When the surface of the plate is found, more searches occur, each one closer to
the edge of the groove.
When the groove is found, two searches are made inside the groove to determine
the location and width (see Searching for groove width and groove location on
page 72).
The start of both searches is beneath the CentrePoint (see the center point in
Basic examples on page 88, and Searching for groove width and groove location
on page 72). The optional parameter, NomDepth, will control how far into the groove
the width and location searches will be. The displacement data is stored in Result.
This program displacement can later be used to shift programmed points using
the RAPID instruction PDispSet. The width of the groove is stored in GrooveWidth.
Limitations
To use Search_Groove, the system must have wire-searching capability.
If the switch, NotOff, is selected, the welding positive lead secondary contact
(break box) remains open at the end of the search.
If this switch is selected directly before a welding instruction, welding current will
not reach the torch and an Arc Ignition Error will occur.
Error handling
Menu message:Fault
Activation of the SmarTac failedFault 1
Search failedFault 2
GasCup or Wire touching partFault 3
Groove not foundFault 4
Groove search failedFault 5
Fault 1
If an error occurs when activating the SmarTac board, a menu will appear with the
following prompts:
Activation of the SmarTac failed
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 User
Error Log.
Continues on next page
Application manual - SmarTac 91
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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