ABB SmarTac - Page 44

Action
Jog the robot torch so that it is above and past the edge of the plate. Insert a MoveL
instruction for this location between the two MoveJ instructions.
xx1400001496
12
Insert the instruction, Search_1D, after the MoveL. Use the following data:
Search_1D peEX1,*,*,v200,tWeldGun;
13
The routine should look like this:
xx1400001497
Jog the robot to the SearchPoint and modify the position of the second robtarget
in the Search_1D instruction. The gas cup should make contact with the plate without
deflecting the torch.
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44 Application manual - SmarTac
3HAC024845-001 Revision: A
© Copyright 2004-2016 ABB. All rights reserved.
4 User's guide
4.4.2 Exercise 2: one-dimensional search
Continued