ABB SmarTac - Page 93

Fault 5
If an error occurs when searching for the groove width and location, the following
message appears:
Groove search 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 robot tries the search again.
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.
More examples
The groove search is used to find the location and width of the groove to be welded.
The program displacement is stored in peOffset and the width of the groove is
stored in nWidth. The weave width in this example is set to nWidth.
MoveJ *, vmax,fine, tWeldGun;
Search_Groove peOffset,nWidth,p1,p2,10,v200,tWeldGun;
WvAdapt.weave_width:=nWidth;
PDispSet peOffset;
ArcL\On,*,vmax,sm1,wd1,wvAdapt,fine,tWeldGun;
ArcL\Off,*, vmax,sm1,wd1,wvAdapt,fine,tWeldGun;
PDispOff;
Groove search with optional returned robtarget
The robtarget p3 is updated with the actual groove centerline:
Search_Groove\SearchStop:= p3, pose1, nWidth, p1, p2, 10, v200,
tWeldGun;
Groove search that is "named"
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 91.
Search_Groove peOffset, nWidth, p1, p2, 15, v200,
tWeldGun\SearchName:= "First";
Groove search that has a 30 mm first-search instead of the default 15 mm
Search_Groove peOffset, nWidth\InitSchL:= 30, p1, p2, 7, v200,
tWeldGun;
Syntax
Search_Groove
['\ ' NotOff ',']
[ Result ':=' ] < expression (INOUT) of pose > ','
[ GrooveWidth ':=' ] < expression (INOUT) of num >
[ '\' SearchStop ':=' < expression (INOUT) of robtarget >','
]
[ StartPoint ':=' ] < expression (IN) of robtarget > ','
[ CentrePoint ':=' ] < expression (IN) of robtarget > ','
Continues on next page
Application manual - SmarTac 93
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