.. _tutorials_application_welding:

6.4.1 Welding Tutorials
===================================

The **Welding Tutorials** section provides examples for controlling welding applications  
using the Doosan Robotics API.  
It covers both **analog** and **digital** interfaces, along with **weaving** (oscillation) motion,  
parameter adjustment, and TCP calibration.

These examples demonstrate how to integrate the welding interface with a real robot motion sequence  
to achieve synchronized weld control.

**Tutorial Flow**

1. **Analog Welding Control**: Configure and adjust analog welding conditions.  
2. **Digital Welding Control (EtherNet/IP)**: Set up digital interface and process mapping.  
3. **Weaving Patterns**: Apply trapezoidal, zigzag, circular, or sinusoidal weaving motion.  
4. **Real-time Parameter Adjustment**: Modify welding conditions dynamically during operation.  
5. **Welding TCP Calibration**: Calibrate the welding tool center point (TCP).  
6. **Monitoring & Signal Output**: Monitor welding data and control digital welding signals.

---------------------------------------
Analog Welding Control
---------------------------------------

**Purpose**  |br|
Enable analog welding control interface and set base welding conditions  
such as voltage, current, and wire feed speed.

.. code-block:: cpp

   CONFIG_ANALOG_WELDING_INTERFACE analog_if{};
   CONFIG_ANALOG_WELDING_SETTING analog_set{};

   // Enable analog interface. The configuration is passed by value.
   Drfl.app_weld_enable_analog(analog_if);

   // Set analog welding condition
   analog_set._fTargetVoltage      = 22.5f;    // V
   analog_set._fTargetCurrent      = 160.0f;   // A
   analog_set._fTargetFeedingSpeed = 6.5f;
   analog_set._fTargetVel          = 10.0f;    // travel speed, mm/s
   Drfl.app_weld_set_weld_cond_analog(analog_set);

**Check**  |br|
Analog interface is activated successfully,  
and the configured parameters (voltage/current/feed) are applied to the external welder.

---------------------------------------
Digital Welding Control (EtherNet/IP)
---------------------------------------

**Purpose**  |br|
Establish communication with the welder through EtherNet/IP  
and configure both R2M (Robot-to-Machine) and M2R (Machine-to-Robot) signals.

.. code-block:: cpp

   CONFIG_DIGITAL_WELDING_INTERFACE_PROCESS    r2m_process{};
   CONFIG_DIGITAL_WELDING_INTERFACE_MONITORING m2r_monitoring{};

   // Set up the EtherNet/IP interface. Each direction and each group of
   // signals has its own configuration type.
   Drfl.app_weld_set_interface_eip_r2m_process(r2m_process);
   Drfl.app_weld_set_interface_eip_m2r_monitoring(m2r_monitoring);

   // Enable digital interface
   Drfl.app_weld_enable_digital(1);

**Check** |br| 
Digital interface activates successfully and EtherNet/IP connection status is valid.

---------------------------------------
Weaving Patterns
---------------------------------------

**Purpose** |br|
Configure and apply a weaving pattern (trapezoidal, zigzag, circular, or sinusoidal)  
to simulate weld bead oscillation.

.. code-block:: cpp

   // Zigzag and sinusoidal weaving take the pattern as arguments:
   // offset Y, offset Z, gradient, weaving width, weaving cycle
   Drfl.app_weld_weave_cond_zigzag(2.0f, 1.0f, 0.0f, 5.0f, 3.0f);

   // Trapezoidal weaving takes a configuration structure instead
   CONFIG_TRAPEZOID_WEAVING_SETTING weave{};
   weave._fOffsetY  = 2.0f;
   weave._fOffsetZ  = 1.0f;
   weave._fGradient = 0.0f;
   Drfl.app_weld_weave_cond_trapezoidal(weave);

**Check**  |br|
The robot follows the configured oscillation pattern  
and maintains consistent bead width across the welding path.

---------------------------------------
Real-time Parameter Adjustment
---------------------------------------

**Purpose**  |br|
Adjust welding parameters dynamically during operation for adaptive control.

.. code-block:: cpp

   unsigned char real_time = 1;
   unsigned char reset     = 0;

   float target_voltage = 23.0f;   // V
   float feeding_speed  = 7.0f;    // wire feed
   float travel_speed   = 10.0f;   // mm/s

   // real-time flag, reset flag, voltage, feeding speed, travel speed,
   // offset Y, offset Z, width rate
   Drfl.app_weld_adj_welding_cond_analog(
       real_time, reset, target_voltage, feeding_speed, travel_speed,
       0.0f, 0.0f, 1.0f
   );

**Check**  |br|
Voltage, wire feed and travel speed update in real time  
without interrupting the welding process.

---------------------------------------
Welding TCP Calibration
---------------------------------------

**Purpose** |br| 
Calibrate the TCP (Tool Center Point) for accurate weld torch alignment.

.. code-block:: cpp

   unsigned char mode = 0;          // measurement mode
   float stickout     = 15.0f;      // torch stickout
   float target_pos[9][6] = { };    // nine taught joint postures

   LPMEASURE_TCP_RESPONSE result = Drfl.measure_welding_tcp(mode, stickout, target_pos);

**Check**  |br|
The call returns the measured TCP and the measurement error,  
and the calibrated position matches the torch tip location.

---------------------------------------
Monitoring & Signal Output
---------------------------------------

**Purpose**  
Monitor welding data and control digital outputs for arc start/stop signals.

.. code-block:: cpp

   // Start monitoring
   Drfl.set_on_monitoring_welding_data(OnMonitoringWeldingData);

   // Force a welding signal. The first argument selects the signal, as defined
   // by the welding interface configuration; the second carries its value.
   unsigned char command_type = 0;

   Drfl.set_digital_welding_signal_output(command_type, 1.0f);  // Arc start
   std::this_thread::sleep_for(std::chrono::seconds(2));
   Drfl.set_digital_welding_signal_output(command_type, 0.0f);  // Arc stop

**Check** |br| 
Monitoring callback provides real-time welding feedback,  
and the digital output toggles the external welder correctly.

.. note::
   - The ``app_weld_*`` functions and ``measure_welding_tcp`` are compiled only
     when ``DRCF_VERSION`` is defined as 2. The header defaults to 3, so a
     default build does not expose them.
   - Welding tutorials require an external welding machine  
     (analog or digital EtherNet/IP) configured with the correct parameters.  
   - All welding operations must run under **Auto Mode** with **Servo ON**.