Welding Process

Welding communication protocols primarily cover welding equipment, current/voltage, welding parameters, weave welding parameters, welding IO ports, multi-layer multi-pass welding, and intersecting curves. For detailed information on welding processes, please refer to the Welding Process Manual.

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1. Welding Equipment

Welding equipment settings include basic functions, micro-adjustment, anti-collision, restart/re-arc, and other modules.

1.1 Host Computer Sets Welding Equipment

Command: 0x8300

Description: During welding, when arc interruption occurs due to arc break, anti-collision, mode-switch stop, etc., this function allows welding to resume at the break point. For automatic and semi-automatic restart, ensure there are no obstacles between the arc break point and the retreat target position.

basic_functions (Basic Functions)

Parameter Name	Type	Description	Value Range
arc_detection_time	double	Arc Detection Time	[0,5]s
arc_depletion_detection_time	double	Arc Depletion Detection Time	[0,5]s
arc_detection_ensure_time	double	Arc Detection Confirmation Time	[0,5]s
pre_give_gas_time	double	Pre-gas Delivery Time	[0,5]s
close_time	double	Gas Shut-off Time (negative = pre-shut-off, positive = delayed shut-off)	[-5,5]s
weld_interruption_detection	bool	Welding Interruption Detection	true: Detect, false: Do Not Detect
arc_fly	bool	Fly Arc Start	true: Fly Arc Start, false: No Fly Arc Start
air_close_mode	int	Gas Shut-off Mode	0: Delayed Shut-off, 1: Pre-shut-off

micro_adjustment (Micro-adjustment)

Parameter Name	Type	Description	Value Range
single_adjustment_current	double	Single Adjustment Amount for Welding Current	[0,1000]A
single_adjustment_voltage	double	Single Adjustment Amount for Welding Voltage	[-1000,1000]V

restart (Restart/Re-arc)

Parameter Name	Type	Description	Value Range
restart_times	int	Restart Times	[0,1000]
restart_distance	double	Restart Distance	[0,100]mm
restart_speed	double	Restart Speed	[0,100]mm/s
re_arc_times	int	Re-arc Times	[1,1000]
restart_enable	bool	Restart Enable	-
re_arc_enable	bool	Re-arc Enable	-
restart_mode	int	Restart Mode	-

antiCollision (Anti-collision)

Parameter Name	Type	Description	Value Range
enable	bool	Anti-collision Enable	true: Enabled, false: Disabled
inputPort	int	Anti-collision IO Port	-
inputValue	int	Anti-collision Trigger Level	0/1
stopTime	double	Anti-collision Quick Stop Time	[50,200]s
outputPort	int	Anti-collision Status Output Port	-
outputValue	int	Anti-collision Status Output Level	0/1
shieldFlag	bool	Shield Anti-collision	true: Enabled, false: Disabled
shieldTime	double	Shield Time	[0,1000000]s

other (Other)

Parameter Name	Type	Description	Value Range
break_back_time	double	Arc Break Retract Time	[0,5]s
weld_finish_time	double	Weld Completion Retract Time	[0,5]s
break_back_enable	bool	Arc Break Retract Enable	true: Enabled, false: Disabled
weld_finish_function	bool	Weld Completion Retract Function	true: Enabled, false: Disabled
simulation_set_zero	bool	Arc Extinguish Analog Zero Function	true: Enabled, false: Disabled
collisionButtonFlag.error_enable_switch	bool	Error Enable Switch	-

Example:

{
  "basic_functions": {
    "arc_detection_time": 1.1,
    "arc_depletion_detection_time": 1.1,
    "arc_detection_ensure_time": 1.1,
    "pre_give_gas_time": 1.1,
    "close_time": 1.1,
    "weld_interruption_detection": true,
    "arc_fly": true,
    "air_close_mode": 0
  },
  "micro_adjustment": {
    "single_adjustment_current": 1.1,
    "single_adjustment_voltage": 1.1
  },
  "restart": {
    "restart_times": 1,
    "restart_distance": 1.1,
    "restart_speed": 1.1,
    "re_arc_times": 1,
    "restart_enable": true,
    "re_arc_enable": true,
    "restart_mode": 1
  },
  "antiCollision": {
    "enable": false,
    "inputPort": 0,
    "inputValue": 1,
    "stopTime": 60,
    "outputPort": 0,
    "outputValue": 1,
    "shieldFlag": false,
    "shieldTime": 30
  },
  "other": {
    "break_back_time": 1.1,
    "weld_finish_time": 1.1,
    "break_back_enable": true,
    "weld_finish_function": true,
    "simulation_set_zero": true
  },
  "collisionButtonFlag": {
    "error_enable_switch": true
  }
}

1.2 Host Computer Queries Welding Equipment

Command: 0x8301

Description: Drag jog mode toggle switch.

