Seam Tracking Process

Set Laser Parameters

Set laser configuration parameters

0x4130 TRACK_LASER_PARAM_SET

{
  "fileNum": 1,
  "laserParam": {
    "communication": 1,
    "devid": 1,
    "ip": "192.168.1.3",
    "port": 502,
    "responseTimeout": 0.3,
    "scaleFactor": 0.01,
    "timeLimit": 500.0,
    "timePeriod": 50.0,
    "vendor": "Chuangxiang"
  },
  "robot": 1
}

Parameter Name	Type	Required	Description
fileNum	int	Yes	Laser file number
robot	int	Yes	Robot number
laserParam.communication	int	Yes	Communication mode: 0-modbus tcp, 1-ethernet tcp
laserParam.devid	int	Yes	Device number
laserParam.ip	string	Yes	IP address
laserParam.port	int	Yes	Port number
laserParam.responseTimeout	float	No	Response timeout
laserParam.scaleFactor	float	No	Laser return value scale factor
laserParam.timeLimit	float	No	Read/write timeout (ms)
laserParam.timePeriod	float	No	Read/write period (ms)
laserParam.vendor	string	No	Laser manufacturer

---

Query laser parameters

0x4131 TRACK_LASER_PARAM_INQUIRE

{
  "robot": 1,
  "fileNum": 1
}

Parameter Name	Type	Required	Description
robot	int	Yes	Robot number
fileNum	int	Yes	Laser file number

---

Response of laser parameters

0x4132 TRACK_LASER_PARAM_RESPOND

{
  "fileNum": 1,
  "laserParam": {
    "commLog": false,
    "communication": 0,
    "devid": 88,
    "ip": "192.168.1.3",
    "netstate": false,
    "port": 502,
    "responseTimeout": 0.3,
    "scaleFactor": 0.01,
    "timeLimit": 500.0,
    "timePeriod": 50,
    "vendor": "Chuangxiang",
    "vendorlist": [
      "Generic",
      "Chuangxiang",
      "Ruiboshi",
      "Ruinui",
      "Tongzhou Tech",
      "Zhongke Hongwei",
      "Quanshi Zhineng",
      "Shenggong Zhineng",
      "Kangpuman",
      "Qingdong"
    ]
  },
  "robot": 1
}

Parameter Name	Type	Description
fileNum	int	Laser file number
robot	int	Robot number
laserParam.commLog	bool	Communication log
laserParam.communication	int	Communication mode: 0-modbus tcp, 1-ethernet tcp
laserParam.devid	int	Device number
laserParam.ip	string	IP address
laserParam.netstate	bool	Network status
laserParam.port	int	Port number
laserParam.responseTimeout	float	Response timeout
laserParam.scaleFactor	float	Laser return value scale factor
laserParam.timeLimit	float	Read/write timeout (ms)
laserParam.timePeriod	float	Read/write period (ms)
laserParam.vendor	string	Laser manufacturer
laserParam.vendorlist	array	Laser manufacturer list

---

Laser Calibration

Calibration record query

0x4140 SENSOR_LASER_CALIBRATE_INQUIRE

{
  "robot": 1,
  "fileNum": 1
}

Parameter Name	Type	Required	Description
robot	int	Yes	Robot number
fileNum	int	Yes	Laser file number

---

Return 0x4140 query result

0x4141 SENSOR_LASER_CALIBRATE_RESPOND

{
  "robot": 1,
  "fileNum": 1,
  "recordResult": {
    "point1": false,
    "point2": false,
    "point3": false,
    "point4": false,
    "point5": false,
    "point6": false,
    "point7": false
  }
}

Parameter Name	Type	Description
robot	int	Robot number
fileNum	int	Laser file number
recordResult.point1~7	bool	Record result of each calibration point

---

Record calibration point

0x4142 SENSOR_LASER_CALIBRATE_RECORD

{
  "robot": 1,
  "fileNum": 1,
  "pointNum": 1
}

Parameter Name	Type	Required	Description
robot	int	Yes	Robot number
fileNum	int	Yes	Laser file number
pointNum	int	Yes	Calibration point number (range 1~7)

