Welding Process

Welding Equipment

When setting welding equipment, send:

0x4001 WELDEQUIPMENT_SET

{
  "basic_functions": {
    "arc_detection_time": 1.3,
    "arc_depletion_detection_time": 1.3,
    "arc_detection_ensure_time": 1.3,
    "pre_give_gas_time": 1.5,
    "close_time": 1.9,
    "weld_interruption_detection": 1,
    "arc_fly": 1
  },
  "micro_adjustment": {
    "single_adjustment_current": 3,
    "single_adjustment_voltage": 4,
    "single_adjustment_speed": 5,
    "swing_weld_frequency": 6,
    "swing_weld_range": 1.1
  },
  "restart": {
    "restart_times": 1,
    "restart_distance": 2,
    "restart_speed": 3,
    "re_arc_times": 4,
    "restart_enable": false,
    "re_arc_enable": false,
    "restart_mode": 0
  },
  "antiCollision": {
    "enable": false,
    "inputPort": 1,
    "inputValue": 1,
    "stopTime": 80,
    "outputPort": 2,
    "outputValue": 1,
    "shieldFlag": false,
    "shieldTime": 30
  },
  "other": {
    "break_back_time": 1.2,
    "weld_finish_time": 1.3,
    "break_back_enable": false,
    "weld_finish_function": true,
    "simulation_set_zero": false
  },
  "collisionButtonFlag": {
    "error_enable_switch": true
  }
}

basic_functions Parameter Description

Parameter Name	Type	Description
arc_detection_time	double	Arc start detection time
arc_depletion_detection_time	double	Arc depletion detection time
arc_detection_ensure_time	double	Arc start confirmation detection time
pre_give_gas_time	double	Pre-gas flow time
close_time	double	Delayed gas close time
weld_interruption_detection	int	Welding interruption detection
arc_fly	int	Flying arc start

micro_adjustment Parameter Description

Parameter Name	Type	Description
single_adjustment_current	int	Single adjustment amount for welding current
single_adjustment_voltage	int	Single adjustment amount for welding voltage
single_adjustment_speed	int	Single adjustment amount for welding speed
swing_weld_frequency	int	Single adjustment amount for swing welding frequency
swing_weld_range	double	Single adjustment amount for swing welding amplitude

restart Parameter Description

Parameter Name	Type	Description
restart_times	int	Restart times
restart_distance	int	Restart distance
restart_speed	int	Restart speed
re_arc_times	int	Re-arc times
restart_enable	bool	Restart enable
re_arc_enable	bool	Re-arc enable
restart_mode	int	Restart mode: 0-Auto restart, 1-Semi-auto restart, 2-Stop

antiCollision Parameter Description

Parameter Name	Type	Description
enable	bool	Anti-collision function enable
inputPort	int	Anti-collision IO port
inputValue	int	Anti-collision trigger level
stopTime	int	Anti-collision rapid stop time
outputPort	int	Anti-collision output indicator port
outputValue	int	Anti-collision output indicator level
shieldFlag	bool	Anti-collision shield enable
shieldTime	int	Shield time

other Parameter Description

Parameter Name	Type	Description
break_back_time	double	Arc break retract time
weld_finish_time	double	Welding finish retract time
break_back_enable	bool	Arc break retract enable
weld_finish_function	bool	Welding finish retract function
simulation_set_zero	bool	Arc extinction analog zeroing function

collisionButtonFlag Parameter Description

Parameter Name	Type	Description
error_enable_switch	bool	Drag jog mode toggle switch

When querying welding equipment, send:

0x4002 WELDEQUIPMENT_INQUIRE

data: None

When receiving welding equipment query, return:

0x4003 WELDEQUIPMENT_RESPOND

Same as 0x4001

---

Set Current-Voltage Matching

When setting current-voltage matching, send:

0x4004 CURVOLMATCH_SET

{
  "current_control": {
    "set_voltage": [1, 2, 3, 4, 5, 6, 7, 8],
    "actual_current": [1, 2, 3, 4, 5, 6, 7, 8]
  },
  "voltage_control": {
    "set_voltage": [1, 2, 3, 4, 5, 6, 7, 8],
    "actual_voltage": [1, 2, 3, 4, 5, 6, 7, 8]
  },
  "robot": 1
}