Parameter Name	Type	Description	Value Range
robot	int	Current Robot	[1,4]

{
  "robot": 1
}

1.3 Controller Replies with Welding Equipment

Command: 0x8302

Return parameters are the same as "Host Computer Sets Welding Equipment"; see the tables and examples above.

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2. Current and Voltage

2.1 Current and Voltage Matching Setup

Command: 0x8310

Parameter Name	Type	Description	Value Range
robot	int	Current Robot	[1,4]

current_control (Current Control)

Parameter Name	Type	Description	Value Range
set_current	double[]	Set Current	[0,10]A
actual_current	double[]	Actual Current	[0,999]A

voltage_control (Voltage Control)

Parameter Name	Type	Description	Value Range
set_voltage	double[]	Set Voltage	[0,10]V
actual_voltage	double[]	Actual Voltage	[0,999]V

{
  "current_control": {
    "set_current": [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
}

2.2 Host Computer Queries Current/Voltage Matching

Command: 0x8311

Parameter Name	Type	Description	Value Range
robot	int	Current Robot	[1,4]

{
  "robot": 1
}

2.3 Controller Replies with Current/Voltage Matching

Command: 0x8312

Parameter Name	Type	Description	Value Range
robot	int	Current Robot	[1,4]
set_current	int[]	Set Current	[0,10]A
actual_current	int[]	Actual Current	[0,999]A
set_voltage	int[]	Set Voltage	[0,10]V
actual_voltage	int[]	Actual Voltage	[0,999]V
AO_setcurrent	int	Current Output Port	-
AO_setvoltage	int	Voltage Output Port	-

{
  "current_control": {
    "set_current": [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
}

2.4 Host Computer Sets Current/Voltage Matching Parameter Actual Values

Command: 0x8313

Parameter Name	Type	Description	Value Range
type	int	Parameter Type (Voltage 1=0, Voltage 2=1, Current 1=2, Current 2=3)	[0,3]
value	double	Parameter Value	[0,999]A/V
robot	int	Robot Number	[1,4]

{
  "type": 0,
  "value": 4.13,
  "robot": 1
}

2.5 Controller Returns Setup Success Status

Command: 0x8314

Parameter Name	Type	Description	Value Range
result	int	Setup Result (1: Success, 0: Failure)	-
robot	int	Current Robot	[1,4]

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

2.6 Start Current/Voltage Matching

Command: 0x8315

Parameter Name	Type	Description	Value Range
start	bool	Whether to Start Matching	true: Start, false: End
robot	int	Current Robot	[1,4]

{
  "start": true,
  "robot": 1
}

2.7 Manual Current/Voltage Setting Operation

Command: 0x8316

Parameter Name	Type	Description	Value Range
robot	int	Current Robot	[1,4]
type	int	Select to Set Current/Voltage	1: Set Current, 2: Set Voltage
value	double	Value	-

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

---

3. Welding Parameters

3.1 Host Computer Sets Welding Parameters

Command: 0x8320

Parameter Name	Type	Description	Value Range
num	int	Process Number (starts from 1, can set 1-99)	[1,99]
notes	string	Notes	-
robot	int	Current Robot	[1,4]

arcoff_parameters (Arc End Parameters)

Parameter Name	Type	Description	Value Range
arcoff_use_param	bool	Whether to Use Arc End Parameters	true: Use, false: Do Not Use
arcoff_voltage	double	Arc End Voltage	[-1000,1000]V
arcoff_current	double	Arc End Current	[0,1000]A
arcoff_time	double	Arc End Time	[0,5]s
ramp_time	double	Ramp Time	[0,100000]ms
ramp_enable	bool	Ramp Enable	-
ramp_mode	int	Arc End Ramp Mode	0: Time Ramp

weld_parameters (Welding Parameters)

Parameter Name	Type	Description	Value Range
weld_current	double	Welding Current	[0,1000]A
weld_voltage	double	Welding Voltage	[-1000,1000]V

arcon_parameters (Arc Start Parameters)

