, -2.228 };

    CartesianPosition targetAux3{ 0.6117849, -0.14534, 0.666882,   -2.319, 1.112, -2.228 };
    CartesianPosition target3{ 0.599849, -0.14574, 0.667882,   -2.319, 1.112, -2.228 };

    MoveLCommand l{ start1, 500 };
    // 钟摆
    ArcWelding::WMoveLPendulumCommand wp1{ startAux1, target1, targetAux1, 20, 0.5, 100, 2 };

    ArcWelding::WMoveLPendulumCommand wp2{ NULL, target2, targetAux2, 20, 3, 234, 1 };
    wp2.arc_set_opt = { "arcdata2", true, 0 };

    ArcWelding::WMoveLPendulumCommand wp3{ NULL, target3, targetAux3, USE_DEFAULT, 3.1, 4, 5 };
    wp3.arc_set_opt = { "arcdata3", true, 0 };

    robot.setPowerState(true, ec);
    robot.moveAppend(absj, cmd_id, ec);
    robot.moveAppend(l, cmd_id, ec);
    robot.moveAppend(arc_on_command, cmd_id, ec);
    robot.moveAppend(wp1, cmd_id, ec);
    robot.moveAppend(wp2, cmd_id, ec);
    robot.moveAppend(wp3, cmd_id, ec);
    robot.moveAppend(arc_off_command, cmd_id, ec);
    robot.moveStart(ec);
    while (getchar() != '\n');

    robot.setPowerState(false, ec);
}

Common APIs and Types

WMoveLPendulumCommand, WMoveLCommand::arc_set_opt

Scenario 12: Arc Tracking

Applicable Scenarios During welding you need arc sensing to correct lateral or height direction.

Objective Bind selected path segments to a given ArcTrackParam set; segments without a track name do not track.

Recommended Steps

1. Download the tracking parameter name with setArcTrackParam (e.g. arctrackdata1).
2. Pass the tracking data name in overloads of WMoveLCommand that include the weave name; for arcs, use the equivalent overload if provided (see headers).
3. Typical queue: ArcOnCommand → WeaveOnCommand → multiple tracked weld moves → WeaveOffCommand → ArcOffCommand.
4. Wait for motion to finish and arc-off to complete (optionally combine with Scenario 18 event subscription).

Sample Code

/**
 * @brief 示例 - 电弧跟踪，点位适配机型NB4h-R580-XX
 */
void arcTrackExample() {
  error_code ec;
  //设置电弧跟踪参数
  ArcWelding::ArcTrackParam param;
  param.name = "arctrackdata1";
  param.annotation = "test1";
  param.delay_time = 5;//其他的值类似设置就行，这里直接使用默认值
  arcWeld().setArcTrackParam(param,ec);

  //获取对应的电弧跟踪参数
  auto param_get = arcWeld().getArcTrackParam(param.name, ec);
  std::cout << "name: " << param_get.name << " annotation: " << param_get.annotation << " delay_time: " << param_get.delay_time << std::endl;

  //本例验证时运行于NB4h-R580-3B(注意点位匹配)
  auto p0 = { 0.357487, 0.000633967, 0.222628, 3.0, 0.0685018, 3.12448 };
  auto p1 = { 0.357487, 0.143835, 0.222628, 3.13197, 0.0685018, 3.12448 };
  auto p2 = { 0.456268, 0.000634313, 0.222628, 3.13197, 0.0685026, 3.12448 };
  auto p3 = { 0.456268, 0.143835, 0.222628, 3.13197, 0.0685024, 3.12448 };
  auto p4 = { 0.456268, -0.103198, 0.222628, 3.13197, 0.068502, 3.12448 };

  ArcWelding::ArcOnCommand arcon("arcondata1", "arcdata1");
  ArcWelding::ArcOffCommand arcoff("arcoffdata1");
  MoveJCommand mj(p0, 100, 1);
  // 第一条，开启电弧跟踪，用跟踪参数arctrackdata1
  ArcWelding::WMoveLCommand wml1(p1, 20, 1, "weavedata1", "arctrackdata1");
  // 第二条，开启电弧跟踪，用跟踪参数arctrackdata2
  ArcWelding::WMoveLCommand wml2(p2, 20, 1, "weavedata1", "arctrackdata2");
  // 第三条，电弧跟踪参数为空，不跟踪
  ArcWelding::WMoveLCommand wml3(p3, 20, 1, "weavedata1");
  // 第四条和第五条，开启电弧跟踪，用跟踪参数arctrackdata2
  ArcWelding::WMoveLCommand wml4(p4, 20, 1, "weavedata1", "arctrackdata2");
  ArcWelding::WMoveLCommand wml5(p3, 20, 1, "weavedata1", "arctrackdata2");
  // 第六条，不跟踪
  ArcWelding::WMoveLCommand wml6(p2, 20, 1, "weavedata1"); // 直线摆动
  ArcWelding::WeaveOnCommand weaveon("weavedata1");
  ArcWelding::WeaveOffCommand weaveoff;
  auto wmove_list = {wml1, wml2, wml3, wml4, wml5, wml6};

  string id, move_id;
  robot.setPowerState(true, ec);
  robot.moveAppend(mj, move_id, ec);
  robot.moveAppend(arcon, id, ec); if(ec) std::cout << __LINE__ << ":" << ec.message() << std::endl;
  robot.moveAppend(weaveon, id, ec); if(ec) std::cout << __LINE__ << ":" << ec.message() << std::endl;
  robot.moveAppend(wmove_list, move_id, ec); if(ec) std::cout << __LINE__ << ":" << ec.message() << std::endl;
  robot.moveAppend(weaveoff, id, ec); if(ec) std::cout << __LINE__ << ":" << ec.message() << std::endl;
  robot.moveAppend(arcoff, id, ec); if(ec) std::cout << __LINE__ << ":" << ec.message() << std::endl;
  robot.moveStart(ec); if(ec) std::cout << __LINE__ << ":" << ec.message() << std::endl;

  waitForFinish(robot, move_id, (int)wmove_list.size() - 1);
  while(-1 != std::any_cast<int>(robot.queryEventInfo(Event::arcWeldState, ec).at(EventInfoKey::ArcWeldState::ArcWelding))) {
    // waiting for arc off
    std::this_thread::sleep_for(std::chrono::milliseconds (10));
  }
  print(std::cout, "Finish running");
}

Common APIs and Types

setArcTrackParam, getArcTrackParam, WMoveLCommand (overloads with tracking parameters), ArcOnCommand, WeaveOnCommand, WeaveOffCommand, ArcOffCommand

Notes

Tracking quality depends on the welder, wire, current waveform, and robot model; re-teach waypoints on this robot.
Arc tracking must be used together with weave enabled.

