MoveJ *, vmax, z10, tWeldGun\WObj:= wobj2;
ArcL\On,*,vmax, sm1, wd1, wv1, z1, tWeldGun\Wobj:= wobj2;
ArcL\Off,*, vmax, sm1, wd1, wv1, z1, tWeldGun\Wobj:= wobj2;
PDispOff;
Note
It is typically unproductive to have two searches in the same direction for the
same feature. Multiple searches in the same direction using the PrePDisp option
will be averaged. Searches for a single feature should almost always be 90
degrees from each other. This fact implies that usually there should never be
more than three searches on any one feature.
Other variations
One dimensional search with the wire active and the maximum limit set at 4 mm.
If the magnitude of the transport of peOffset is greater than 4 mm an error is
flagged.
Search_1D\Wire, peOffset, p1, p2, v200, tWeldGun\Limit:=4;
One dimensional search with the gas cup. The robtarget p3 is updated with the
actual search position.
Search_1D\SearchStop:=p3, pose1, p1, p2, v200, tWeldGun;
One dimensional search with the gas cup. If an error occurs while searching and
the operator elects to continue with default results, the name, First, will appear
along with the error description, in the event log. See Error handling on page 84.
Search_1D pose1, p1, p2, v200, tWeldGun\SearchName:="First";
Syntax
Search_1D
['\ ' NotOff ',']
['\ ' Wire ',']
[ Result ':=' ] < expression (INOUT) of pose > ','
[ '\' SearchStop ':=' < expression (INOUT) of robtarget >',' ]
[ StartPoint ':=' ] < expression (IN) of robtarget > ','
[ SearchPoint ':=' ] < expression (IN) of robtarget > ','
[ Speed ':=' ] < expression (IN) of speeddata > ','
[ Tool ':=' ] < persistent (PERS) of tooldata >
[ '\' WObj ':=' < persistent (PERS) of wobjdata > ]
[ '\' PrePDisp ':=' < expression (IN) of pose > ]
[ '\' Limit ':=' < expression (IN) of num > ]
[ '\' SearchName ':=' < expression (IN) of string > ]
[ '\' TLoad ':=' ] < persistent (PERS) of loaddata > ] ';'
Related information
Described in
Search_Groove - Find groove width and location on page 88Search_Groove
Search_Part - Search for feature presence on page 95Search_Part
Technical reference manual - RAPID Instructions, Functions and
Data types
Data type pose
Continues on next page
86 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
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