Page 151 - Welding Robots Technology, System Issues, and Applications

138 Welding Robots
Acquire P1
Connect
Send message: variable_write decision1 num 1002
Close

Acquire P2
Connect
Send message: variable_write decision1 num 1003
Close

Set the welding current
Connect
Send message: variable_write feed_ref num value
Close

Note: the welding current regulates the wire feed reference signal (feed_ref) and is
commanded using a converting chart given by the manufacturer of the welding
power source.

Set the welding voltage
Connect
Send message: variable_write wd_ref num value
Close

Note: the welding voltage regulates the wd_ref signal and is commanded using a
converting chart given by the manufacturer of the welding power source.

Execute the weld from P1 to P2
Connect
Send message: variable_write decision1 num 1007
Close

Note: before sending this command the user must set all the timings used in the
welding routines presented in Figure 4.17.

Read actual value of variable decision1
Connect
Send message: variable_read decision1 num
Close

It’s straightforward to associate these procedures to software buttons and build a
nice client software tool to command easily the presented welding example (hiding
the code from the user). This process can be done using Visual Basic or Visual
C++, or any other programming language, providing that the Microsoft Winsock2
software API, or any other equivalent API, is included in a way to add socket
management and communication capabilities to the project.