Scenario 13: Laser Search

Applicable Scenarios Before or during the main welding program, laser measurement is needed to obtain pose corrections for the seam or feature points.

Objective LaserSearchData is downloaded; executeLaserSearch returns within the agreed timeout; hand-eye data names match those referenced in the command.

Recommended Steps

1. Basic setup for sensor networking, hand-eye relationship, and device connection is in Scenario 14 (LaserSensorCfg, setHandeyeData, connLaserSensorDev, etc.).
2. Use setLaserSearchData to maintain the search process name and fields per the process package.
3. Build LaserSearchCommand (hand-eye name, search data name, search pose, speed, etc.) and call executeLaserSearch; the application must guarantee sync/async behavior, timeout, and thread safety.

Sample Code

void LaserSearchExample() {
  // 保存手眼标定参数
  ArcWelding::HandeyeData handeyedata0;
  handeyedata0.mode = true;
  handeyedata0.xyz_abc = {29.456, -14.151, 70.047, 4.5006 / 180.0 * M_PI, 4.0438 / 180.0 * M_PI, -97.358 / 180.0 * M_PI};
  handeyedata0.name = "laserhandeyedata1";
  error_code ec;
  arcWeld().setHandeyeData(handeyedata0, ec);
  cout << "ec: " << ec.value() << ", " << ec.message() << endl;
  // 保存寻位参数
  ArcWelding::LaserSearchData laserSearchData{"lasersearchdata1", 2, "point", "continuous", 3, "lap_joint"};
  arcWeld().setLaserSearchData(laserSearchData, ec);
  cout << "ec: " << ec.value() << ", " << ec.message() << endl;

  CartesianPosition laserSearchPos;
  laserSearchPos.rpy = {3.14, 0, 3.14};
  laserSearchPos.trans ={0.563,0.3,0.43};
  ArcWelding::LaserSearchCommand laserSearchCmd("laserhandeyedata1","lasersearchdata1",laserSearchPos, 10, 0);
  bool isFound;
  CartesianPosition pos;
  std::tuple<bool, rokae::CartesianPosition> ret;
  // 示例中选择同步等待寻位结果，设置超时时间为 30 秒。可根据轨迹速度和长度来设置超时时间。
  std::chrono::seconds timeout(30);
  // 一、单独运动
  // 使用 std::async 启动一个线程执行 executeLaserSearch
  auto future = std::async(std::launch::async,
                           [laserSearchCmd, timeout]() {
                             error_code _ec;
                             auto r = arcWeld().executeLaserSearch(laserSearchCmd, false, timeout, _ec);
                             cout << "executeLaserSearch ec: " << _ec.value() << ", " << _ec.message() << endl;
                             return r;
                           });
  // 主线程执行 moveStart
  std::this_thread::sleep_for(std::chrono::seconds(1)); // 注意处理异步之间的顺序，这里用延时代替
  robot.moveStart(ec);
  cout << "ec: " << ec.value() << ", " << ec.message() << endl;
  // 等待异步线程完成
  ret = future.get();
  isFound = std::get<0>(ret);
  pos = std::get<1>(ret);
  std::cout << "isFound: " << isFound << ", pos: ";
  std::copy(pos.trans.begin(), pos.trans.end(), std::ostream_iterator<double>(std::cout, ", "));
  std::cout << "rpy: ";
  std::copy(pos.rpy.begin(), pos.rpy.end(), std::ostream_iterator<double>(std::cout, ", "));
  std::cout << std::endl;

  // 二、寻位并运动
  robot.moveReset(ec);
  ret = arcWeld().executeLaserSearch(laserSearchCmd, true,timeout, ec);
  cout << "ec: " << ec.value() << ", " << ec.message() << endl;
  isFound = std::get<0>(ret);
  pos = std::get<1>(ret);
  std::cout << "isFound: " << isFound << ", pos: ";
  std::copy(pos.trans.begin(), pos.trans.end(), std::ostream_iterator<double>(std::cout, ", "));
  std::cout << "rpy: ";
  std::copy(pos.rpy.begin(), pos.rpy.end(), std::ostream_iterator<double>(std::cout, ", "));
  std::cout << std::endl;
}

Common APIs and Types

setLaserSearchData, LaserSearchCommand, executeLaserSearch, HandeyeData (name referenced in the command)

Scenario 14: Laser Tracking — Sensor Setup, Connection, and Queue Usage

Applicable Scenarios Maintain laser IP, cycle, and type on the host; connect the device; seam tracking.

Objective The device can connect and be monitored; within the tracking segment, LaserTrackOnCommand–LaserTrackOffCommand share the queue with weld motion.

Recommended Steps (Configuration and Connection)

1. Fill LaserSensorCfg, call setLaserSensorCfg; optionally setEventWatcher(Event::lasertrackState, …).
2. connLaserSensorDev / disconnLaserSensorDev; use removeLaserSensorCfg when no longer needed.
3. Hand-eye: setHandeyeData / getHandeyeData; auto calibration: startHandeyeCalibration → calibratePoint → calibrateEnd.
4. Track process name: setLaserTrackData (fields per process package).

