ABB SmarTac - Page 97

If RETRY is selected the robot will move to the StartPoint, then to the approach
point before searching.
When DETECT or REJECT are selected, a message is stored in the event log.
Examples
In this example a procedure is selected based on the presence of a particular part
feature:
PROC Which_Part()
MoveJ *,v200,z10, tWeldGun;
MoveJ *,v200,fine, tWeldGun;
Search_Part bPresent,p1,p2,v200,tWeldGun;
IF bPresent THEN
Big_Part;
ELSE
Small_Part;
ENDIF
ENDPROC
Other variations
Searching with the wire:
Search_Part\Wire, bPresent, p1, p2, v200, tWeldGun;
Two searches in a work object:
Search_Part\NotOff, bPart1, p1, p2, v200, tWeldGun\WObj:= obPart;
Search_Part bPart2, p3, p4, v200, tWeldGun\WObj:= obPart;
Syntax
Search_Part
['\ ' NotOff ',']
['\ ' Wire ',']
[ bDetect':=' ] < expression (INOUT) of bool > ','
[ 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 > ]
[ '\' TLoad':=' ] < persistent (PERS) of loaddata > ] ';'
Related information
Described in:
Search_1D - One-dimensional search on page 81Search_1D
Technical reference manual - RAPID Instructions, Functions and
Data types
Data type bool
Technical reference manual - RAPID Instructions, Functions and
Data types
MoveL
Technical reference manual - RAPID Instructions, Functions and
Data types
Definition of loaddata
Application manual - SmarTac 97
3HAC024845-001 Revision: A
© Copyright 2004-2016 ABB. All rights reserved.
6 RAPID reference
6.1.3 Search_Part - Search for feature presence
Continued