ABB SmarTac - Page 85

Fault 3
If the torch makes contact with the part before the search begins, the following
menu appears:
GasCup or Wire touching part
Tries to search again with start point moved 50%RETRY
Continues the program with default search resultRETURN
Sends error to calling routine.RAISE
When RETRY is selected the start point of the search is shifted farther from the
part feature. This may give a good search result in cases where the part feature is
unusually close and the torch is touching the part feature at the beginning of a
normal search.
When RETURN is selected a default search result is used which will include any
preoffset included in the search instruction. A message will be logged in the event
log.
If the optional argument Limit is selected and the magnitude of peResult is
larger than the value entered for the Limit, the following message appears:
The search result is outside spec.
[12.012,3.002,-5.013]Offset:=
13.34The magnitude of the offset:=
10The preset limit:=
Continue with program execution.OK
Sends the error to calling routine.RAISE
When OK is selected the search result is accepted regardless of magnitude. A
message will be logged in the event log.
More examples
Single dimension search in any direction
MoveJ *, vmax, fine, tWeldGun;
Search_1D peOffset, p1, p2, v200, tWeldGun;
PDispSet peOffset;
ArcL\On,*, vmax, sm1, wd1, wv1, z1, tWeldGun;
ArcL\Off,*, vmax, sm1, wd1, wv1, z1, tWeldGun;
MoveJ *, vmax, z10, tWeldGun;
ArcL\On,*,vmax, sm1, wd1, wv1, z1, tWeldGun;
ArcL\Off,*, vmax, sm1, wd1, wv1, z1, tWeldGun;
PDispOff;
Two dimension searching in any direction in a defined work object
MoveJ *, vmax,fine, tWeldGun\WObj:= wobj2;
Search_1D\NotOff, pose1, p1, p2, v200, tWeldGun\WObj:=wobj2;
Search_1D pose1, p3, p4, v200, tWeldGun\WObj:= wobj2\PrePDisp:=
pose1;
PDispSet pose1;
ArcL\On,*, vmax, sm1, wd1, wv1, z1, tWeldGun\Wobj:= wobj2;
ArcL\Off,*, vmax, sm1, wd1, wv1, z1, tWeldGun\Wobj:= wobj2;
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Application manual - SmarTac 85
3HAC024845-001 Revision: A
© Copyright 2004-2016 ABB. All rights reserved.
6 RAPID reference
6.1.1 Search_1D - One-dimensional search
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