Parameter Description

Parameter Name	Type	Description
current_control.set_voltage	array	Set current
current_control.actual_current	array	Actual current
voltage_control.set_voltage	array	Set voltage
voltage_control.actual_voltage	array	Actual voltage
robot	int	Robot number

When querying current-voltage matching, send:

0x4005 CURVOLMATCH_INQUIRE

data: None

When receiving current-voltage matching query, return:

0x4006 CURVOLMATCH_RESPOND

{
  "current_control": {
    "set_voltage": [1, 2, 3, 4, 5, 6, 7, 8],
    "actual_current": [1, 2, 3, 4, 5, 6, 7, 8]
  },
  "voltage_control": {
    "set_voltage": [1, 2, 3, 4, 5, 6, 7, 8],
    "actual_voltage": [1, 2, 3, 4, 5, 6, 7, 8]
  },
  "IO": {
    "AO_setcurrent": 0,
    "AO_setvoltage": 0
  },
  "robot": 1
}

Return Parameter Description

Parameter Name	Type	Description
current_control.set_voltage	array	Set current
current_control.actual_current	array	Actual current
voltage_control.set_voltage	array	Set voltage
voltage_control.actual_voltage	array	Actual voltage
IO.AO_setcurrent	int	Current output port
IO.AO_setvoltage	int	Voltage output port
robot	int	Robot number

---

Welding Parameters

When setting welding parameters, send:

0x4007 WELDPARAMETER_SET

{
  "num": 1,
  "notes": "Example",
  "arcoff_parameters": {
    "arcoff_voltage": 1.1,
    "arcoff_current": 1.1,
    "arcoff_time": 1.1,
    "ramp_time": 1.1,
    "ramp_distance": 1.1,
    "ramp_enable": true,
    "ramp_mode": 1
  },
  "weld_parameters": {
    "weld_current": 1.1,
    "weld_voltage": 1.1
  },
  "arcon_parameters": {
    "arcon_current": 1.1,
    "arcon_voltage": 1.1,
    "arcon_time": 1.1,
    "arcon_ramp_time": 1.1,
    "arcon_ramp_distance": 1.1,
    "arcon_ramp_enable": true,
    "arcon_ramp_mode": 1,
    "arcon_use_param": true,
    "arcoff_use_param": true
  }
}

Parameter Description

Parameter Name	Type	Description
num	int	Parameter number, starting from 1
notes	string	Notes

arcoff_parameters (Arc End Parameters)

Parameter Name	Type	Description
arcoff_voltage	double	Arc end voltage
arcoff_current	double	Arc end current
arcoff_time	double	Arc end time
ramp_time	double	Ramp time
ramp_distance	double	Ramp distance
ramp_enable	bool	Ramp enable
ramp_mode	int	Arc end ramp mode: 0-Time ramp, 1-Distance ramp

weld_parameters (Welding Parameters)

Parameter Name	Type	Description
weld_current	double	Welding current
weld_voltage	double	Welding voltage

arcon_parameters (Arc Start Parameters)

Parameter Name	Type	Description
arcon_current	double	Arc start current
arcon_voltage	double	Arc start voltage
arcon_time	double	Arc start time
arcon_ramp_time	double	Ramp time
arcon_ramp_distance	double	Ramp distance
arcon_ramp_enable	bool	Arc start ramp enable
arcon_ramp_mode	int	Arc start ramp mode: 0-Time ramp, 1-Distance ramp
arcon_use_param	bool	Arc start parameter enable
arcoff_use_param	bool	Arc end parameter enable

When querying welding parameters, send:

0x4008 WELDPARAMETER_INQUIRE

{
  "num": 1,
  "robot": 1
}

When receiving welding parameter query, return:

0x4009 WELDPARAMETER_RESPOND

Same as 0x4007

---

Swing Welding Parameters

When setting swing welding parameters, send:

0x400B WEAVPARAMETER_SET

{
  "num": 1,
  "parameter": {
    "horizontal_angle": 5.0,
    "init_direction": 1,
    "isMove": 1,
    "left_standing_time": 4.0,
    "note": "AA",
    "right_standing_time": 3.0,
    "vertical_angle": 6.0,
    "weaving_ampli": 2.0,
    "weaving_freq": 1.0,
    "weaving_type": 1
  }
}