Parameter Name	Type	Description	Value Range
arcon_use_param	bool	Whether to Use Arc Start Parameters	true: Use, false: Do Not Use
arcon_current	double	Arc Start Current	[0,1000]A
arcon_voltage	double	Arc Start Voltage	[-1000,1000]V
arcon_time	double	Arc Start Time	[0,5]s
arcon_ramp_time	double	Ramp Time	[0,1000000]ms
arcon_ramp_enable	bool	Arc Start Ramp Enable	-
arcon_ramp_mode	int	Arc Start Ramp Mode	0: Time Ramp

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

3.2 Host Computer Queries Welding Parameters

Command: 0x8321

Parameter Name	Type	Description	Value Range
num	int	Process Number (starts from 1)	[1,99]
robot	int	Current Robot	[1,4]

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

3.3 Controller Replies with Welding Parameters

Command: 0x8322

Parameter Name	Type	Description	Value Range
num	int	Parameter Sequence Number (starts from 1)	-
notes	string	Notes	-
robot	int	Current Robot	[1,4]

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
arcon_ramp_time	double	Ramp Time
arcon_ramp_distance	double	Ramp Distance
arcon_ramp_enable	bool	Ramp Enable
arcon_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
weld_velocity	double	Welding Speed

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)

anti_adhesion_parameters (Anti-adhesion Parameters)

Parameter Name	Type	Description
anti_adhesion_enable	bool	Anti-adhesion Enable
anti_adhesion_times	int	Anti-adhesion Times
anti_adhesion_v	double	Anti-adhesion Voltage
anti_adhesion_i	double	Anti-adhesion Current
anti_adhesion_time	double	Anti-adhesion Time

{
  "num": 1,
  "notes": "Example",
  "arcoff_parameters": {
    "arcoff_voltage": 1.1,
    "arcoff_current": 1.1,
    "arcoff_time": 1.1,
    "arcon_ramp_time": 1.1,
    "arcon_ramp_distance": 1.1,
    "arcon_ramp_enable": true,
    "arcon_ramp_mode": 1
  },
  "weld_parameters": {
    "weld_current": 1.1,
    "weld_voltage": 1.1,
    "weld_velocity": 0.0
  },
  "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": 0
  },
  "anti_adhesion_parameters": {
    "anti_adhesion_enable": true,
    "anti_adhesion_times": 1,
    "anti_adhesion_v": 1.1,
    "anti_adhesion_i": 1.1,
    "anti_adhesion_time": 1.1
  }
}

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4. Weave Welding Parameters

inexbot weave welding supports seven weaving modes: Sine Wave, Zigzag, Circular, External Axis Fixed-Point, L-Shape, Triangular, and Figure-8. Parameters such as weaving frequency, weaving amplitude, start direction, horizontal angle, vertical angle, etc. are adjustable.

4.1 Host Computer Sends Weave Welding Parameter Setup

Command: 0x8330

Parameter Name	Type	Description	Value Range
num	int	Weave Welding File Sequence Number (starts from 1)	[1,99]
note	string	Notes	-
robot	int	Current Robot	[1,4]

parameter (Weave Welding Parameters)

Parameter Name	Type	Description	Value Range
weaving_type	int	Weaving Type	[0,6], 0: Sine Wave, 1: Zigzag, 2: Circular, 3: External Axis Fixed-Point, 4: L-Shape, 5: Triangular, 6: Figure-8
weaving_freq	int	Weaving Frequency	(0,20]Hz
weaving_ampli	int	Weaving Amplitude	(0,50]mm
isMove	int	Move or Stay	0: Stay, 1: Move
right_standing_time	int	Right Dwell Time (must be set when selecting Zigzag, External Axis Fixed-Point, L-Shape, or Triangular weaving)	[0,15]
left_standing_time	int	Left Dwell Time (must be set when selecting Zigzag, External Axis Fixed-Point, L-Shape, or Triangular weaving)	[0,15]
init_direction	int	Start Direction	0: +1, 1: -1
horizontal_angle	int	Horizontal Yaw Angle	[-180,180]
vertical_angle	int	Vertical Pitch Angle	[-180,180]
left_angle	int	Left Elevation Angle (must be set when selecting L-Shape or Triangular weaving)	[0,90]
right_angle	int	Right Elevation Angle (must be set when selecting L-Shape or Triangular weaving)	[0,90]

{
  "num": 1,
  "parameter": {
    "note": "Example",
    "weaving_type": 0,
    "weaving_freq": 20,
    "weaving_ampli": 50,
    "isMove": 0,
    "right_standing_time": 15,
    "left_standing_time": 15,
    "init_direction": 1,
    "horizontal_angle": 180,
    "vertical_angle": 180,
    "left_angle": 90,
    "right_angle": 90
  },
  "robot": 1
}

4.2 Host Computer Queries Weave Welding Parameters

Command: 0x8331

Parameter Name	Type	Description	Value Range
robot	int	Current Robot	[1,4]
num	int	Weave Welding File Sequence Number	[1,99]

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

4.3 Controller Returns Weave Welding Parameters

Command: 0x8332

Return parameters are the same as "Host Computer Sends Weave Welding Parameter Setup"; see the tables and examples above.

