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Arguments
Search_Groove [\NotOff] Result GrooveWidth [\SearchStop] StartPoint
CentrePoint NomWidth [\NomDepth] [\InitSchL] Speed Tool [\WObj
] [\PrePDisp] [\SearchName] [\TLoad]
[\NotOff]
Data type:
switch
If selected, the welding positive lead secondary contact (break box) remains open
at the end of the search. Additionally, the SmarTac board remains activated after
the search ends. If this switch is selected directly before a welding instruction,
welding current will not reach the torch.
Result
Data type:
pose
The displacement frame that will be updated
GrooveWidth
Data type:
num
The calculated groove width (in mm) determined by the search.
[\SearchStop]
Data type:
robtarget
If selected, this robtarget will be updated as the point where the center of the groove
is.
StartPoint
Data type:
robtarget
The start point of the search sequence. This point should be programmed outside
the groove, touching the part surface with the wire's tip. See the initial start point
in
.
CentrePoint
Data type:
robtarget
The point where the groove should be. This robtarget should be programmed so
that the wire's tip is above the center of the groove, level with the adjacent part
surface. See the center point in
NomWidth
Data type:
num
The expected groove width (in mm). This number will effect the dimensions of the
search sequence.
[\NomDepth]
Data type:
num
The expected groove depth (in mm). If selected, this number will effect the
dimensions of the search sequence. The default is 2.5 mm.
[\InitSchL]
Data type:
num
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Application manual - SmarTac
89
3HAC024845-001 Revision: A
© Copyright 2004-2016 ABB. All rights reserved.
6 RAPID reference
6.1.2 Search_Groove - Find groove width and location
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