Recommended Steps (Seam Tracking Queue)

1. After connecting, openLaserTrack("sensor1", ec).
2. Queue: ArcOnCommand → LaserTrackOnCommand → WMoveL / WMoveC, etc. → LaserTrackOffCommand → ArcOffCommand.
3. closeLaserTrack, then disconnLaserSensorDev as required.

Sample Code

In order, from the same example file: printLaserSensorState, setLaserSensorStateWatcher (registers callbacks for the config sample), LaserSensorSettingExample, LaserTrackCommandExample (uses shared ROKAE_EXE and waitForFinish).

//打印激光跟踪器状态
void printLaserSensorState(const EventInfo& info)
{
  using namespace rokae::EventInfoKey::LaserTrackState;
  print(std::cout, "[激光跟踪器状态信息] 设备名称: ", std::any_cast<std::string>(info.at(DeviceName)),
        " 连接:", std::any_cast<bool>(info.at(Connect)) ? "YES " : "NO ",
        "激光开启:", std::any_cast<bool>(info.at(LaserOn)) ? "YES " : "NO ",
        "使能开启:", std::any_cast<bool>(info.at(PowerOn)) ? "YES " : "NO ");//注意：明图传感器没有使能状态，这里的使能状态无效
}

// 激光跟踪器状态监视
void setLaserSensorStateWatcher()
{
  error_code ec;
  robot.setEventWatcher(rokae::Event::lasertrackState, printLaserSensorState, ec);
  if(ec) {
    print(std::cerr, "Set laser state watcher failed:", ec);
  }
}

/**
 * @brief 示例 - 激光传感器相关设置
 */
void LaserSensorSettingExample() {
  //设置激光跟踪器配置信息
  ArcWelding::LaserSensorCfg cfg;
  cfg.name = "sensor1";
  cfg.ip = "192.168.2.3";
  cfg.port = 502;
  cfg.overtime = 800;
  cfg.communication_cycle = 60;
  cfg.type = ArcWelding::LaserSensorType::CRNT;//创想传感器
  //cfg.type = ArcWelding::LaserSensorType::SMART_IMAGE;//明图传感器
  //cfg.type = ArcWelding::LaserSensorType::INTELLIGENT;//英莱传感器

  error_code ec;
  //发送指令设置AddLaserSensorCfg
  arcWeld().setLaserSensorCfg(cfg, ec);
  if (ec) cout << ec.message()<<std::endl;

  //查询设备配置信息
  ArcWelding::LaserSensorCfg cfg_get = arcWeld().getLaserSensorCfg(cfg.name, ec);
  cout << "name:" << cfg_get.name << "  ip:" << cfg_get.ip << endl;
  if (ec) cout << ec.message() << std::endl;

  //设置传感器状态监控watch
  setLaserSensorStateWatcher();

  //连接激光跟踪器ConnLaserTrack
  arcWeld().connLaserSensorDev(cfg.name, ec);
  if (ec) cout << ec.message() << std::endl;

  //断开连接DisConnLaserTrack
  arcWeld().disconnLaserSensorDev(cfg.name,ec);
  if (ec) cout << ec.message() << std::endl;

  //删除设备配置信息RemoveLaserSensorCfg
  arcWeld().removeLaserSensorCfg(cfg.name, ec);
  if (ec) cout << ec.message() << std::endl;

  //设置手眼标定结果
  ArcWelding::HandeyeData handeyedata0;
  handeyedata0.mode = true; // 使用XYZ_ABC的形式
  handeyedata0.xyz_abc = { 29.456,-14.151,70.047,4.5006 / 180.0 * M_PI,4.0438 / 180.0 * M_PI,-97.358 / 180.0 * M_PI };
  handeyedata0.name = "handeyedata0";
  arcWeld().setHandeyeData(handeyedata0, ec);
  if (ec) cout << ec.message() << std::endl;

  //查询手眼标定结果
  std::string name = "handeyedata0";
  auto handeyedata0_get = arcWeld().getHandeyeData(name, ec);
  if (ec) cout << ec.message() << std::endl;
  cout << "name:" << handeyedata0_get.name << "  xyz_abc:{" << handeyedata0_get.xyz_abc[0] << "," << handeyedata0_get.xyz_abc[2] << ","
       << handeyedata0_get.xyz_abc[2] << "," << handeyedata0_get.xyz_abc[3] << "," << handeyedata0_get.xyz_abc[4] << ","
       << handeyedata0_get.xyz_abc[5] << "}"<< endl;

  //删除手眼标定结果
  arcWeld().removeHandeyeData(name,ec);
  if (ec) cout << ec.message() << std::endl;
}

/**
 * @brief 示例 - 激光跟踪。点位适配机型XMS5
 */
void LaserTrackCommandExample(){
  error_code ec;
  // 设置传感器状态监控
  setLaserSensorStateWatcher();
  // 连接激光器
  arcWeld().connLaserSensorDev("sensor1", ec);
  if (ec) {
    print(std::cerr, "Connected laser sensor failed", ec);
    return;
  }

  ArcWelding::ArcOnCommand  arcOnCmd("arcondata1", "arcdata1");
  ArcWelding::ArcOffCommand arcOffCmd("arcoffdata1");
  ArcWelding::LaserTrackOnCommand laserTrackOnCmd; // 默认手眼标定参数和激光跟踪参数名为"default",参考设置这两个参数的方式设置
  ArcWelding::LaserTrackOffCommand laserTrackOffCmd;
  MoveJCommand movej {{0.614, 0.136, 0.389, -M_PI, 0, M_PI }, 500};
  ArcWelding::WMoveLCommand wmovel1 {{0.553, -0.107, 0.309, -M_PI, 0, M_PI}, 20};
  ArcWelding::WMoveLCommand wmovel2 {{0.553, 0.107, 0.309, -M_PI, 0, M_PI}, 20};
  string id, move_id;
  robot.setOperateMode(rokae::OperateMode::automatic, ec);
  robot.setPowerState(true, ec);
  if(ec) {
    print(std::cerr, "Set power state failed", ec);
    return;
  }

