Welding Function DRL Command List
The following welding function exclusive commands can be used without utilizing the features of the Workcell Manager or Task Builder/Writer (TB/TW) to build welding jobs. This paragraph will provide a short list of commands. Please refer to the Programming for details about each command. Not following the usage rules stipulated in the programming manual may result in abnormal operation.
Classification | Command | Description |
|---|---|---|
Digital | Digital (communication) welder syncing function setting | |
Digital | app_weld_enable_digital() | This enables the communication interface welding function Only supports EtherNet/IP interface. |
Digital | app_weld_disable_digital() | This disables the communication interface welding function. |
Digital | Communication signal settings for digital welders that support EtherNet/IP communication Please refer to the welder’s communication signal data sheet | |
Digital | app_weld_set_interface_eip_r2m_process() | (Robot-transmitted/welder-received signals) Sets welding process syncing signals for work syncing between robot and welder. |
Digital | app_weld_set_interface_eip_r2m_mode() | (Robot-transmitted/welder-received signals) Sets welding mode signals. |
Digital | app_weld_set_interface_eip_r2m_test() | (Robot-transmitted/welder-received signals) Sets signals for controlling the various outputs of the welder. |
Digital | app_weld_set_interface_eip_r2m_condition() | (Robot-transmitted/welder-received signals) Sets the welding condition setting signals. |
Digital | app_weld_set_interface_eip_r2m_option() | (Robot-transmitted/welder-received signals) Can be used to set signals that can't be set with the process/mode/test/condition setting commands. |
Digital | app_weld_set_interface_eip_m2r_process() | (Welder-transmitted/robot-received signals) Sets welding process syncing signals for work syncing between robot and welder. |
Digital | app_weld_set_interface_eip_m2r_monitoring() | (Welder-transmitted/robot-received signals) Sets signals to allow the robot to monitor the welder's status and welding information. |
Digital | app_weld_set_interface_eip_m2r_other() | (Welder-transmitted/robot-received signals) Can be used to set signals that can't be set with the process/monitoring setting commands. |
Digital | Welding condition setting using a communication digital welder | |
Digital | app_weld_set_weld_cond_digital() | This sets the welding condition of the remote control welders. The welding feature activation and welder signal setting must be completed beforehand. Please refer to the programming manual for details about the function and the usage warnings. |
Digital | app_weld_adj_welding_cond_digital() | This adjusts the welding condition and weaving condition during welding with a remote control welder. Please refer to the programming manual for details about the function and the usage warnings. |
Digital | app_weld_get_welding_cond_digital() | This monitors the welding status during welding with a remote control welder. Please refer to the programming manual for the types of parameters that can be monitored. |
Analog | Analog (connection) welder interface and welder function setting | |
Analog | app_weld_enable_analog() | This enables the analog welding function. It enters the connection and environment information of the available welding machine’s analog I/O and digital signal output as input factors. |
Analog | app_weld_disable_analog() | This disables the analog welding function. |
| Welding conditionsetting using an analog (connection) welder | |
Analog | app_weld_set_weld_cond_analog() | This sets the analog welding condition. The welding interface and welder function activation setting must be completed beforehand. Please refer to the programming manual for details about the function and the usage warnings. |
Analog | app_weld_adj_welding_cond_analog() | This adjusts the welding condition and weaving condition during analog welding. Please refer to the programming manual for details about the function and the usage warnings. |
Analog | app_weld_get_welding_cond_analog() | This monitors the welding status during analog welding. Please refer to the programming manual for the types of parameters that can be monitored. |
Weaving | Weaving condition setting Please refer to the programming manual for details about the function and the usage warnings. | |
Weaving | app_weld_weave_cond_trapezoidal() | This sets the trapezoidal weaving condition. |
Weaving | app_weld_weave_cond_zigzag() | This sets the zigzag weaving condition. |
Weaving | app_weld_weave_cond_circular() | This sets the circular arc weaving condition. |
Weaving | app_weld_weave_cond_sinusoidal() | This sets the sinusoidal weaving condition. |