---

Query calibration result

0x4143 SENSOR_LASER_CALIBRATE_RECORD_RESPOND

{
  "robot": 1,
  "fileNum": 1,
  "pointNum": 1,
  "recordResult": true
}

Parameter Name	Type	Description
robot	int	Robot number
fileNum	int	Laser file number
pointNum	int	Calibration point number
recordResult	bool	Record result

---

Move to calibration point

0x4144 SENSOR_LASER_CALIBRATE_MOVETO

{
  "robot": 1,
  "fileNum": 1,
  "pointNum": 1
}

Parameter Name	Type	Required	Description
robot	int	Yes	Robot number
fileNum	int	Yes	Laser file number
pointNum	int	Yes	Calibration point number

---

Calculate calibration result

0x4145 SENSOR_LASER_CALIBRATE_CALCULATE

{
  "robot": 1,
  "fileNum": 1
}

Parameter Name	Type	Required	Description
robot	int	Yes	Robot number
fileNum	int	Yes	Laser file number

---

Return 0x4145 calculation result

0x4146 SENSOR_LASER_CALIBRATE_CALCULATE_RESPOND

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

Parameter Name	Type	Description
robot	int	Robot number
fileNum	int	Laser file number
result	bool	Calculation result

---

Clear calibration records

0x4147 SENSOR_LASER_CALIBRATE_CLEAR

{
  "robot": 1,
  "fileNum": 1
}

Parameter Name	Type	Required	Description
robot	int	Yes	Robot number
fileNum	int	Yes	Laser file number

Returns 0x4141

---

Cancel calibration

0x4148 SENSOR_LASER_CALIBRATE_CANCEL

{
  "robot": 1,
  "fileNum": 1
}

Parameter Name	Type	Required	Description
robot	int	Yes	Robot number
fileNum	int	Yes	Laser file number

---

Query whether laser is calibrated

0x4149 SENSOR_LASER_CALIBRATE_RESULT_INQUIRE

{
  "robot": 1,
  "fileNum": 1
}

Parameter Name	Type	Required	Description
robot	int	Yes	Robot number
fileNum	int	Yes	Laser file number

---

Response to 0x4149 query result

0x414A SENSOR_LASER_CALIBRATE_RESULT_RESPOND

{
  "robot": 1,
  "fileNum": 1,
  "laserCalibrated": false
}

Parameter Name	Type	Description
robot	int	Robot number
fileNum	int	Laser file number
laserCalibrated	bool	Whether calibrated

---

Set Locating Type

0x4133 LOCATING_SENSORTYPE_SET

{
  "fileNum": 77,
  "robot": 1,
  "sensorType": 0
}

Parameter Name	Type	Required	Description
fileNum	int	Yes	Laser file number
robot	int	Yes	Robot number
sensorType	int	Yes	Locating type: 0-Line laser, 1-Arc

---

Query locating type

0x4134 LOCATING_SENSORTYPE_INQUIRE

{
  "robot": 1,
  "fileNum": 1
}

Parameter Name	Type	Required	Description
robot	int	Yes	Robot number
fileNum	int	Yes	Laser file number

---

Response to locating type

0x4135 LOCATING_SENSORTYPE_RESPOND

{
  "robot": 1,
  "fileNum": 1,
  "sensorType": 0
}

Parameter Name	Type	Description
robot	int	Robot number
fileNum	int	Laser file number
sensorType	int	Locating type: 0-Line laser, 1-Arc

---

Set Tracking Type

0x4169 TRACK_SENSORTYPE_SET

{
  "robot": 1,
  "fileNum": 1,
  "sensorType": 0
}

Parameter Name	Type	Required	Description
robot	int	Yes	Robot number
fileNum	int	Yes	Laser file number
sensorType	int	Yes	Tracking type: 0-Line laser, 1-Arc, 2-Arc voltage