  // 打开激光传感器
  arcWeld().openLaserTrack("sensor1", ec);
  if(ec) {
    print(std::cerr, "Open laser sensor failed", ec);
    return;
  }

  ROKAE_EXE(robot.moveAppend(movej, move_id, ec));
  ROKAE_EXE(robot.moveAppend(arcOnCmd, id, ec));
  ROKAE_EXE(robot.moveAppend(laserTrackOnCmd, id, ec));
  ROKAE_EXE(robot.moveAppend({wmovel1, wmovel2}, move_id, ec));
  ROKAE_EXE(robot.moveAppend(laserTrackOffCmd,id, ec));
  ROKAE_EXE(robot.moveAppend(arcOffCmd, id, ec));
  ROKAE_EXE(robot.moveStart(ec));
  if(ec) return;

  waitForFinish(robot, move_id, 1);
  while(-1 != std::any_cast<int>(robot.queryEventInfo(Event::arcWeldState, ec).at(EventInfoKey::ArcWeldState::ArcWelding))) {
    // waiting for arc off
    std::this_thread::sleep_for(std::chrono::milliseconds (10));
  }

  // 关闭激光传感器
  ROKAE_EXE(arcWeld().closeLaserTrack("sensor1", ec));

  robot.setPowerState(false, ec);
  robot.setOperateMode(rokae::OperateMode::manual, ec);
}

Common APIs and Types

LaserSensorCfg, setLaserSensorCfg, connLaserSensorDev, openLaserTrack, closeLaserTrack, setLaserTrackData, LaserTrackOnCommand, LaserTrackOffCommand, GetLaserPos

Notes

Scenario 15: Multi-Pass Layers and Layer Offsets

Applicable Scenarios The same weld cross-section needs multiple passes, or each layer’s start pose is offset via LayerData.

Objective Layer/pass parameters are downloaded; optionally run reachability checks first, then use OffsetOnCommand / OffsetOffCommand in the motion queue to wrap each layer’s path.

Recommended Steps

1. Use setLayerData to maintain each layer’s name, offsets, auxiliary points, etc.
2. Use MpmlPathCheck on path point groups, motion type list, and layer list to collect unreachable layer names.
3. When needed, GetLayerStartPoint returns a suggested arc-start pose.
4. In the queue, insert OffsetOnCommand(layerName) before the layer path and OffsetOffCommand at layer end.

Sample Code

// 点位适配机型XMC7-R850-B0X1A0
void arcLayerExample() {
  std::string cmd_id;
  error_code ec;

    //设置多层多道参数
    ArcWelding::LayerData layerData1;
    layerData1.name = "layerdata1";
    layerData1.start_offset = 10;
    layerData1.end_offset = 01;
    layerData1.y_offset = 10;
    layerData1.z_offset = -0;
    layerData1.tilt_angle = 0;
    layerData1.travel_angle = 0;
    layerData1.layer_reverse = false;
    layerData1.offset_coord_system = 2;
    layerData1.aux_type = 3;//三点法
    //辅助点坐标值
    layerData1.aux_point_1 = {514, -136, 410};
    layerData1.aux_point_2 = {600, -120, 410};
    layerData1.aux_point_3 = {500, -100, 410};
    arcWeld().setLayerData(layerData1, ec);
    cout << "ec: " << ec.value() << ", " << ec.message() << endl;

    ArcWelding::LayerData layerData2;
    layerData2.name = "layerdata2";
    layerData2.start_offset = 0;
    layerData2.end_offset = 20;
    layerData2.y_offset = 50;
    layerData2.z_offset = -0;
    layerData2.tilt_angle = 0;
    layerData2.travel_angle = 10;
    layerData2.layer_reverse = true;
    layerData2.offset_coord_system = 2;
    layerData2.aux_type = 3;//三点法
    //辅助点坐标值
    layerData2.aux_point_1 = {514, -136, 410};
    layerData2.aux_point_2 = {600, -120, 410};
    layerData2.aux_point_3 = {500, -100, 410};
    arcWeld().setLayerData(layerData2, ec);
    cout << "ec: " << ec.value() << ", " << ec.message() << endl;

    ArcWelding::LayerData layerData3;
    layerData3.name = "layerdata3";
    layerData3.start_offset = 0;
    layerData3.end_offset = 0;
    layerData3.y_offset = 100;
    layerData3.z_offset = -0;
    layerData3.tilt_angle = 10;
    layerData3.travel_angle = 0;
    layerData3.layer_reverse = true;
    layerData3.offset_coord_system = 2;
    layerData3.aux_type = 3;//三点法
    //辅助点坐标值
    layerData3.aux_point_1 = {514, -136, 410};
    layerData3.aux_point_2 = {600, -120, 410};
    layerData3.aux_point_3 = {500, -100, 410};
    arcWeld().setLayerData(layerData3, ec);
    cout << "ec: " << ec.value() << ", " << ec.message() << endl;
  
    ArcWelding::OffsetOnCommand offset_on_command1("layerdata1");
    ArcWelding::OffsetOnCommand offset_on_command2("layerdata2");
    ArcWelding::OffsetOnCommand offset_on_command3("layerdata3");
    ArcWelding::OffsetOffCommand offset_off_command;
    ArcWelding::ArcOnCommand arc_on_command("arcondata1", "arcdata1");
    ArcWelding::ArcOffCommand arc_off_command("arcoffdata1");

