The speed data used when moving to the
StartPoint
. The velocity of the search
motion is unaffected.
Tool
Data type:
tooldata
The tool used during the search.
[\WObj]
Data type:
wobjdata
The work object used during the search.
WObj
determines what frame
Result
will
be related to. If not selected,
wobj0
is used.
[\TLoad]
Data type:
loaddata
The
\TLoad
argument describes the total load used in the movement. The total
load is the tool load together with the payload that the tool is carrying. If the
\TLoad
argument is used, then the
loaddata
in the current
tooldata
is not considered.
If the
\TLoad
argument is set to
load0
, then the
\TLoad
argument is not
considered and the
loaddata
in the current
tooldata
is used instead. For a
complete description of the
TLoad
argument, see
MoveL
in
Technical reference
manual - RAPID Instructions, Functions and Data types
.
Program execution
When executed, the robot makes a linear movement to the
StartPoint
with the
velocity selected in
Speed
. The SmarTac board is activated and motion starts
towards the
SearchPoint
.
The robot will continue past the search point for a total search distance described
by twice the distance between
StartPoint
and
SearchPoint
. If a feature is
detected, the required Boolean is set to
TRUE
, otherwise it is set to
FALSE
. In either
case, program execution continues.
Limitations
If the switch,
NotOff
, is selected, the welding positive lead secondary contact
(break box) remains open at the end of the search.
If this switch is selected directly before a welding instruction, welding current will
not reach the torch and an Arc Ignition Error will occur.
Error handling
If an error occurs during the search process, a menu will appear with the following
prompts:
Tries to search again with start point moved 50%
RETRY
Continues the program with detection
TRUE
DETECT
Continues the program with detection
FALSE
REJECT
Sends error to calling routine.
RAISE
Continues on next page
96
Application manual - SmarTac
3HAC024845-001 Revision: A
© Copyright 2004-2016 ABB. All rights reserved.
6 RAPID reference
6.1.3 Search_Part - Search for feature presence
Continued
Summary of Contents for SmarTac
Page 1: ...Application manual SmarTac ...
Page 24: ...This page is intentionally left blank ...
Page 80: ...This page is intentionally left blank ...
Page 104: ...This page is intentionally left blank ...
Page 106: ......
Page 107: ......