---

Query tracking type

0x4170 TRACK_SENSORTYPE_INQUIRE

{
  "robot": 1,
  "fileNum": 1
}

Parameter Name	Type	Required	Description
robot	int	Yes	Robot number
fileNum	int	Yes	Laser file number

---

Return 0x4170 query result

0x4171 TRACK_SENSORTYPE_RESPOND

Same as 0x4169

---

Set Laser Tracking Parameter Table

0x4136 TRACK_LASER_TRACKPARAM_SET

{
  "fileNum": 1,
  "robot": 1,
  "tableid": 98,
  "trackParam": {
    "compensateX": 1.0,
    "compensateY": 2.0,
    "compensateZ": 3.0,
    "din_end": 0,
    "dout_part_move": -1,
    "endPoint": {
      "interval": 6.0,
      "scanPeriod": 5.0
    },
    "filter": {
      "level": 4,
      "type": 1
    },
    "laserTaskId": 7,
    "positionHold": {
      "distance": 100.0,
      "switchon": false
    },
    "scanErrorLength": 8.0,
    "sensitivity": 3,
    "trackMode": 0
  }
}

Parameter Name	Type	Required	Description
fileNum	int	Yes	Laser file number
robot	int	Yes	Robot number
tableid	int	Yes	Tracking mode
trackParam.compensateX	float	No	X direction compensation
trackParam.compensateY	float	No	Y direction compensation
trackParam.compensateZ	float	No	Z direction compensation
trackParam.din_end	int	No	Tracking end input IO
trackParam.dout_part_move	int	No	Workpiece rotation output IO
trackParam.endPoint.interval	float	No	End point scan interval
trackParam.endPoint.scanPeriod	float	No	End point scan period
trackParam.filter.level	int	No	Filter level
trackParam.filter.type	int	No	Filter method: 0-None, 1-Moving average filter
trackParam.laserTaskId	int	No	Laser task number
trackParam.positionHold.distance	float	No	Locating hold trigger distance
trackParam.positionHold.switchon	bool	No	Locating hold function: true enable, false disable
trackParam.scanErrorLength	float	No	Scan error confirmation distance
trackParam.sensitivity	int	No	Sensitivity
trackParam.trackMode	int	No	Tracking mode: 0-Absolute, 1-Fixed-point incremental, 2-Traveling incremental

---

Query laser tracking parameters

0x4137 TRACK_LASER_TRACKPARAM_INQUIRE

{
  "robot": 1,
  "fileNum": 1,
  "tableid": 1
}

Parameter Name	Type	Required	Description
robot	int	Yes	Robot number
fileNum	int	Yes	Laser file number
tableid	int	Yes	Parameter table number

---

Response to laser tracking parameters

0x4138 TRACK_LASER_TRACKPARAM_RESPOND

Data: Same as 0x4136

---

Locating Parameter Table

Set locating parameters

0x4139 TRACK_LASER_SEARCHPARAM_SET

{
  "fileNum": 1,
  "robot": 1,
  "searchParam": {
    "compensateX": 2.0,
    "compensateY": 3.0,
    "compensateZ": 4.0,
    "dynamic": {
      "distance": 5.0,
      "pointIndex": 7,
      "speed": 6.0
    },
    "laserTaskId": 1,
    "storeType": 1
  },
  "tableid": 3
}

Parameter Name	Type	Required	Description
fileNum	int	Yes	Locating file number
robot	int	Yes	Robot number
tableid	int	Yes	Parameter table number
searchParam.compensateX	float	No	X direction compensation
searchParam.compensateY	float	No	Y direction compensation
searchParam.compensateZ	float	No	Z direction compensation
searchParam.dynamic.distance	float	No	Dynamic locating distance
searchParam.dynamic.pointIndex	int	No	Dynamic locating selection
searchParam.dynamic.speed	float	No	Dynamic locating speed
searchParam.laserTaskId	int	No	Laser task number
searchParam.storeType	int	No	Locating type: 0-Reference locating, 1-Correction locating