    CartesianPosition pos1_1{{0.600, -0.136, 0.589, -M_PI, 0, M_PI}};
    CartesianPosition pos2_1{{0.500, -0.150, 0.489, -M_PI, 0, M_PI}};
    CartesianPosition pos3_1{{0.400, -0.150, 0.489, -M_PI, 0, M_PI}};
    CartesianPosition pos4_1{{0.300, -0.100, 0.489, -M_PI, 0, M_PI}};
    CartesianPosition pos4_aux_1{{0.200, -0.150, 0.489, -M_PI, 0, M_PI}};
    CartesianPosition pos5_1{{0.400, -0.150, 0.600, -M_PI, 0, M_PI}};
    CartesianPosition pos1_2{{0.600, -0.136, 0.389, -M_PI, 0, M_PI}};
    CartesianPosition pos2_2{{0.500, -0.150, 0.389, -M_PI, 0, M_PI}};
    CartesianPosition pos3_2{{0.400, -0.150, 0.389, -M_PI, 0, M_PI}};
    CartesianPosition pos1_3{{0.600, -0.136, 0.289, -M_PI, 0, M_PI}};
    CartesianPosition pos2_3{{0.500, -0.150, 0.289, -M_PI, 0, M_PI}};
    CartesianPosition pos3_3{{0.400, -0.150, 0.289, -M_PI, 0, M_PI}};
    MoveJCommand movej_pos1_1{pos1_1, 100};
    MoveLCommand movel_pos2_1{pos2_1, 20};
    MoveLCommand movel_pos3_1{pos3_1, 20};
    MoveLCommand movel_pos4_1{pos4_1, 20};
    ArcWelding::WMoveCCommand movec_pos4_1{pos4_1, pos4_aux_1, 20};
    movec_pos4_1.target.confData = {10, 25, -118, 0, -36, 6};
    MoveLCommand movel_pos5_1{pos5_1, 20};
    MoveJCommand movej_pos1_2{pos1_2, 100};
    MoveLCommand movel_pos2_2{pos2_2, 20};
    MoveLCommand movel_pos3_2{pos3_2, 20};
    MoveJCommand movej_pos1_3{pos1_3, 100};
    MoveLCommand movel_pos2_3{pos2_3, 20};
    MoveLCommand movel_pos3_3{pos3_3, 20};
    ArcWelding::WMoveLCommand arcwl1(pos3_1, 10, 1);


    std::vector<std::vector<CartesianPosition>> point_groups = {
      {pos2_1},
      {pos3_1},
      {pos4_aux_1, pos4_1},
    };

    std::vector<ArcWelding::MotionType> point_types = {
      ArcWelding::MotionType::MOVE_LINEAR,
      ArcWelding::MotionType::MOVE_LINEAR,
      ArcWelding::MotionType::MOVE_CIRCLE,
    };
    std::vector<std::string> error_layer_list;
    std::vector<ArcWelding::LayerData> layerdata_list;
    // 模拟两层共计三道可达性校验
    layerdata_list.push_back(layerData1);
    layerdata_list.push_back(layerData2);
    layerdata_list.push_back(layerData3);
    bool check_res = arcWeld().MpmlPathCheck(point_groups, point_types, layerdata_list, error_layer_list, ec);
    // 运动至起弧点示例
    rokae::CartesianPosition start_position;
    bool res = arcWeld().GetLayerStartPoint(point_groups, point_types, layerData2, start_position, ec);

    robot.setPowerState(true, ec);
    // 多层多道暂停|继续
    int index = 1;
    while (index < 4){
        // 偏移启动
        switch (++index) {
            case 1:
                robot.moveAppend(offset_on_command1, cmd_id, ec);
                break;
            case 2:
                robot.moveAppend(offset_on_command2, cmd_id, ec);
                break;
            case 3:
                robot.moveAppend(offset_on_command3, cmd_id, ec);
                break;
            default:
                break;
        }
        if (index == 3)
            robot.moveStart(ec, true);//暂停层道继续执行
        robot.moveAppend(movej_pos1_1, cmd_id, ec);//0.600, -0.136, 0.589
        robot.moveAppend(offset_on_command1, cmd_id, ec);
        robot.moveAppend(movel_pos2_1, cmd_id, ec);//0.500, -0.150, 0.489
        robot.moveAppend(arc_on_command, cmd_id, ec);
        robot.moveAppend(arcwl1, cmd_id, ec);//0.400, -0.150, 0.489
        robot.moveAppend(movec_pos4_1, cmd_id, ec);//0.400, -0.150, 0.600
        robot.moveAppend(arc_off_command, cmd_id, ec);
        robot.moveAppend(offset_off_command, cmd_id, ec);
        if (index == 2)
            robot.moveAppend(movel_pos4_1, cmd_id, ec, true);//0.400, -0.150, 0.589
        else
            robot.moveAppend(movel_pos4_1, cmd_id, ec);//0.400, -0.150, 0.589
        robot.moveStart(ec);
        index++;
    }

    robot.setPowerState(false, ec);
}

Common APIs and Types

setLayerData, getLayerData, removeLayerData, LayerData, MpmlPathCheck, GetLayerStartPoint, OffsetOnCommand, OffsetOffCommand

Scenario 16: Full Circle and Complex Curves (Weave / Seg / Tracking Optional)

Applicable Scenarios The seam is a full circle or MoveCF-style curve, optionally with weave, stitch welding, or arc tracking.

Objective Combine WMoveCFCommand with process commands; the exact stacking order follows modes in comments and must be validated with the process package.

Recommended Steps

1. Build WMoveCFCommand for the circle or curve using auxiliary and target points as required by the process package.
2. After setWeaveData, setSegData, setArcTrackParam as needed, bind names on commands or insert SegOnCommand in the queue.
3. Verify path and orientation in simulation or dry run, then switch to live welding.

