app_weld_weave_cond_sinusoidal

Definition
DRFLEx.h within class CDRFLEx, public section (line 1008)

bool app_weld_weave_cond_sinusoidal(float fOffsetY, float fOffsetZ, float fGradient, float fWeavingWidth, float fWeavingCycle)
{
    return _app_weld_weave_cond_sinusoidal(_rbtCtrl, fOffsetY, fOffsetZ, fGradient, fWeavingWidth, fWeavingCycle);
};

Features

This function sets the sine (sinusoidal) weaving conditions. The weaving conditions are only valid within the welding section defined from weld activation (app_weld_enable_analog / app_weld_enable_digital) to deactivation (app_weld_disable_digital), and an error will occur if executed outside of this section.

Weaving conditions are defined in the weave coordinate system, where the direction of the welding path is the weave x-axis, and the direction obtained by the cross-product of the weave x-axis and the TCP z-direction is the weave y-axis.

Only one weaving condition is allowed within a single welding section. During welding, you can adjust the offset or weaving width using app_weld_adj_welding_cond_analog / app_weld_set_weld_cond_digital commands, or adjust voltage/current/speed and offset using the welding condition adjustment popup on the teaching pendant.

However, adjusting weaving conditions from the pendant is only possible when the welding condition adjustment state is RESET, i.e., the condition was last set by app_weld_set_weld_cond_analog / app_weld_set_weld_cond_digital.

Arguments

Field Name	Data Type	Default Value	Description
fOffsetY	float	0.0	Offset in Y direction of the weave coordinate system (mm)
fOffsetZ	float	0.0	Offset in Z direction of the weave coordinate system (mm)
fGradient	float	0.0	Rotation angle of the weaving plane based on the X-axis of the weave coordinate system (deg)
fWeavingWidth	float	3.0	Weaving width (mm)
fWeavingCycle	float	0.6	Weaving period (sec)

Return

Value	Description
0	Error
1	Success

Example

float fOffsetY      = 0.0;
float fOffsetZ      = 0.0;
float fGradient     = 0.0;
float fWeavingWidth = 3.0;
float fWeavingCycle = 0.6;

Drfl.app_weld_weave_cond_sinusoidal(fOffsetY, fOffsetZ, fGradient, fWeavingWidth, fWeavingCycle);

This example sets up a sinusoidal weaving pattern with a 3 mm amplitude and a 0.6 s period. The smooth, continuous motion of a sine wave ensures consistent heat input, making it ideal for thin plates or aesthetic bead applications where ripple uniformity is desired.