Parameter Description

Parameter Name	Type	Description
num	int	Parameter number, starting from 1

parameter

Parameter Name	Type	Description
horizontal_angle	double	Horizontal deflection angle: -180 ~ +180
init_direction	int	Initial direction: 0-Positive (+1), 1-Negative (-1)
isMove	int	Movement mode: 0-Move, 1-Stay
left_standing_time	double	Left dwell time
note	string	Notes
right_standing_time	double	Right dwell time
vertical_angle	double	Vertical deflection angle: -180 ~ +180
weaving_ampli	double	Weaving amplitude: 0-50
weaving_freq	double	Weaving frequency
weaving_type	int	Weaving type: 0-Sine, 1-Zigzag, 2-Circular, 3-External axis fixed-point

When querying swing welding parameters, send:

0x400C WEAVPARAMETER_INQUIRE

{
  "num": 1
}

When receiving swing welding parameter query, return:

0x400D WEAVPARAMETER_RESPOND

Same as 0x400B

---

Current-Voltage Matching Actual Values

Set actual current-voltage matching parameters; modification is sent immediately, no save needed:

0x400E WELDFACTCURVOL_SET

{
  "type": 0,
  "value": 4.13
}

Parameter Description

Parameter Name	Type	Description
type	int	0-Current control matching, 2-Voltage control matching
value	double	Value

Controller returns:

0x400F WELDFACTCURVOL_RESPOND

{
  "result": 1,
  "robot": 1
}

Return Parameter Description

Parameter Name	Type	Description
result	int	1-Set success, 0-Set failure
robot	int	Robot number

Start analog matching: Entering the current-voltage matching screen sends true, exiting sends false

0x4010 WELD_CURVOLMATCH_START

{
  "start": true
}

Parameter Description

Parameter Name	Type	Description
start	bool	true-Start, false-End

---

Welding IO

When setting welding IO ports, send:

0x4011 WELDIOPORT_SET

{
  "Ain": {
    "Voltage": 2,
    "electric": 1
  },
  "Aout": {
    "given_electric_current": 1,
    "given_setvoltage": 2
  },
  "Din": {
    "arc_success": 1,
    "seek_success": 2
  },
  "Dout": {
    "arc_signal": 1,
    "gas_detection": 4,
    "positioning_mode": 5,
    "wire_feed": 2,
    "wire_feed_back": 3
  }
}

Ain (Analog Input)

Parameter Name	Type	Description
Voltage	int	Welding voltage
electric	int	Welding current

Aout (Analog Output)

Parameter Name	Type	Description
given_electric_current	int	Given current signal
given_setvoltage	int	Given voltage signal

Din (Digital Input)

Parameter Name	Type	Description
arc_success	int	Arc start success
seek_success	int	Positioning success

Dout (Digital Output)

Parameter Name	Type	Description
arc_signal	int	Arc start success signal
gas_detection	int	Gas detection signal
positioning_mode	int	Positioning mode
wire_feed	int	Jog wire feed signal
wire_feed_back	int	Reverse wire feed signal

When querying welding IO ports, send:

0x4012 WELDIOPORT_INQUIRE

{}

When controller receives welding IO port query, return:

0x4013 WELDIOPORT_RESPOND

data: Same as 0x4011

When querying welding status, send:

0x4015 WELDMONITOR_INQUIRE

data: None

When controller receives welding status query, return:

0x4016 WELDSTATE_RESPOND

{
  "antiCollision": {
    "shieldFlag": true
  },
  "weldEnabled": true,
  "spotWeldEnabled": true,
  "feedWire": true,
  "aspiration": true,
  "returnWire": true,
  "pistolSwitch": 0,
  "arcingSuccess": 1,
  "handWireFeed": -1,
  "weldCurrent": 1.0,
  "weldVoltage": 2.0,
  "weldRunTime": 3.3,
  "weldRunDutyRatio": 4.4,
  "robot": 1
}

