The start point of the search motion.
SearchPoint
Data type: robtarget
The point where the robot expects to touch the part. This robtarget is programmed
so that the torch is touching the surface of the part feature.
speed
Data type: speeddata
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.
[\PrePDisp]
Data type: pose
If selected, the search will be conducted with this displacement frame active,
effectively adding the two displacement frames. This may or may not be the same
as the pose data selected for Result.
[\Limit]
Data type: num
If selected, an error will be flagged if the magnitude of the search result, Result,
is larger than the value entered for the Limit (in mm).
[\SearchName]
Data type: string
If selected, the search will be assigned this identifying name. The name will
accompany any error messages that are written to the event log.
[\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.
Continues on next page
82 Application manual - SmarTac
3HAC024845-001 Revision: A
© Copyright 2004-2016 ABB. All rights reserved.
6 RAPID reference
6.1.1 Search_1D - One-dimensional search
Continued
To Next Page
Loading...