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5. Welding IO

The inexbot control system achieves precise control of welding processes through digital IO ports, completing closed-loop management of welding parameters via analog signal interfaces.

5.1 Host Computer Sets Welding IO Interface

Command: 0x8340

Parameter Name	Type	Description	Value Range
robot	int	Current Robot	[1,4]

Din (Digital Input, port number starts from 1, 0 means None)

Parameter Name	Type	Description
arc_success	int	Arc Start Success
seek_success	int	Positioning Success
weld_enable	int	Remote Welding Enable
wire_feed	int	Jog Wire Feed
return_wire	int	Wire Retract
remote_gastest	int	Gas Detection

Dout (Digital Output, port number starts from 1, 0 means None)

Parameter Name	Type	Description
arc_signal	int	Arc Start Success Signal
wire_feed	int	Jog Wire Feed Signal
wire_feed_back	int	Reverse Wire Feed Signal
gas_detection	int	Gas Detection Signal
positioning_mode	int	Positioning Mode
weld_enable	bool	Welding Enable

Ain (Analog Input, port number starts from 1, 0 means None)

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

Aout (Analog Output, port number starts from 1, 0 means None)

Parameter Name	Type	Description
given_electric_current	int	Given Current Signal
given_setvoltage	int	Given Voltage Signal

{
  "Din": {
    "arc_success": 0,
    "seek_success": 0,
    "weld_enable": 0,
    "wire_feed": 0,
    "return_wire": 0,
    "remote_gastest": 0
  },
  "Dout": {
    "arc_signal": 0,
    "wire_feed": 0,
    "wire_feed_back": 0,
    "gas_detection": 0,
    "positioning_mode": 0,
    "weld_enable": true
  },
  "Ain": {
    "electric": 0,
    "voltage": 0
  },
  "Aout": {
    "given_electric_current": 0,
    "given_setvoltage": 0
  },
  "robot": 1
}

5.2 Host Computer Queries Welding IO Interface

Command: 0x8341

Parameter Name	Type	Description	Value Range
robot	int	Current Robot	[1,4]

{
  "robot": 1
}

5.3 Controller Replies with Welding IO Interface

Command: 0x8342

Return parameters are the same as "Host Computer Sets Welding IO Interface"; see the tables and examples above.

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6. Query Welding Status

6.1 Host Computer Queries Welding Status

Command: 0x8350

Parameter Name	Type	Description	Value Range
robot	int	Robot	[1,4]

{
  "robot": 1
}

6.2 Controller Returns Welding Status

Command: 0x8351

Parameter Name	Type	Description	Value Range
robot	int	Robot	[1,4]

antiCollision (Anti-collision)

Parameter Name	Type	Description
shieldFlag	bool	Whether to Shield Anti-collision

Welding Status

Parameter Name	Type	Description	Value
weldEnabled	bool	Welding Enable	-
spotWeldEnabled	bool	Spot Welding	-
feedWire	bool	Wire Feed	-
aspiration	bool	Gas Supply	-
returnWire	bool	Wire Retract	-
pistolSwitch	int	Welding Gun Switch Status	0 = Low (Red), 1 = High (Green), -1 = None (Gray)
arcingSuccess	int	Arc Initiation Success	Same as above
handWireFeed	int	Manual Wire Feed	Same as above
weldCurrent	double	Welding Current	-
weldVoltage	double	Welding Voltage	-
weldRunTime	double	Welding Time	-
weldRunDutyRatio	double	Welding Duty Cycle	-

{
  "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
}

---

7. Spot Welding Parameters

7.1 Host Computer Sets Spot Welding Parameters

Command: 0x8352

Description: Users can manually set spot welding parameters via this command, including: spot welding current, spot welding voltage, and maximum spot welding time.

