Seam Tracking

Tracking

Tracking Sensor Type

Set Tracking Sensor Type

• Command: 0x8740
• Direction: Upper computer sends

Parameter	Type	Value Range	Description
fileNum	int	[1,99]	Tracking file number
robot	int	[1,4]	Robot number
sensorType	int	[0,2]	Tracking type: 0-Line laser, 1-Arc, 2-Arc voltage

Request Example:

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

Query Tracking Sensor Type

• Command: 0x8741
• Direction: Upper computer sends

Parameter	Type	Value Range	Description
fileNum	int	[1,99]	Tracking file number
robot	int	[1,4]	Robot number

Request Example:

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

Return Tracking Sensor Type

• Command: 0x8742
• Direction: Upper computer receives
• data: Same as 0x8740

---

Arc Communication Parameters

Set Arc Communication Parameters

• Command: 0x874d
• Direction: Upper computer sends

Parameter	Type	Value Range	Description
craftid	int	[1,99]	Tracking file number
robot	int	[1,4]	Robot number
dataType	int	[0,1]	Sampling data type: 0-Current, 1-Voltage
period	int	[0,1000]ms	Sampling period

Request Example:

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

Query Arc Communication Parameters

• Command: 0x874e
• Direction: Upper computer sends

Parameter	Type	Value Range	Description
craftid	int	[1,99]	Tracking file number
robot	int	[1,4]	Robot number

Request Example:

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

Return Arc Communication Parameters

• Command: 0x874f
• Direction: Upper computer receives
• data: Same as 0x874d

---

Arc Compensation Parameters

Set Arc Tracking Lateral Compensation Parameters

• Command: 0x8750
• Direction: Upper computer sends

Parameter	Type	Value Range	Description
craftid	int	[1,99]	Tracking file number
robot	int	[1,4]	Robot number
accFactor	double	[0.1,10]	Compensation acceleration factor, corresponding to current motion command acceleration
algorithmType	int	[0,1]	Deviation extraction type: 0-Mean, 1-Manual value
beginCycleNum	int	[1,100]	Start sampling cycle count
differential	double	[0,1]	Derivative coefficient
integral	double	[0,1]	Integral coefficient
maxSingleLen	double	[0,10]	Maximum compensation per cycle
scale	double	[0,1]	Proportional coefficient
switchon	bool	true/false	Compensation switch: true-On, false-Off

Request Example:

{
  "craftid": 1,
  "lateralCompensation":
  {
    "accFactor": 1.0,
    "algorithmType": 0,
    "beginCycleNum": 4,
    "differential": 0.0,
    "integral": 0.00050,
    "maxSingleLen": 2.0,
    "scale": 0.050,
    "switchon": true
  },
  "robot": 1
}

Query Arc Tracking Lateral Compensation Parameters

• Command: 0x8751
• Direction: Upper computer sends

Parameter	Type	Value Range	Description
craftid	int	[1,99]	Tracking file number
robot	int	[1,4]	Robot number

Request Example:

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

Return Arc Tracking Lateral Compensation Parameters

• Command: 0x8752
• Direction: Upper computer receives (controller returns)
• data: Same as 0x8750

Set Arc Tracking Vertical Compensation Parameters

• Command: 0x8753
• Direction: Upper computer sends

Parameter	Type	Value Range	Description
craftid	int	[1,99]	Tracking file number
robot	int	[1,4]	Robot number
accFactor	double	[0.1,10]	Compensation acceleration factor, corresponding to current motion command acceleration
algorithmType	int	[0,1]	Deviation extraction type: 0-Mean, 1-Manual value
beginCycleNum	int	[1,100]	Start sampling cycle count
custom_value	double	[0,1000]A	Manual value for deviation extraction type
differential	double	[0,1]	Derivative coefficient
integral	double	[0,1]	Integral coefficient
maxSingleLen	double	[0,10]	Maximum compensation per cycle
scale	double	[0,1]	Proportional coefficient
switchon	bool	true/false	Compensation switch: true-On, false-Off

Request Example:

{
  "craftid": 1,
  "robot": 1,
  "verticalCompensation":
  {
    "accFactor": 1.0,
    "algorithmType": 0,
    "beginCycleNum": 4,
    "custom_value": 0.0,
    "differential": 0.0,
    "integral": 0.00050,
    "maxSingleLen": 0.50,
    "scale": 0.050,
    "switchon": true
  }
}

Query Arc Tracking Vertical Compensation Parameters

• Command: 0x8754
• Direction: Upper computer sends

Parameter	Type	Value Range	Description
craftid	int	[1,99]	Tracking file number
robot	int	[1,4]	Robot number

Request Example:

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

Return Arc Tracking Vertical Compensation Parameters

• Command: 0x8755
• Direction: Controller sends
• data: Same as 0x8753

Set Arc Tracking Path Data Record

• Command: 0x8756
• Direction: Upper computer sends

Parameter	Type	Value Range	Description
craftid	int	[1,99]	Tracking file number
robot	int	[1,4]	Robot number
cycle	double	[1,1000000000]mm	Tracking path data record cycle
type	int	[0,1]	Tracking path data record method: 0-Distance, 1-Time

Request Example:

{
  "craftid": 1,
  "robot": 1,
  "track_path_record":
  {
    "cycle": 30.0,
    "type": 0
  }
}

Query Arc Tracking Path Data Record

• Command: 0x8757
• Direction: Upper computer sends

Parameter	Type	Value Range	Description
craftid	int	[1,99]	Tracking file number
robot	int	[1,4]	Robot number

Request Example:

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

Return Arc Tracking Path Data Record

• Command: 0x8758
• Direction: Controller sends
• data: Same as 0x8756