Sample Code

void wmovecfExample() {
  // 点位机型 XMC7-R850-W7G3B4C
  cout << "enter exampleCommand" << endl;
  auto rlPoint2sdkPoint = [](const std::vector<double> &rlPoint) -> std::array<double, 6> {
    std::array<double, 6> sdkPoint;
    for (int i = 0; i < 3; i++) {
      sdkPoint[i] = rlPoint[i] / 1000.0;
    }
    for (int i = 3; i < 6; i++) {
      sdkPoint[i] = rlPoint[i] / 180.0 * M_PI;
    }
    return sdkPoint;
  };
  error_code ec;
  ArcWelding::ArcOnCommand arcon("arcondata1", "arcdata1");
  ArcWelding::ArcOffCommand arcoff("arcoffdata1");
  ArcWelding::SegOnCommand segon("segdata1");
  ArcWelding::SegOffCommand segooff;
  ArcWelding::WeaveOnCommand weaveon("weavedata1");
  ArcWelding::WeaveOffCommand weaveoff;
  std::vector<double> p1point({556.769126, 101.641184, 358.852436, 158.661084, -17.184105, -148.826026});
  std::vector<double> p2point({590.049781, 101.641177, 358.852421, 158.66108, -17.184102, -148.826024});
  std::vector<double> p3point({556.769146, 17.242862, 358.852448, 179.999964, -0.000009, -179.999957});
  std::vector<double> p4point({556.769126, 101.641184, 358.852436, 179.999964, -0.000009, -179.999957});
  std::vector<double> p5point({590.049781, 101.641177, 358.852421, 179.999964, -0.000009, -179.999957});
  CartesianPosition p1(rlPoint2sdkPoint(p1point));
  CartesianPosition p2(rlPoint2sdkPoint(p2point));
  CartesianPosition p3(rlPoint2sdkPoint(p3point));
  CartesianPosition p4(rlPoint2sdkPoint(p4point));
  CartesianPosition p5(rlPoint2sdkPoint(p5point));
  ArcWelding::WMoveLCommand wml(p3, 200, 1);
  ArcWelding::WMoveCFCommand wmcf(p2, p1, 300 / 180.0 * M_PI);
  ArcWelding::WMoveCFCommand wmcf2(p4, p5, 300 / 180.0 * M_PI);

  // 设置旋转类型
  // wmcf.rotType = MoveCFCommand::constPose;
  wmcf.rotType = MoveCFCommand::constPose;
  // wmcf.rotType = MoveCFCommand::rotAxis;

  string id;

  // 单独整圆运动
  // robot.moveAppend(arcon, id, ec);
  // robot.moveAppend(wmcf, id, ec);
  // robot.moveAppend(arcoff, id, ec);
  // robot.moveStart(ec);

  // 搭配摆动运动
  // wmcf.setWeaveData("weavedata1", ec);
  // robot.moveAppend(arcon, id, ec);
  // robot.moveAppend(weaveon, id, ec);
  // robot.moveAppend(wmcf, id, ec);
  // robot.moveAppend(weaveoff, id, ec);
  // robot.moveAppend(arcoff, id, ec);
  // robot.moveStart(ec);

  // 搭配间断焊运动
  // robot.moveAppend(arcon, id, ec);
  // robot.moveAppend(segon, id, ec);
  // robot.moveAppend(wmcf, id, ec);
  // robot.moveAppend(segooff, id, ec);
  // robot.moveAppend(arcoff, id, ec);
  // robot.moveStart(ec);

  // 搭配电弧跟踪，需要搭配摆动
  // wmcf.setWeaveData("weavedata1", ec);
  // wmcf.setTrackData("arctrackdata1", ec);
  // robot.moveAppend(arcon, id, ec);
  // robot.moveAppend(weaveon, id, ec);
  // robot.moveAppend(wmcf, id, ec);
  // robot.moveAppend(weaveoff, id, ec);
  // robot.moveAppend(arcoff, id, ec);
  // robot.moveStart(ec);

  // arcdata中设置了断弧回退距离，暂停后继续运动会回退，需要有前置轨迹
  // robot.setDefaultConfOpt(false,ec);
  // robot.moveAppend(arcon, id, ec);
  // robot.moveAppend(wml, id, ec);
  // robot.moveAppend(wmcf, id, ec);
  // robot.moveAppend(arcoff, id, ec);
  // robot.moveStart(ec);
  // std::this_thread::sleep_for(std::chrono::milliseconds(4000));
  // robot.stop(ec); // 暂停
  // std::this_thread::sleep_for(std::chrono::milliseconds(1000));
  // robot.moveStart(ec);// 继续
}

Common APIs and Types

WMoveCFCommand, MoveCFCommand::rotType

Scenario 17: Field Auxiliary Actions and Welder Status

Applicable Scenarios Torch alignment; wire feed / retract / gas check before arc start; short tack / rivet welding; reading live welder values or clearing alarms; without an actual weld, use enableArcData to select the work mode and push current/voltage mode and setpoints to the welder, then compare the welder panel with the host for consistency.

Objective Maintenance actions work without a full weld trajectory; the HMI can display welder status.

Recommended Steps

1. Wire feed, retract, gas check: call feedOnWire, feedBackWire, detectGas, etc.; duration must meet the process-package minimum (e.g. greater than 0.1 s); use the enable parameter in the corresponding overload to stop (see appendix methods).
2. Tack welding: startWelding / stopWelding; distinguish synergic vs. separate modes, etc. (see API reference).
3. Status: getWelderStatus; when alarms are clearable, clearWelderAlarm.
4. enableArcData: Activates one weld process dataset on the welder side (work mode, current/voltage modes, and current/voltage setpoints, etc.); it is not persisted. Call without starting a full weld process, then compare the welder display with host values for field verification (prerequisites such as not using a virtual machine and having the welder connected are in the code comments below).

Sample Code

In order from the same file: feedOnWire, feedBackWire, detectGas, getWelderState, exampleWelding, clearWelderAlarm, enableArcData.

