app_weld_weave_cond_circular

Features

This function sets the circular weaving conditions. These 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_analog()/app_weld_disable_digital()), and executing it outside this section will result in an error.

Weaving conditions are defined in the weave coordinate system, where:

The direction of the weld path is the weave x-axis.
The direction of the vector product (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. You can adjust the offset or weaving width during welding using the app_weld_adj_welding_cond_analog()/app_weld_set_weld_cond_digital() command, or adjust the (voltage/current/speed and) 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 (i.e., the welding condition setting specified by app_weld_set_weld_cond_analog()/app_weld_set_weld_cond_digital()).

Arguments

Argument Name	Data Type	Default Value	Description
`fOffsetY`	float	0.0	Offset in the Y direction of the weave coordinate system (mm)
`fOffsetZ`	float	0.0	Offset in the Z direction of the weave coordinate system (mm)
`fGradient`	float	0.0	Rotation angle of the weaving plane with respect to the X-axis of the weave coordinate system (deg)
`fwWdt`	float[2]	{3.0, 3.0}	[0] Weaving width 1 (mm) [1] Weaving width 2 (mm)
`fwT`	float[2]	{0.3, 0.3}	[0] Weaving cycle 1 (sec) [1] Weaving cycle 2 (sec)

Return

Value	Description
0	Error
1	Success

Example

CODE

float fOffsetY = 0.0;
float fOffsetZ = 0.0;
float fGradient = 0.0;
float fwWdt[2] = {3.0, 3.0};
float fwT[2] = {0.3, 0.3};

Drfl.app_weld_weave_cond_circular(fOffsetY, fOffsetZ, fGradient, fwWdt, fwT);