Parameter Name	Type	Description
spotWeldCurrent	double	Spot Welding Current
spotWeldVoltage	double	Spot Welding Voltage
spotWeldMaxTime	double	Maximum Spot Welding Time
robot	int	Robot Number (value range [1,4])

{
  "spotWeldCurrent": 0,
  "spotWeldVoltage": 0,
  "spotWeldMaxTime": 0,
  "robot": 1
}

---

8. Welder Mode

8.1 Host Computer Sets Welder Mode

Command: 0x8360

Parameter Name	Type	Description	Value Range
type	int	Welder Mode	1: Welding Enable, 2: Manual Arc Start, 3: Manual Spot Welding, 4: Wire Feed, 5: Wire Retract, 6: Gas Supply, 7: Fault Reset
value	int	Whether to Enable the Corresponding Mode	1: Enabled, 0: Disabled
robot	int	Current Robot	[1,4]

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

8.2 Host Computer Queries Welder Mode

Command: 0x8361

Parameter Name	Type	Description	Value Range
robot	int	Current Robot	[1,4]

{
  "robot": 1
}

8.3 Controller Returns Welder Mode

Command: 0x8362

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	Maximum Spot Welding Time
newCurrent	double	Set Current
newVoltage	double	Set Voltage
feedWire	bool	Wire Feed
returnWire	bool	Wire Retract
aspiration	bool	Gas Supply
robot	int	Current Robot (value range [1,4])

{
  "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,
  "robot": 1
}

8.4 Welding Micro-adjustment

Command: 0x8363

Parameter Name	Type	Description	Value Range
name	string	Welding Current/Voltage	-
robot	int	Current Robot	[1,4]
type	int	Operation Type	0: Increase Set Value, 1: Decrease Set Value, 2: Save

{
  "name": "weld_current",
  "robot": 1,
  "type": 0
}

8.5 Host Computer Queries Welding Micro-adjustment Result

Command: 0x8364

Parameter Name	Type	Description	Value Range
robot	int	Current Robot	[1,4]

{
  "robot": 1
}

8.6 Controller Returns Query Result

Command: 0x8365

Parameter Name	Type	Description
robot	int	Current Robot

weav (Weave Welding Parameters)

Parameter Name	Type	Description
left_stay_time	double[]	Left Dwell Time
right_stay_time	double[]	Right Dwell Time
swing_amplitude	double[]	Weave Welding Amplitude
swing_frequency	double[]	Weave Welding Frequency

weld (Welding Parameters)

Parameter Name	Type	Description
weld_current	double[]	Welding Current
weld_voltage	double[]	Welding Voltage

{
  "robot": 1,
  "weav": {
    "left_stay_time": [0.0, 1.0],
    "right_stay_time": [0.0, 1.0],
    "swing_amplitude": [0.0, 1.0],
    "swing_frequency": [0.0, 1.0]
  },
  "weld": {
    "weld_current": [0.0, 1.0],
    "weld_voltage": [0.0, 1.0]
  }
}

---

9. Welder Settings

9.1 Host Computer Sets Welder

Command: 0x8370

Description: Users can configure the welder via the following command word.

Parameter Name	Type	Description	Value Range
controlMode	int	Control Mode	0: Analog Control, 1: Digital Control
monufactor	string	Welder Manufacturer	Nabo, Megmeet, Shenwei Intelligent, Aotai, Meijianike, Ruiling, Kemppi IF15, EWM, Fronius
weldingMode	int	Welder Working Mode	0: Separate, 1: Unified
commMode	string	Communication Mode	CAN, ModBus RTU, Modbus TCP
slaveIP	string	Slave IP (must be set when communication mode is Modbus TCP)	-
slaveid	int	Slave ID (must be set when communication mode is Modbus RTU)	-
port	int	Port Number (must be set when communication mode is Modbus RTU or Modbus TCP)	(0,65535]
baudRate	int	Baud Rate (must be set when communication mode is Modbus RTU)	-
identifiedWelder	string	Identified Welder	-
CANPort	string	CAN Communication Port (must be set when communication mode is CAN)	-
CANPortSum	int	CAN Communication Port Count	-
welderNumber	int	Welder Number	-
monufactorList	string[]	Selectable Welder Manufacturer List	Nabo, Megmeet, Shenwei Intelligent, Aotai, Meijianike, Ruiling, Kemppi IF15, EWM, Fronius, Hezong
weldingvoltageCurve	int[]	Welding Voltage Curve	-

RILAND (RILAND Welder Parameters)

Parameter Name	Type	Description
materialWireDiameterGasSelect	int	Material/Wire Diameter/Gas Selection

