ABB SmarTac - Page 103

MoveL *, v200, fine, tWeldGun\WObj:=obNEW;
MoveL *,v20, z1, tWeldGun\WObj:=obNEW;
MoveL *,v20, fine, tWeldGun\WObj:=obNEW;
MoveJ *,v200, fine, tWeldGun\WObj:=obNEW;
ENDPROC
PROC SearchSample()
PDispOff;
MoveJ *,v200, fine, tWeldGun\WObj:=obREF;
Search_1D pe1a,*,*, v200, tWeldGun\WObj:=obREF;
MoveL *,v200, fine, tWeldGun\WObj:=obREF;
Search_1D pe1b,*,*, v200, tWeldGun\WObj:=obREF;
MoveL *,v200, fine, tWeldGun\WObj:=obREF;
Search_1D pe2a,*,*, v200, tWeldGun\WObj:=obREF;
MoveL *,v200, z10, tWeldGun\WObj:=obREF;
MoveL *,v200, z10, tWeldGun\WObj:=obREF;
MoveL *,v200, fine, tWeldGun\WObj:=obREF;
Search_1D pe3a,*,*, v200, tWeldGun\WObj:=obREF;
MoveL *,v200, fine, tWeldGun\WObj:=obREF;
pe1:=PoseAdd(pe1a,pe1b);
pe2:=PoseAdd(pe1a,pe2a);
pe3:=PoseAdd(pe1b,pe3a);
obNEW:=OFrameChange(obREF, p1, p2, p3, pe1, pe2, pe3);
ENDPROC
PROC RefPoints()
PDispOff;
MoveJ *, v200, fine, tWeldGun\WObj:=obREF;
MoveL RelTool(p1, 0, 0, -50), v200, fine,
tWeldGun\WObj:=obREF;
MoveL p1, v200, fine, tWeldGun\WObj:=obREF;
Stop;
MoveL RelTool(p2,0,0,-50), v200, fine, tWeldGun\WObj:=obREF;
MoveL p2, v200, fine, tWeldGun\WObj:=obREF;
Stop;
MoveL RelTool(p3,0,0,-50), v200, fine, tWeldGun\WObj:=obREF;
MoveL p3, v200, fine, tWeldGun\WObj:=obREF;
Stop;
MoveL RelTool(p3,0,0,-50), v200, fine, tWeldGun\WObj:=obREF;
MoveJ *,v200, fine, tWeldGun\WObj:=obREF;
ENDPROC
ENDMODULE
Application manual - SmarTac 103
3HAC024845-001 Revision: A
© Copyright 2004-2016 ABB. All rights reserved.
6 RAPID reference
6.3 The module OFrame
Continued