Parameter Description

Parameter Name	Type	Description
antiCollision.shieldFlag	bool	Anti-collision shield
weldEnabled	bool	Welding enable
spotWeldEnabled	bool	Spot welding enable
feedWire	bool	Wire feed
aspiration	bool	Gas flow
returnWire	bool	Wire retract
pistolSwitch	int	Welding torch switch status: 0-Low (Red), 1-High (Green), -1-None (Gray)
arcingSuccess	int	Arc start success
handWireFeed	int	Manual wire feed
weldCurrent	double	Welding current
weldVoltage	double	Welding voltage
weldRunTime	double	Welding time
weldRunDutyRatio	double	Welding duty cycle
robot	int	Robot number

---

Spot Welding Parameters

Spot welding parameter setting:

0x4017 WELD_SHOTPARM_SET

{
  "spotWeldCurrent": 0,
  "spotWeldVoltage": 0,
  "spotWeldMaxTime": 0
}

Parameter Description

Parameter Name	Type	Description
spotWeldCurrent	double	Spot welding current
spotWeldVoltage	double	Spot welding voltage
spotWeldMaxTime	double	Spot welding max time: 1-10

---

Direct Current-Voltage Setting

0x4018 WELD_CURVOL_DIRECTSET

{
  "type": 1,
  "value": 1
}

Parameter Description

Parameter Name	Type	Description
type	int	1-Set current, 2-Set voltage
value	double	Value

---

Set Welder Mode

Monitor welder mode setting:

0x401A WELD_HANDOP_SET

{
  "type": 1,
  "value": 0,
  "robot": 1
}

Parameter Description

Parameter Name	Type	Description
type	int	1-Welding enable, 2-Manual arc start, 3-Manual spot weld, 4-Wire feed, 5-Wire retract, 6-Gas flow, 7-Fault reset
value	int	Bool type
robot	int	Robot number

Welder parameter query:

0x401B WELD_HANDOP_INQUIRE

data: None

Welder parameter data return:

0x401C WELD_HANDOP_RESPOND

{
  "weldEnabled": true,
  "spotWeldEnabled": true,
  "spotWeldCurrent": 33.3,
  "spotWeldVoltage": -20.2,
  "spotWeldMaxTime": 0.5,
  "newCurrent": 33.3,
  "newVoltage": -20.2,
  "feedWire": true,
  "returnWire": true,
  "aspiration": true
}

Parameter Description

Parameter Name	Type	Description
weldEnabled	bool	Welding enable
spotWeldEnabled	bool	Spot welding enable
spotWeldCurrent	double	Spot welding current
spotWeldVoltage	double	Spot welding voltage
spotWeldMaxTime	double	Spot welding max time: 0-1 second
newCurrent	double	Set current
newVoltage	double	Set voltage
feedWire	bool	Wire feed
returnWire	bool	Wire retract
aspiration	bool	Gas flow

---

Welder Selection Setting

0x401D WELD_MACHINE_CHOOSE_SET

{
  "controlMode": 1,
  "monufactor": "Ruilin",
  "weldingMode": 1,
  "commMode": "ModBus RTU",
  "slaveIP": "192.168.1.15",
  "slaveid": 1,
  "port": 21,
  "baudRate": 115200,
  "RILAND": {
    "materialWireDiameterGasSelect": 1
  }
}

Parameter Description

Parameter Name	Type	Description
controlMode	int	0-Analog control, 1-Digital control
monufactor	string	Welder manufacturer
weldingMode	int	0-Separate, 1-Unified
commMode	string	Communication mode: CAN, ModBus RTU, Modbus TCP, EtherCAT
slaveIP	string	Slave IP
slaveid	int	Slave ID
port	int	Port number
baudRate	int	Baud rate
RILAND.materialWireDiameterGasSelect	int	Material/Wire diameter/Gas selection

Query:

0x401E WELD_MACHINE_CHOOSE_INQUIRE

data: None

Return:

0x401F WELD_MACHINE_CHOOSE_RESPOND

{
  "controlMode": 0,
  "monufactor": "Megmeet",
  "weldingMode": 0,
  "commMode": "CAN",
  "slaveIP": "192.168.1.14",
  "slaveid": 1,
  "port": 2,
  "baudRate": 115200,
  "monufactorList": ["Megmeet", "MEGMEET", "Huanyan"],
  "RILAND": {
    "materialWireDiameterGasSelect": 1
  }
}

