For information on the latest version, please have a look at GL013301.
app_weld_set_weld_cond_digital
Definition
DRFLEx.h within class CDRFLEx, public section (line 1039)
bool app_weld_set_weld_cond_digital(CONFIG_DIGITAL_WELDING_CONDITION pConfigdigitalweldingcondition)
{
return _app_weld_set_weld_cond_digital(_rbtCtrl, pConfigdigitalweldingcondition);
};
Features
This function sets the digital welding conditions for communication-based welders. These conditions are only valid within the section defined from activation (app_weld_enable_digital) to deactivation (app_weld_disable_digital). Executing this function outside of the welding activation state will cause an error.
The items that can be set as welding conditions are limited to those for which communication interface settings with the welder have been completed using the following commands: - app_weld_set_interface_eip_r2m_mode - app_weld_set_interface_eip_r2m_condition - app_weld_set_interface_eip_r2m_option
Only one welding condition is allowed within a single welding section. During welding, you can adjust these conditions using the app_weld_adj_welding_cond_digital command, or adjust the voltage correction/dynamic factor adjustment/feeding speed/speed (and weave offset) from the welding condition adjustment popup on the teaching pendant. However, adjusting welding conditions from the teaching pendant is only possible when the welding condition adjustment state is RESET.
Note
Voltage correction: Adjusts the arc length.
Dynamic factor adjustment: Adjusts the arc characteristics.
Arguments
Argument Name |
Data Type |
Default Value |
Description |
|---|---|---|---|
pConfigdigitalweldingcondition |
Digital welding condition settings structure. |
Return
Value |
Description |
|---|---|
0 |
Error |
1 |
Success |
Example
// Define and set digital welding condition parameters
CONFIG_DIGITAL_WELDING_CONDITION weldCond;
weldCond._fTargetVel = 110.0; // Target feed speed
weldCond._fOffsetY = 10.0; // Weave offset Y (mm)
weldCond._fOffsetZ = 6.0; // Weave offset Z (mm)
weldCond._fWidthRate = 1.2; // Weaving width ratio
weldCond._fDynamicCor = 0.8; // Dynamic factor (arc characteristic)
weldCond._fVoltageCor = 2.0; // Voltage correction (arc length)
weldCond._nJobNumber = 1; // Job number
weldCond._nSynergicID = 1; // Synergic welding ID
bool result = Drfl.app_weld_set_weld_cond_digital(weldCond);
if(result)
printf("Digital welding condition successfully applied.\n");
else
printf("Failed to set digital welding condition.\n");
This example sets the EtherNet/IP-based digital welding condition parameters, which determine how the robot communicates target feed rate, arc dynamics, and voltage correction factors to the external welder.