{
  "welder": [
    {
      "controlMode": 0,
      "monufactor": "Megmeet",
      "weldingMode": 0,
      "commMode": "CAN",
      "slaveIP": "192.168.1.14",
      "slaveid": 1,
      "port": 2,
      "baudRate": 38400,
      "identifiedWelder": "Megmeet1",
      "CANPort": 1,
      "CANPortSum": 0,
      "welderNumber": 1,
      "monufactorList": ["Nabo","Megmeet","Shenwei Intelligent","Aotai","Meijianike","Ruiling","Kemppi IF15","EWM","Fronius","Hezong"],
      "weldingvoltageCurve": [0],
      "RILAND": {
        "materialWireDiameterGasSelect": 1
      }
    }
  ]
}

9.2 Host Computer Queries Welder Selection

Command: 0x8371

9.3 Controller Replies with Welder Selection

Command: 0x8372

Return parameters are the same as "Host Computer Sets Welder"; see the tables and examples above.

9.4 Welder Communication Status Query

Command: 0x8373

9.5 Controller Returns Welder Communication Status

Command: 0x8374

Parameter Name	Type	Description	Value Range
welder[].status	int	Welder Communication Status	0: Not Communicated, 1: Communicated

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

9.6 Host Computer Queries Notes in Welding Parameters and Weave Welding Parameters

Command: 0x8380

Parameter Name	Type	Description	Value Range
finishinit	bool	Controller Initialization Complete Flag	true: Complete, false: Incomplete
robot	int	Current Robot	[1,4]

{
  "finishinit": true,
  "robot": 1
}

9.7 Controller Returns Query Result

Command: 0x8381

Parameter Name	Type	Description
weldNotes	string[]	Welding Parameter Notes
weavParameterNotes	string[]	Weave Welding Parameter Notes
robot	int	Current Robot

{
  "robot": 1,
  "weldNotes": ["112", "223", "", ""],
  "weavParameterNotes": ["112", "223", "", ""]
}

---

10. Multi-layer Multi-pass Welding

10.1 Multi-layer Multi-pass Welding Parameter Setup

Command: 0x8390

Parameter Name	Type	Description	Value Range
num	int	Process Number	[1,999]
robot	int	Current Robot	[1,4]
sum	int	Total Weld Beads	[1,999]

multipass (Multi-layer Multi-pass Parameters)

Parameter Name	Type	Description	Value Range
note	string	Notes	-
weld_bead_num	int	Weld Bead Count	[1,99]

{
  "multipass": [
    {
      "note": "",
      "weld_bead_num": 6
    }
  ],
  "num": 1,
  "robot": 1,
  "sum": 100
}

10.2 Host Computer Queries Multi-layer Multi-pass Weld Bead Parameters

Command: 0x8391

Parameter Name	Type	Description	Value Range
num	int	Process Number	[1,999]
robot	int	Current Robot	[1,4]

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

10.3 Controller Replies with Multi-layer Multi-pass Weld Bead Parameters

Command: 0x8392

Return parameters are the same as "Multi-layer Multi-pass Welding Parameter Setup"; see the tables and examples above.

10.4 Host Computer Sets Multi-layer Multi-pass Weld Bead Configuration

Command: 0x8393

Parameter Name	Type	Description	Value Range
num	int	Process Number	[1,999]
robot	int	Current Robot	[1,4]

weld_bead (Weld Bead Configuration)

Parameter Name	Type	Description	Value Range
head_indent	double	Head Indent	[-1000,1000]mm
head_multi_indent	bool	Head Multiple Indent Enable	-
left_right_offset	double	Left/Right Offset	[-1000,1000]mm
push_angle	double	Push Angle	[-180,180]
tail_indent	double	Tail Indent	[-1000,1000]mm
tail_multi_indent	bool	Tail Multiple Indent Enable	-
tilt_angle	double	Tilt Angle	[-180,180]
up_down_offset	double	Up/Down Offset	[-1000,1000]mm
weld_dir	int	Welding Direction	0: +1, 1: -1

{
  "num": 1,
  "robot": 1,
  "weld_bead": [
    {
      "head_indent": 0.0,
      "head_multi_indent": false,
      "left_right_offset": 0.0,
      "push_angle": 0.0,
      "tail_indent": 0.0,
      "tail_multi_indent": false,
      "tilt_angle": 0.0,
      "up_down_offset": 0.0,
      "weld_dir": 0
    }
  ]
}

10.5 Host Computer Queries Multi-layer Multi-pass Weld Bead Configuration

Command: 0x8394

Parameter Name	Type	Description	Value Range
num	int	Process Number	[1,999]
robot	int	Current Robot	[1,4]

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

10.6 Controller Replies with Multi-layer Multi-pass Weld Bead Configuration

Command: 0x8395

Return parameters are the same as "Host Computer Sets Multi-layer Multi-pass Weld Bead Configuration"; see the tables and examples above.

