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For information on the latest version, please have a look at GL013301.

app_weld_adj_motion_offset

Definition
DRFLEx.h within class CDRFLEx, public section (line 1051)

bool app_weld_adj_motion_offset(float fOffsetY, float fOffsetZ)
{
    return _app_weld_adj_motion_offset(_rbtCtrl, fOffsetY, fOffsetZ);
};

Features

This function applies Y-axis and Z-axis offsets to the robot’s current motion path. It is used to dynamically adjust the welding trajectory in real time to account for alignment errors, fixture tolerances, or surface variations during the welding process.

These offsets can be applied while the robot is executing a welding path, allowing for smooth and adaptive motion correction without stopping the ongoing operation.

Arguments

Field	Data Type	Default Value	Description
fOffsetY	float		Y-axis offset (mm). Positive values shift the welding torch along the positive Y-direction.
fOffsetZ	float		Z-axis offset (mm). Positive values raise the torch vertically upward relative to the workpiece.

Return

Value	Description
0	Failure (offset adjustment could not be applied.)
1	Success (motion offset successfully updated.)

Example

// Example: Apply motion offset to correct welding torch position
float fOffsetY = 2.0f;  // Y Offset in mm
float fOffsetZ = 3.0f;  // Z Offset in mm

// Apply Y and Z motion offsets during welding
bool result = Drfl.app_weld_adj_motion_offset(fOffsetY, fOffsetZ);

if (result)
    std::cout << "Motion offset applied successfully: Y=" << fOffsetY << " mm, Z=" << fOffsetZ << " mm." << std::endl;
else
    std::cout << "Failed to apply motion offset." << std::endl;

In this example, the welding path is dynamically adjusted by +2 mm in Y and +3 mm in Z, allowing the robot to compensate for minor misalignments or part height variations in real-time.