// 送丝
void feedOnWire()
{
  cout << "enter feedOnWire" << endl;
  error_code ec;

  double time = 0;
  arcWeld().feedOnWire(time, ec); // 时间需要大于0.1，小于0.1错误码报错
  cout << "ec: " << ec.value() << ", " << ec.message() << endl;

  time = 10;
  arcWeld().feedOnWire(time, ec); // 时间大于0.1，错误码正常
  cout << "ec: " << ec.value() << ", " << ec.message() << endl;

  std::this_thread::sleep_for(std::chrono::seconds(2));

  arcWeld().feedOnWire(time, ec,false); // 停止送丝
  cout << "ec: " << ec.value() << ", " << ec.message() << endl;
}

// 退丝
void feedBackWire()
{
  cout << "enter feedBackWire" << endl;

  error_code ec;
  double time = 0;
  arcWeld().feedBackWire(time, ec); // 时间需要大于0.1，小于0.1错误码报错
  cout << "ec: " << ec.value() << ", " << ec.message() << endl;

  time = 10;
  arcWeld().feedBackWire(time, ec); // 时间大于0.1，错误码正常
  cout << "ec: " << ec.value() << ", " << ec.message() << endl;

  std::this_thread::sleep_for(std::chrono::seconds(2));

  arcWeld().feedBackWire(time, ec,false); // 停止退丝
  cout << "ec: " << ec.value() << ", " << ec.message() << endl;
}

// 送气
void detectGas()
{
  cout << "enter detectGas" << endl;
  error_code ec;

  double time = 0;
  arcWeld().detectGas(time, ec); // 时间需要大于0.1，小于0.1错误码报错
  cout << "ec: " << ec.value() << ", " << ec.message() << endl;

  time = 2;
  arcWeld().detectGas(time, ec); // 时间大于0.1，错误码正常
  cout << "ec: " << ec.value() << ", " << ec.message() << endl;

  std::this_thread::sleep_for(std::chrono::seconds(2));

  arcWeld().detectGas(time, ec,false); // 停止检气
  cout << "ec: " << ec.value() << ", " << ec.message() << endl;
}

// 获取焊机状态
void getWelderState()
{
  cout << "enter getWelderState" << endl;
  error_code ec;

  auto welderState = arcWeld().getWelderStatus(ec);
  cout << "ec: " << ec.value() << ", " << ec.message() << endl;
  cout << "state: " << welderState.state << endl;
  cout << "current: " << welderState.current << endl;
  cout << "voltage: " << welderState.voltage << endl;
  cout << "speed: " << welderState.speed << endl;
  cout << "welding_name: " << welderState.welding_name << endl;
  cout << "arc_welding: " << welderState.arc_welding << endl;
  cerr << "runing_error: " << welderState.running_error.value() << "," << welderState.running_error.message() << endl;
  cout << "distance: " << welderState.welding_distance << endl;
  cout << "welding_time: " << welderState.welding_time << endl;
  cout << "welding_wire_used: " << welderState.welding_wire_used << endl;
  cout << "welding_path_num: " << welderState.welding_path_num << endl;
  cout << "welder_error_code: " << welderState.welder_error_code << endl;
  cout << "welder_ready: " << welderState.welder_ready << endl;
}

// 铆焊
void exampleWelding(){
  error_code ec;
  cout << "enter exampleWelding" << endl;
  arcWeld().startWelding(100,0,ec); // 默认一元化
  cout << "ec: " << ec.value() << ", " << ec.message() << endl;

  arcWeld().startWelding(100,10,ec,"separate"); // 分别模式
  cout << "ec: " << ec.value() << ", " << ec.message() << endl;

  std::this_thread::sleep_for(std::chrono::seconds(2));
  arcWeld().stopWelding(ec);
  cout << "ec: " << ec.value() << ", " << ec.message() << endl;
}

// 清焊机面板告警
void clearWelderAlarm() {
  error_code ec;
  arcWeld().clearWelderAlarm(ec);
  cout << "ec: " << ec.value() << ", " << ec.message() << endl;
}

// 生效参数
void enableArcData(){
  cout << "enter enableArcData" << endl;
  // 不能为虚拟机并且需要连接焊机
  ArcWelding::ArcData arcData = {
    "example_arcdata", "example_annotation", "low_spatter", "wire_feed", "unified", 100, 20,0, 30, 400, {500, "auto_arc_reignition", 15}};
  error_code ec;
  arcWeld().enableArcData(arcData, ec);
  cout << "ec: " << ec.value() << ", " << ec.message() << endl;
}

Common APIs and Types

feedOnWire, feedBackWire, detectGas, startWelding, stopWelding, getWelderStatus, clearWelderAlarm, enableArcData (usage: step 4 in Recommended Steps above; samples in code blocks above), FeedOnWireCommand, FeedBackWireCommand

Scenario 18: Runtime Monitoring

Applicable Scenarios Subscribe in application code to weld current/voltage, arc weld state, motion segment completion, etc.

Objective Obtain a consistent state snapshot via async callback or active polling; infer segment end from trajectory id and waypoint index.

Recommended Steps

1. setEventWatcher(Event::arcWeldState, callback, ec) registers the welder state callback; parse keys under EventInfoKey::ArcWeldState.
2. setEventWatcher(Event::moveExecution, ...) or poll with queryEventInfo, combined with your “segment complete” rule (e.g. trajectory id + waypoint index).
3. Whether arc-off is complete can be inferred from fields such as “still welding” in arc weld state (exact keys per process package and SDK).