---

Query locating parameters

0x413A TRACK_LASER_SEARCHPARAM_INQUIRE

{
  "robot": 1,
  "fileNum": 1,
  "tableid": 1
}

Parameter Name	Type	Required	Description
robot	int	Yes	Robot number
fileNum	int	Yes	Laser file number
tableid	int	Yes	Parameter table number

---

Response to locating parameters

0x413B TRACK_LASER_SEARCHPARAM_RESPOND

Data: Same as 0x4139

---

Copy locating parameters (must clear with 0x413D before copying)

0x413C TRACK_SEAMTRACK_PARAM_COPY

{
  "dstFileNum": 4,
  "fileNum": 1,
  "function": 1,
  "robot": 1,
  "sensorType": 0
}

Parameter Name	Type	Required	Description
dstFileNum	int	Yes	File number to copy to
fileNum	int	Yes	File number to copy from
function	int	Yes	0-Tracking, 1-Locating
robot	int	Yes	Robot number
sensorType	int	Yes	Tracking type: 0-Line laser, 1-Arc, 2-Arc voltage; Locating type: 0-Line laser, 1-Arc

---

Clear locating parameters

0x413D TRACK_SEAMTRACK_PARAM_CLEAR

{
  "robot": 1,
  "fileNum": 1,
  "sensorType": 0,
  "function": 0
}

Parameter Name	Type	Required	Description
robot	int	Yes	Robot number
fileNum	int	Yes	Laser file number
sensorType	int	Yes	Tracking type: 0-Line laser, 1-Arc, 2-Arc voltage; Locating type: 0-Line laser, 1-Arc
function	int	Yes	0-Tracking, 1-Locating

Note: After clearing is complete, query parameters once

---

Arc Tracking

Set communication parameters

0x4150 TRACK_ARC_COMMPARAM_SET

{
  "robot": 1,
  "craftid": 1,
  "sampling": {
    "dataType": 0,
    "period": 20
  }
}

Parameter Name	Type	Required	Description
robot	int	Yes	Robot number
craftid	int	Yes	Tracking file number
sampling.dataType	int	Yes	Data type: 0-Current, 1-Voltage
sampling.period	int	Yes	Sampling period (0~1000)

---

Query communication parameters

0x4151 TRACK_ARC_COMMPARAM_INQUIRE

{
  "robot": 1,
  "craftid": 1
}

Parameter Name	Type	Required	Description
robot	int	Yes	Robot number
craftid	int	Yes	Tracking file number

---

Response to communication parameter query

0x4152 TRACK_ARC_COMMPARAM_RESPOND

{
  "robot": 1,
  "craftid": 1,
  "sampling": {
    "dataType": 0,
    "period": 20
  }
}

Parameter Name	Type	Description
robot	int	Robot number
craftid	int	Tracking file number
sampling.dataType	int	Data type: 0-Current, 1-Voltage
sampling.period	int	Sampling period (0~1000)

---

Set lateral compensation parameters

0x4153 TRACK_ARC_LATERALCOMPENPARAM_SET

{
  "craftid": 1,
  "robot": 1,
  "lateralCompensation": {
    "accFactor": 5.0,
    "algorithmType": 0,
    "beginCycleNum": 1,
    "factor": 2.0,
    "maxSingleLen": 4.0,
    "switchon": false,
    "threshold": 3.0
  }
}

Parameter Name	Type	Required	Description
craftid	int	Yes	Tracking file number
robot	int	Yes	Robot number
lateralCompensation.accFactor	float	No	Compensation acceleration factor (0.1~10)
lateralCompensation.algorithmType	int	No	Deviation extraction type: 0-Mean
lateralCompensation.beginCycleNum	int	No	Start sampling cycle count (1~1000)
lateralCompensation.factor	float	No	Correction factor (0.001~1000)
lateralCompensation.maxSingleLen	float	No	Max compensation per cycle (0~10)
lateralCompensation.switchon	bool	No	Compensation switch
lateralCompensation.threshold	float	No	Compensation threshold (0~1000)

