ABB SmarTac - Page 66

Action
Modify the last point to be above the plate at least 100 mm.23
Run WeldSample to be sure it follows the line correctly.24
Run SearchSample.25
Run NewPoints. The points p1, p2, and p3 should be pointed out correctly. If not,
there is a mistake somewhere. Check your program.
26
Run WeldSample again to be sure everything is ok. If the path is not followed, check
the program again.
27
Leaving the plate clamped at the corner, move the plate about 10 mm at the end.28
Run SearchSample.29
Run WeldSample. The path should follow correctly.30
Run NewPoints. The points should be pointed out correctly.31
Questions
1 What work object is used in RefPoints and SearchSample?
2 What work objects are used in NewPoints and WeldSample?
3 Is PDispSet used in this exercise? Why, or why not? Look at the last several
lines of SearchSample
4 pe1 is the combination of what two searches?
5 pe2 is the combination of what two searches?
6 pe3 is the combination of what two searches?
7 For the best accuracy, there should be two searches for each reference point,
located close to each reference point. In this exercise we use only four
searches to approximate this. How far do you have to rotate the plate before
you notice the inaccuracy?
8 Why does this occur?
9 Would this be a concern for most real-world fixtures?
Advanced
1 Define the object frame of obREF so that the origin is at the corner of the
plate where p1 is. Align the object frame with the plate.
2 Select obREF as the work object and WObj for the coordinate system in the
Jogging window. You should be able to jog along the edges of the skewed
plate with straight deflections of the joystick. If not, the object frame was not
defined properly.
3 Go though Example 5 again with the new work object definition. How might
this help when programming?
66 Application manual - SmarTac
3HAC024845-001 Revision: A
© Copyright 2004-2016 ABB. All rights reserved.
4 User's guide
4.7.3 Exercise 5: object frame manipulation
Continued