Sample Code

In order: printWeldState, setArcWeldStateWatcher, queryWeldState, printMoveState, setMoveStateWatcher.

void printWeldState(const EventInfo &info)
{
  using namespace EventInfoKey::ArcWeldState;
  double current = std::any_cast<double>(info.at(Current));
  double voltage = std::any_cast<double>(info.at(Voltage));
  string state = std::any_cast<string>(info.at(State));
  int speed = std::any_cast<int>(info.at(Speed));
  auto error = std::any_cast<error_code>(info.at(RunningError));
  string weldingName = std::any_cast<string>(info.at(WeldingName));
  int arcWelding = std::any_cast<int>(info.at(EventInfoKey::ArcWeldState::ArcWelding));
  double distance = std::any_cast<double>(info.at(WeldingDistance));
  double welding_time = std::any_cast<double>(info.at(WeldingTime));
  double welding_wire_used = std::any_cast<double>(info.at(WeldingWireUsed));
  int welder_error_code = std::any_cast<int>(info.at(WelderErrorCode));
  bool welder_ready = std::any_cast<bool>(info.at(WelderReady));


  cout << "[焊接状态] current: " << current << ", voltage: " << voltage << ", state: " << state << ", speed: " << speed << endl;
  cout << "weldingName: " << weldingName << ", arcWelding: " << arcWelding << ", welding_time: " << welding_time << ", welding_wire_used: " << welding_wire_used  
       << ", welder_error_code: " << welder_error_code << ", welder_ready: " << welder_ready << "." << endl;
  if(info.count(WeldingPathNum)) {
    int weldingPathNum = std::any_cast<int>(info.at(WeldingPathNum));
    std::cout << "Distance: " << distance << " m, PathNum: " << weldingPathNum << "." << std::endl;
  } else {
    std::cout << "Distance: " << distance << " m." << std::endl;
  }
  if(error) {
    std::cerr << "运行错误:" << error << std::endl;
  }
}

void setArcWeldStateWatcher()
{
  error_code ec;
  robot.setEventWatcher(rokae::Event::arcWeldState, printWeldState, ec);
  if(ec) {
    print(std::cerr, "设置焊接状态监视失败:", ec);
  }
}

void queryWeldState()
{
  error_code ec;
  auto info = robot.queryEventInfo(Event::arcWeldState, ec);
  printWeldState(info);
}

void printMoveState(const EventInfo &info)
{
  using namespace rokae::EventInfoKey::MoveExecution;
  print(std::cout, "[运动执行信息] ID:", std::any_cast<std::string>(info.at(ID)), "Index:", std::any_cast<int>(info.at(WaypointIndex)),
        "已完成: ", std::any_cast<bool>(info.at(ReachTarget)) ? "YES": "NO", std::any_cast<error_code>(info.at(Error)),
        std::any_cast<std::string>(info.at(Remark)));
}

void setMoveStateWatcher()
{
  error_code ec;
  robot.setEventWatcher(rokae::Event::moveExecution, printMoveState, ec);
  if(ec) {
    print(std::cerr, "设置运动事件监视失败:", ec);
  }
}

Common APIs and Types

setEventWatcher, queryEventInfo, Event::arcWeldState, Event::moveExecution, EventInfoKey::ArcWeldState, EventInfoKey::MoveExecution

Notes

1. The welder state callback period is 500 ms.

Scenario 19: Other Geometry and Process Helpers (As Needed)

Applicable Scenarios User reference from three points; welder capability / mode query; jog offset during welding, etc.

Objective Perform auxiliary geometry in code or read welder capability lists.

Recommended Steps

1. Call getRefBy3Points, getWelderWorkModes, weldOffsetJog, etc. as needed for your application.

Sample Code

In order: getRefBy3PointsExample, getWelderWorkModes, weldingJogOffsetExample.

void getRefBy3PointsExample() {
  error_code ec;
  // auto ret = robot.posture(CoordinateType::endInRef,ec);
  CartesianPosition pos1{0.55676914536239797, -0.15000000000000005, 0.35885244785437498, -3.1415926535897931, 3.8857805861880484e-16, -3.1415926535897931};
  CartesianPosition pos2{0.71096662191265758, -0.14999999687989679, 0.35885244769618885, -3.1415921387343229, 8.5631816663676866e-07, 3.1415926369370966};
  CartesianPosition pos3{0.71096662302702562, 0.0055997244168811289, 0.35885244730431071, -3.1415926429162764, 7.8093868108499471e-07, -3.1415918107904255};
  bool with_origin = false;
  ArcWelding::DirType dir = ArcWelding::DirType::X_Plus_Y_Plus;
  auto ret = arcWeld().getRefBy3Points(std::vector<CartesianPosition>{pos1, pos2, pos3}, with_origin, dir, ec);
  cout << "getRefBy3PointsExample: ec: " << ec.value() << ", " << ec.message() << endl;
  for (auto &p : ret.trans) {
    cout << p << " ";
  }
  for (auto &p : ret.rpy) {
    cout << p << " ";
  }
}

void getWelderWorkModes() {
  error_code ec;
  auto ret = arcWeld().getWelderWorkModes(ec);
  cout << "getWelderWorkModes: ec: " << ec.value() << ", " << ec.message() << endl;
  cout << "work modes: ";
  for (auto &p : ret) {
    cout << p << " ";
  }
  cout << endl;
}

void weldingJogOffsetExample() {
  error_code ec;
  arcWeld().weldOffsetJog(ArcWelding::WeldOffsetJogDir::Y_PLUS,ec);
  arcWeld().weldOffsetJog(ArcWelding::WeldOffsetJogDir::Y_MINUS,ec);
  arcWeld().weldOffsetJog(ArcWelding::WeldOffsetJogDir::Z_PLUS,ec);
  arcWeld().weldOffsetJog(ArcWelding::WeldOffsetJogDir::Z_MINUS,ec);
  cout << "weldingJogOffset: ec: " << ec.value() << ", " << ec.message() << endl;
}

Common APIs and Types

getRefBy3Points, getWelderWorkModes, weldOffsetJog

Related Documentation

Need	Document
API list and parameter meanings	API Description
Types and data structures	Appendix: Types, Appendix: Data Structures
Method signatures and overloads	Appendix: Methods
Error codes and exceptions	Error Codes and Exceptions