---

Query lateral compensation parameters

0x4154 TRACK_ARC_LATERALCOMPENPARAM_INQUIRE

{
  "robot": 1,
  "craftid": 1
}

Parameter Name	Type	Required	Description
robot	int	Yes	Robot number
craftid	int	Yes	Tracking file number

---

Return lateral parameter query

0x4155 TRACK_ARC_LATERALCOMPENPARAM_RESPOND

Same as: 0x4153

---

Set vertical compensation parameters

0x4156 TRACK_ARC_VERTICALCOMPENPARAM_SET

{
  "craftid": 1,
  "robot": 1,
  "verticalCompensation": {
    "accFactor": 1,
    "algorithmType": 0,
    "beginCycleNum": 5,
    "factor": 4,
    "maxSingleLen": 2,
    "switchon": true,
    "threshold": 3
  }
}

Parameter Name	Type	Required	Description
craftid	int	Yes	Tracking file number
robot	int	Yes	Robot number
verticalCompensation.accFactor	float	No	Compensation acceleration factor
verticalCompensation.algorithmType	int	No	Deviation extraction type
verticalCompensation.beginCycleNum	int	No	Start sampling cycle count
verticalCompensation.factor	float	No	Correction factor
verticalCompensation.maxSingleLen	float	No	Max compensation per cycle
verticalCompensation.switchon	bool	No	Compensation switch
verticalCompensation.threshold	float	No	Compensation threshold

---

Query vertical compensation parameters

0x4157 TRACK_ARC_VERTICALCOMPENPARAM_INQUIRE

{
  "robot": 1,
  "craftid": 1
}

Parameter Name	Type	Required	Description
robot	int	Yes	Robot number
craftid	int	Yes	Tracking file number

---

Return vertical compensation parameter query

0x4158 TRACK_ARC_VERTICALCOMPENPARAM_RESPOND

Same as: 0x4156

---

Touch Locating Parameters

0x4160 SEARCH_TOUCH_PARAM_SET

{
  "craftid": 1,
  "robot": 1,
  "touchSearch": {
    "2ndAutoDistance": 8.0,
    "2ndAutoReturn": true,
    "2ndAutoVel": 9.0,
    "2ndDeviationLimit": 10.0,
    "2ndDistance": 6.0,
    "2ndSwitchon": false,
    "2ndVel": 7.0,
    "autoDistance": 3.0,
    "autoReturn": true,
    "autoVel": 4.0,
    "baseFlag": true,
    "compensation": 11.0,
    "deviationLimit": 5.0,
    "distance": 1.0,
    "isChangePose": false,
    "vel": 2.0
  }
}

Parameter Name	Type	Required	Description
craftid	int	Yes	Locating file number
robot	int	Yes	Robot number
touchSearch.2ndAutoDistance	float	No	Secondary auto return distance
touchSearch.2ndAutoReturn	bool	No	Secondary auto return enable
touchSearch.2ndAutoVel	float	No	Secondary auto return speed
touchSearch.2ndDeviationLimit	float	No	Secondary over-deviation range
touchSearch.2ndDistance	float	No	Secondary locating distance
touchSearch.2ndSwitchon	bool	No	Secondary locating enable
touchSearch.2ndVel	float	No	Secondary locating speed
touchSearch.autoDistance	float	No	Auto return distance
touchSearch.autoReturn	bool	No	Auto return enable
touchSearch.autoVel	float	No	Auto return speed
touchSearch.baseFlag	bool	No	Reference locating switch
touchSearch.compensation	float	No	Motion vector compensation
touchSearch.deviationLimit	float	No	Over-deviation range
touchSearch.distance	float	No	Locating distance
touchSearch.isChangePose	bool	No	Whether to change posture
touchSearch.vel	float	No	Locating speed

---

Query parameters

0x4161 SEARCH_TOUCH_PARAM_INQUIRE

{
  "robot": 1,
  "craftid": 1
}

Parameter Name	Type	Required	Description
robot	int	Yes	Robot number
craftid	int	Yes	Locating file number

