The length of the first search. If selected, this changes the Initial Start Point.
The default is 15 mm. See the initial start point in Basic examples on page 88.
speed
Data type: speeddata
The speed data used when moving to the Initial Start Point. 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.
[\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.
Program execution
When executed, the robot makes a linear movement to a point above the start
point, the Initial Start Point. The height of the Initial Start Point
above the StartPoint can be changed by the optional parameter, InitSchL.
The SmarTac board is activated and motion starts towards the StartPoint (see
initial start point in Basic examples on page 88).
The robot will continue past the StartPoint for a total search distance described
by twice the distance between the Initial Start Point and the StartPoint.
Continues on next page
90 Application manual - SmarTac
3HAC024845-001 Revision: A
© Copyright 2004-2016 ABB. All rights reserved.
6 RAPID reference
6.1.2 Search_Groove - Find groove width and location
Continued
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