The speed data used when moving to the StartPoint. 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.
[\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 the StartPoint with the
velocity selected in Speed. The SmarTac board is activated and motion starts
towards the SearchPoint.
The robot will continue past the search point for a total search distance described
by twice the distance between StartPoint and SearchPoint. If a feature is
detected, the required Boolean is set to TRUE, otherwise it is set to FALSE. In either
case, program execution continues.
Limitations
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
If an error occurs during the search process, a menu will appear with the following
prompts:
Tries to search again with start point moved 50%RETRY
Continues the program with detection TRUEDETECT
Continues the program with detection FALSEREJECT
Sends error to calling routine.RAISE
Continues on next page
96 Application manual - SmarTac
3HAC024845-001 Revision: A
© Copyright 2004-2016 ABB. All rights reserved.
6 RAPID reference
6.1.3 Search_Part - Search for feature presence
Continued
To Next Page
Loading...