10.7 Multi-layer Multi-pass Parameter Clear

Command: 0x8396

Parameter Name	Type	Description	Value Range
num	int	Process Number	[1,999]
robot	int	Current Robot	[1,4]

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

10.8 Multi-layer Multi-pass Parameter Copy

Command: 0x8397

Parameter Name	Type	Description	Value Range
num_source	int	Source Process Number	-
num_target	int	Target Process Number	-
robot	int	Current Robot	[1,4]

{
  "num_source": 1,
  "num_target": 2,
  "robot": 1
}

10.9 Multi-layer Multi-pass Parameter Add

Command: 0x8398

Parameter Name	Type	Description	Value Range
robot	int	Current Robot	[1,4]

{
  "robot": 1
}

---

11. Weld Seam Database

11.1 Save Data to Weld Seam Database

Command: 0x83A0

Parameter Name	Type	Description	Value Range
robot	int	Robot Number	[1,4]
weld_type	string	Weld Seam Type	-
fillet_weld_leg_1	double	Left Weld Leg Height	-
fillet_weld_leg_2	double	Right Weld Leg Height	-
fillet_weld_leg_angle	double	Angle Between Two Weld Legs	[-180,180]
weld_parameter_mode	string	Welder Working Mode	"Unified" or "Separate"
welding_current	double	Welding Current	-
welding_voltage	double	Welding Voltage	-
welding_speed	double	Welding Speed	-
weld_bead_layer	int	Total Weld Bead Layers	[1,99]
weld_bead_number	int	Total Weld Bead Count	[1,99]

weld_bead (Weld Bead Parameters)

Parameter Name	Type	Description	Value Range
left_right_offset	double	Left/Right Offset of i-th Weld Bead	[-1000,1000]
up_down_offset	double	Up/Down Offset of i-th Weld Bead	[-1000,1000]

{
  "robot": 1,
  "weld_type": "V-groove",
  "fillet_weld_leg_1": 10,
  "fillet_weld_leg_2": 10,
  "fillet_weld_leg_angle": 90,
  "weld_parameter_mode": "Unified",
  "welding_current": 160,
  "welding_voltage": 23,
  "welding_speed": 6,
  "weld_bead_layer": 4,
  "weld_bead_number": 10,
  "weld_bead": [
    {
      "left_right_offset": 0.0,
      "up_down_offset": 0.0
    }
  ]
}

11.2 Match Data in Weld Seam Database

Command: 0x83A1

Parameter Name	Type	Description	Value Range
robot	int	Robot Number	[1,4]
weld_type	string	Weld Seam Type	-
fillet_weld_leg_1	double	Left Weld Leg Height	-
fillet_weld_leg_2	double	Right Weld Leg Height	-
fillet_weld_leg_angle	double	Angle Between Two Weld Legs	[-180,180]
weld_parameter_mode	string	Welder Working Mode	"Unified" or "Separate"
welding_current	double	Welding Current	-
welding_voltage	double	Welding Voltage	-
welding_speed	double	Welding Speed	-

{
  "robot": 1,
  "weld_type": "V-groove",
  "fillet_weld_leg_1": 10,
  "fillet_weld_leg_2": 10,
  "fillet_weld_leg_angle": 90,
  "weld_parameter_mode": "Unified",
  "welding_current": 160,
  "welding_voltage": 23,
  "welding_speed": 6
}

11.3 Controller Replies with Database Match Results

Command: 0x83A2

Description: Replies with the total weld bead layers, total bead count, and number of beads per layer for matching items in the database.