---

Response to query

0x4162 SEARCH_TOUCH_PARAM_RESPOND

Parameters same as 0x4160

---

Arc Voltage Tracking

Arc voltage tracking parameter setting

0x4163 ARC_VOLTAGE_TRACK_PARAMETERS_SET

{
  "base_calc": {
    "collect_time": 5.0,
    "method": 0,
    "vol_inc": 4.0,
    "voltage": 3.0
  },
  "collection": {
    "analog_port": 1,
    "equipment": 0,
    "invalid_data_time": 2.0,
    "period": 1
  },
  "craftid": 1,
  "pid": {
    "dev_shreshold": 9.0,
    "kd": 8.0,
    "ki": 7.0,
    "kp": 6.0,
    "max_iout": 10.0,
    "max_out": 11.0
  },
  "robot": 1
}

Parameter Name	Type	Required	Description
craftid	int	Yes	Tracking file number
robot	int	Yes	Robot number
base_calc.collect_time	float	No	Welding start calculation time (s)
base_calc.method	int	No	Base voltage acquisition method: 0-Welding calculation, 1-Manual calculation
base_calc.vol_inc	float	No	Calculation increment
base_calc.voltage	float	No	Base voltage (= calculation + increment)
collection.analog_port	int	No	Arc voltage analog port (AIN-1...)
collection.equipment	int	No	Arc voltage acquisition equipment: 0-Welder, 1-Arc voltage module
collection.invalid_data_time	float	No	Invalid data time (s)
collection.period	int	No	Sampling period (ms)
pid.dev_shreshold	float	No	Deviation threshold
pid.kd	float	No	Derivative coefficient
pid.ki	float	No	Integral coefficient
pid.kp	float	No	Proportional coefficient
pid.max_iout	float	No	Integral limit
pid.max_out	float	No	Output limit

---

Arc voltage tracking parameter query

0x4164 ARC_VOLTAGE_TRACK_PARAMETERS_INQUIRE

{
  "robot": 1,
  "craftid": 1
}

Parameter Name	Type	Required	Description
robot	int	Yes	Robot number
craftid	int	Yes	Tracking file number

---

Response to arc voltage tracking parameter query

0x4165 ARC_VOLTAGE_TRACK_PARAMETERS_RESPOND

Same as: 0x4163

---

Arc voltage tracking base voltage calculation start

0x4166 ARC_VOLTAGE_TRACK_BASEVOLTAGE_CALC_START

{
  "robot": 1,
  "craftid": 1
}

Parameter Name	Type	Required	Description
robot	int	Yes	Robot number
craftid	int	Yes	Tracking file number

---

Arc voltage tracking base voltage calculation end

0x4167 ARC_VOLTAGE_TRACK_BASEVOLTAGE_CALC_END

{
  "robot": 1,
  "craftid": 1
}

Parameter Name	Type	Required	Description
robot	int	Yes	Robot number
craftid	int	Yes	Tracking file number

---

Calculate arc voltage tracking base voltage

0x4168 ARC_VOLTAGE_TRACK_BASEVOLTAGE_CALC

{
  "robot": 1,
  "craftid": 1
}

Parameter Name	Type	Required	Description
robot	int	Yes	Robot number
craftid	int	Yes	Tracking file number

---

Return 0x4168 calculation result

ARC_VOLTAGE_TRACK_BASEVOLTAGE_CALCULESULTS_GET

{
  "basic_calc": {
    "voltage": 0.0
  }
}

Parameter Name	Type	Description
basic_calc.voltage	float	Base voltage

---

Modify arc voltage tracking window parameters

0x416B ARC_VOLTAGE_TRACK_WINDOWSPARAM_SET

{
  "base_calc": {
    "vol_inc": 4.0,
    "voltage": 3.0
  },
  "craftid": 3,
  "robot": 1
}

Parameter Name	Type	Required	Description
robot	int	Yes	Robot number
craftid	int	Yes	Tracking file number
base_calc.vol_inc	float	No	Calculation increment
base_calc.voltage	float	No	Base voltage