Action
Modify P1 and P2 to be at the corners of the plate, as shown above. You will have to
create the named robtargets, P1 and P2, if they do not exist in the system.
2
It is not necessary that these two points be named for the test to work. They are
named here as a teaching aid only.
Modify the air movements to clear the plate.3
Step through the routine to test the positions. If P1 and P2 are out of position, you
can jog them into position and modify the positions with the program displacement
turned on.
4
Execute the program from the beginning. Watch the robot trace the edge of the plate.5
Move the plate in various directions, including rotation, and execute the routine each
time. Does the robot torch follow edge each time?
6
If it does not, there check the program again to be sure all the correct displacement
frames are in the right places.
Questions
1 How is the usage of PrePDisp different from that in Exercise 3:
two-dimensional search on page 50?
2 Look at the values in each of the program displacements peEX1, peEX2, and
peEX3. What are the values for the rotation portions, q1-q4?
Advanced
1 When the plate is rotated significantly, do you see any error in the positioning
of P1 and P2? Why will large rotations of the plate cause some error in this
example?
2 Why would it be difficult to shift an intermittent stitch weld in this way?
58 Application manual - SmarTac
3HAC024845-001 Revision: A
© Copyright 2004-2016 ABB. All rights reserved.
4 User's guide
4.6.2 Exercise 4: part feature with simple rotation
Continued
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