Parameter Name	Type	Description
weld_database	array	Matched Database
total_layer	int	Total Weld Bead Layers of i-th Match Item
total_bead	int	Total Weld Bead Count of i-th Match Item
layer	array	Weld Bead Layer Info
number	int	Weld Bead Count of k-th Layer in i-th Match Item

{
  "weld_database": [
    {
      "total_layer": 4,
      "total_bead": 10,
      "layer": [
        {
          "number": 1
        }
      ]
    }
  ]
}

---

12. Intersecting Curve

12.1 Coordinate Calibration Setup

Command: 0x83B0

Parameter Name	Type	Description	Value Range
workPieceNum	int	Process Number	[1,3]

{
  "workPieceNum": 1
}

12.2 Host Computer Queries Coordinate Calibration

Command: 0x83B1

Parameter Name	Type	Description	Value Range
workPieceNum	int	Process Number	[1,3]
pointNum	int	Calibration Points (6 calibration points required in total)	[0,5]

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

12.3 Controller Replies with Coordinate Calibration

Command: 0x83B2

Parameter Name	Type	Description	Value Range
workPieceNum	int	Process Number	[1,3]
pointNum	int	Calibration Points (6 calibration points required in total)	[0,5]
pos	double[]	Coordinates of the Calibration Point (X,Y,Z,A,B,C)	-

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

12.4 Reply with Intersecting Curve Setup Calculation Result

Command: 0x83B3

Parameter Name	Type	Description	Value Range
result	bool	Whether Calculation Result Exists	true: Yes, false: No
workPieceNum	int	Process Number	[1,3]

cylinderIntersectLineParam (Intersecting Curve Parameters)

Parameter Name	Type	Description
R	double	Lower Cylinder Radius
r	double	Upper Cylinder Radius
e	double	Center Axis Distance
alpha	double	Center Axis Angle

WorkPieceCoord

Parameter Name	Type	Description
-	double[]	X, Y, Z, A, B, C Values

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

12.5 Intersecting Curve Workpiece Parameter Setup

Command: 0x83B4

Parameter Name	Type	Description	Value Range
workPieceNum	int	Process Number	[1,3]

cylinderIntersectLineParam (Intersecting Curve Parameters)

Parameter Name	Type	Description
R	double	Lower Cylinder Radius
r	double	Upper Cylinder Radius
e	double	Center Axis Distance
alpha	double	Center Axis Angle

WorkPieceCoord

Parameter Name	Type	Description
-	double[]	X, Y, Z, A, B, C Values

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

12.6 Host Computer Queries Intersecting Curve Workpiece Parameters

Command: 0x83B5

Parameter Name	Type	Description	Value Range
workPieceNum	int	Process Number	[1,3]

{
  "workPieceNum": 1
}

12.7 Controller Replies with Intersecting Curve Workpiece Parameters

Command: 0x83B6

Return parameters are the same as "Intersecting Curve Workpiece Parameter Setup"; see the tables and examples above.

12.8 Intersecting Curve Welding Gun Parameter Setup

Command: 0x83B7

Parameter Name	Type	Description	Value Range
workPieceNum	int	Process Number	[1,3]

WeldingGunParam (Welding Gun Parameters)

Parameter Name	Type	Description	Value Range
alpha	double	-	[-60,60]
beta	double	-	[-60,60]
gama	double	-	[-180,180]
pos_hf_hq	double[]	The third value must be greater than 0	-
startAngle	double	-	[-180,180]
totalAngle	double	-	[0,360]

{
  "workPieceNum": 1,
  "WeldingGunParam": {
    "alpha": 0,
    "beta": 0,
    "gama": 0,
    "pos_hf_hq": [0, 0, 10]
  },
  "startAngle": 0,
  "totalAngle": 360
}

12.9 Host Computer Queries Intersecting Curve Welding Gun Parameters

Command: 0x83B8

Parameter Name	Type	Description	Value Range
workPieceNum	int	Process Number	[1,3]

{
  "workPieceNum": 1
}

12.10 Controller Replies with Intersecting Curve Welding Gun Parameters

Command: 0x83B9

Return parameters are the same as "Intersecting Curve Welding Gun Parameter Setup"; see the tables and examples above.

12.11 Host Computer Sets Whether Positioner Exists

Command: 0x83BA

Parameter Name	Type	Description	Value Range
workPieceNum	int	Process Number	[1,3]
withSyncPosFlag	int	Whether Positioner Exists	0: No Positioner, 1: Has Positioner

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

12.12 Host Computer Queries Whether Positioner Exists

Command: 0x83BB

Parameter Name	Type	Description	Value Range
workPieceNum	int	Process Number	[1,3]

{
  "workPieceNum": 1
}

12.13 Controller Replies with Whether Positioner Exists

Command: 0x83BC

Parameter Name	Type	Description	Value Range
workPieceNum	int	Process Number	[1,3]
withSyncPosFlag	int	Whether Positioner Exists	0: No Positioner, 1: Has Positioner

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