Return Parameter Description

Parameter Name	Type	Description
controlMode	int	0-Analog control, 1-Digital control
monufactor	string	Welder manufacturer
weldingMode	int	0-Separate, 1-Unified
commMode	string	Communication mode
slaveIP	string	Slave IP
slaveid	int	Slave ID
port	int	Port number
baudRate	int	Baud rate
monufactorList	array	Welder manufacturer list
RILAND.materialWireDiameterGasSelect	int	Material/Wire diameter/Gas selection

---

Welder Communication Status Query

0x4022 WELD_MACHINE_CONNECT_STATUS_INQUIRE

data: None

Return:

0x4023 WELD_MACHINE_CONNECT_STATUS_RESPOND

{
  "welder": [
    {
      "status": 0
    }
  ]
}

Parameter Description

Parameter Name	Type	Description
welder[].status	int	Welder communication status

---

Welding Parameter and Swing Welding Parameter Notes Query

0x4024 WELDPARAMETERNOTES_INQUIRE

{}

Return:

0x4025 WELDPARAMETERNOTES_RESPOND

{
  "weldNotes": ["112", "223", "", ""],
  "weavParameterNotes": ["112", "223", "", ""]
}

Return Parameter Description

Parameter Name	Type	Description
weldNotes	array	Welding parameter notes
weavParameterNotes	array	Swing welding parameter notes

---

Welding Micro Adjustment Query

0x4029 WELDADJUSTMENT_INQUIRE

{}

Return:

0x402A WELDADJUSTMENT_RESPOND

{
  "weav": {
    "left_stay_time": [0, 1.0],
    "right_stay_time": [0, 1.0],
    "swing_amplitude": [0, 1.0],
    "swing_frequency": [0, 1.0]
  },
  "weld": {
    "weld_current": [0.0, 0.0],
    "weld_voltage": [0.0, 0.0]
  }
}

Return Parameter Description

Parameter Name	Type	Description
weav.left_stay_time	array	Left dwell time: [min, max]
weav.right_stay_time	array	Right dwell time: [min, max]
weav.swing_amplitude	array	Swing welding amplitude: [min, max]
weav.swing_frequency	array	Swing welding frequency: [min, max]
weld.weld_current	array	Welding current: [min, max]
weld.weld_voltage	array	Welding voltage: [min, max]

---

Welding Micro Adjustment

Note: Used in run mode; parameters need to be set in welding equipment - micro adjustment

0x402B WELDADJUSTMENT_SET

{
  "name": "weld_current",
  "type": 0
}

Parameter Description

Parameter Name	Type	Description
name	string	Parameter name: weld_current-Welding current, weld_voltage-Welding voltage
type	int	0-Increase, 1-Decrease, 2-Save parameters to config file

---

Cylindrical Intersection Welding Calibration Workpiece Coordinate System

Coordinate calibration setting:

0x4051 CYLDINTERSEC_WELDING_CALIBRATION_SET

{
  "workPieceNum": 1
}

Parameter Description

Parameter Name	Type	Description
workPieceNum	int	Workpiece number

Cylindrical intersection click to calibrate this point:

0x4052 CYLDINTERSEC_WELDING_CALIBRATION_INQUIRE

{
  "workPieceNum": 1,
  "pointNum": 0
}

Parameter Description

Parameter Name	Type	Description
workPieceNum	int	Workpiece number
pointNum	int	Point number: 0~5

Response:

0x4053 CYLDINTERSEC_WELDING_CALIBRATION_RESPOND

{
  "workPieceNum": 1,
  "pointNum": 0,
  "pos": [0, 0, 0, 0, 0, 0]
}

Return Parameter Description

Parameter Name	Type	Description
workPieceNum	int	Workpiece number
pointNum	int	Point number: 0~5
pos	array	Current calibrated point

Calibration result return:

0x4054 CYLDINTERSEC_WELDING_CALIBRATION_RESULT

{
  "result": true,
  "workPieceNum": 1,
  "cylinderIntersectLineParam": {
    "R": 7.873846098073,
    "alpha": 39.072395710472,
    "e": 9.866955106008,
    "r": 2.527536958062
  },
  "WorkPieceCoord": [459.926870686929, -2.5264800349, 632.105073382516, -0.000000248216, 0.000000069098, 2.768560904971]
}

Return Parameter Description

Parameter Name	Type	Description
result	bool	Calibration result
workPieceNum	int	Workpiece number
cylinderIntersectLineParam.R	double	Cylindrical intersection parameter R
cylinderIntersectLineParam.alpha	double	Cylindrical intersection parameter alpha
cylinderIntersectLineParam.e	double	Cylindrical intersection parameter e
cylinderIntersectLineParam.r	double	Cylindrical intersection parameter r
WorkPieceCoord	array	Workpiece coordinate system

---

Cylindrical Intersection Workpiece Parameter Setting

0x4055 CYLDINTERSEC_WELDING_PARAMETER_SET

{
  "workPieceNum": 1,
  "cylinderIntersectLineParam": {
    "R": 0,
    "r": 0,
    "e": 0,
    "alpha": 0
  },
  "WorkPieceCoord": [0, 0, 0, 0, 0, 0]
}

Parameter Description

Parameter Name	Type	Description
workPieceNum	int	Workpiece number
cylinderIntersectLineParam.R	double	Cylindrical intersection parameter R
cylinderIntersectLineParam.r	double	Cylindrical intersection parameter r
cylinderIntersectLineParam.e	double	Cylindrical intersection parameter e
cylinderIntersectLineParam.alpha	double	Cylindrical intersection parameter alpha
WorkPieceCoord	array	Workpiece coordinate system

Cylindrical intersection workpiece parameter query:

0x4056 CYLDINTERSEC_WELDING_PARAMETER_INQUIRE

{
  "workPieceNum": 1
}

Cylindrical intersection workpiece parameter response:

0x4057 CYLDINTERSEC_WELDING_PARAMETER_RESPOND

Same as: 0x4055

---

Cylindrical Intersection Welding Gun Parameter Setting

0x4061 CYLDINTERSEC_WELDINGGUN_PARAMETER_SET

{
  "WeldingGunParam": {
    "alpha": 1.0,
    "beta": 2.0,
    "gama": 3.0,
    "pos_hf_hq": [4.0, 5.0, 6.0]
  },
  "startAngle": 7.0,
  "totalAngle": 8.0,
  "workPieceNum": 1
}

Parameter Description

Parameter Name	Type	Description
WeldingGunParam.alpha	double	Welding gun angle alpha
WeldingGunParam.beta	double	Welding gun angle beta
WeldingGunParam.gama	double	Welding gun angle gama
WeldingGunParam.pos_hf_hq	array	Welding gun position
startAngle	double	Start angle
totalAngle	double	Total angle
workPieceNum	int	Workpiece number

Cylindrical intersection welding gun parameter query:

0x4062 CYLDINTERSEC_WELDINGGUN_PARAMETER_INQUIRE

{
  "workPieceNum": 1
}

Cylindrical intersection welding gun parameter response:

0x4063 CYLDINTERSEC_WELDINGGUN_PARAMETER_RESPOND

Same as: 0x4061

---

Cylindrical Intersection Process Flag Setting

Flag setting to distinguish cylindrical intersection process with/without positioner:

0x4065 CYLDINTERSEC_WITHSYNCPOSFLAG_SET

{
  "workPieceNum": 1,
  "withSyncPosFlag": 1
}

Parameter Description

Parameter Name	Type	Description
workPieceNum	int	Process number
withSyncPosFlag	int	0-Without positioner, 1-With positioner

Coordinate calibration query:

0x4066 CYLDINTERSEC_WITHSYNCPOSFLAG_INQUIRE

{
  "workPieceNum": 1
}

Response:

0x4067 CYLDINTERSEC_WITHSYNCPOSFLAG_RESPOND

{
  "workPieceNum": 1,
  "withSyncPosFlag": 1
}

Return Parameter Description

Parameter Name	Type	Description
workPieceNum	int	Process number
withSyncPosFlag	int	0-Without positioner, 1-With positioner