ABB SmarTac Applications Manual
  1. Manuals
  2. Brands
  3. ABB Manuals
  4. Accessories
  5. SmarTac
  6. Applications manual
ABB SmarTac Applications Manual

ABB SmarTac Applications Manual

Hide thumbs
Table of Contents

Advertisement

Quick Links

Application manual
SmarTac

Advertisement

Table of Contents
loading

Related Manuals for ABB SmarTac

Summary of Contents for ABB SmarTac

  • Page 1 Application manual SmarTac...
  • Page 2 Trace back information: Workspace R16-1 version a11 Checked in 2016-03-29 Skribenta version 4.6.284...
  • Page 3 Application manual SmarTac Document ID: 3HAC024845-001 Revision: A © Copyright 2004-2016 ABB. All rights reserved.
  • Page 4 The information in this manual is subject to change without notice and should not be construed as a commitment by ABB. ABB assumes no responsibility for any errors that may appear in this manual. Except as may be expressly stated anywhere in this manual, nothing herein shall be construed as any kind of guarantee or warranty by ABB for losses, damages to persons or property, fitness for a specific purpose or the like.

  • Page 5: Table Of Contents

    Sensing voltage ..................3.3.5 Signals and connections ................User's guide Safety ......................Introduction ...................... Exercise 1: program displacement ................ Exercise 2: using SmarTac to modify a displacement frame ........4.4.1 Introduction .................... 4.4.2 Exercise 2: one-dimensional search ............4.4.3 Programming tips ..................
  • Page 6 6.2.1 PoseAdd - Adds the translation portions of pose data ........6.2.2 OFrameChange - Create a new shifted object frame ........The module OFrame ..................Index Application manual - SmarTac 3HAC024845-001 Revision: A © Copyright 2004-2016 ABB. All rights reserved.

  • Page 7: Overview Of This Manual

    Overview of this manual Overview of this manual About this manual This manual explains the basics of when and how to use the option SmarTac: • Product overview • Operation overview • Requirements overview • Software set-up • Software reference, RAPID...

  • Page 8: Product Documentation, Irc5

    This listing is based on the type of information in the documents, regardless of whether the products are standard or optional. All documents listed can be ordered from ABB on a DVD. The documents listed are valid for IRC5 robot systems.
  • Page 9 Operating manual - Introduction to RAPID • Operating manual - IRC5 with FlexPendant • Operating manual - RobotStudio • Operating manual - Trouble shooting IRC5, for the controller and manipulator. Application manual - SmarTac 3HAC024845-001 Revision: A © Copyright 2004-2016 ABB. All rights reserved.

  • Page 10: Safety

    Operating manual - General safety information This manual contains all safety instructions from the product manuals for the manipulators and the controllers. Application manual - SmarTac 3HAC024845-001 Revision: A © Copyright 2004-2016 ABB. All rights reserved.

  • Page 11: Introduction

    Main component The main component is an electronic sensor board, which detects contact with the part feature to be located. The SmarTac™ board is supplied as an add-on unit and installed in the robot cabinet. RAPID system module A RAPID system module, SmarTac.sys, provided by ABB supports powerful...

  • Page 12: Operation Overview

    1.2 Operation overview General With SmarTac™ a part feature may be "searched" using part of the torch. Typically the welding wire or the gas cup is used as the sensing portion of the torch. Searches are programmed into a weld sequence. Each search consists of two robtargets;...

  • Page 13: Prerequisites

    • Controller requirements: IRC5 SmarTac package The SmarTac package includes software that is loaded into all arc welding motion tasks, when the option is purchased. Process configuration parameters are used to connect real I/O signals and to modify the default settings.

  • Page 14: User's Qualifications

    Robot programmer Any competent robot programmer (RAPID language) may be self-taught to program and use basic SmarTac searches. Some complex searching techniques are best reserved for those programmers that have attended an advanced programming class offered by ABB, unless the programmer has a solid mathematical background.

  • Page 15: Installation

    All personnel working with the robot system must be very familiar with the safety regulations, see Safety on page 33. Incorrect operation can damage the robot or injure someone. Application manual - SmarTac 3HAC024845-001 Revision: A © Copyright 2004-2016 ABB. All rights reserved.

  • Page 16: Hardware Installation

    • SmarTac software for RobotWare Arc • Relevant electrical schematics (optional). Note The SmarTac option can be purchased as stand-alone, without any hardware. Required tools The following tools are required to install the SmarTac option: • Terminal block screwdriver •...

  • Page 17: Software Installation

    2.3 Software installation 2.3.1 About SmarTac software SmarTac package The SmarTac package includes one system module that is installed in each motion task that requires SmarTac functionality. The module, SmarTac.sys, is a standalone, read-only, no-step-in, module. Consequently, it is compatible with any RAPID program, assuming the I/O configuration is non-conflicting, and no previous version of SmarTac is loaded.

  • Page 18: System Parameters

    SmarTac versions. SmarTac I/O connections are now configured in the process configuration database (PROC). Actual I/O assignments to real I/O boards are not made by the SmarTac installation. These definitions must be added to the EIO configuration database by the user or system designer.
  • Page 19 "doWIRE_SEL1" \ -sensor_on_output "doSE_SENSOR1" PROC:CFG_1.0:5.0:: # Smartac procSmarTacSpd.cfg file # created 2005/09/22 SMARTAC_SPEEDS: # Structure created by SmarTac, defaults filled by SmarTac. # Cell Layer may overwrite with replace. -name "smtspeedstd" -main_search_speed 20 groove_search_speed 15 Change settings To change settings, the user must use the Add or Replace feature to override the existing fields with new settings.
  • Page 20 "SmarTac Wire" -UnitMap 2 Use SmarTac with Fronius TouchSense Below is an example of a configuration that could be used to set up a SmarTac system with Fronius TouchSense. In this case only the software package for SmarTac is used, no SmarTac hardware should be used, instead the touch sensing capability of the Fronius welder is used.
  • Page 21 Continued Use SmarTac with ESAB AristoMig touch sense Below is an example of a configuration that could be used to set up a SmarTac system with ESAB touch sense. In this case only the software package for SmarTac is used, no SmarTac hardware should be used, instead the touch sensing capability of the AristoMig welder is used.

  • Page 22: Loading Software

    2 Installation 2.3.3 Loading software 2.3.3 Loading software Loading software The software is loaded automatically when the option SmarTac is purchased for RobotWare. Application manual - SmarTac 3HAC024845-001 Revision: A © Copyright 2004-2016 ABB. All rights reserved.

  • Page 23: Start-Up Test

    If the Search_1D instruction is not available in the system, see Loading software on page Execute the test routine. The robot should stop when the part is detected. If not, see Trouble shooting on page Application manual - SmarTac 3HAC024845-001 Revision: A © Copyright 2004-2016 ABB. All rights reserved.
  • Page 24 This page is intentionally left blank...

  • Page 25: Application Guide

    • A positive lead break box (secondary contact) is required to isolate the power source when SmarTac sensing is taking place when using a water-cooled torch or when searching with the wire. Application manual - SmarTac 3HAC024845-001 Revision: A...

  • Page 26: Programming Limitations

    In systems where searching with the welding wire is needed, a wire trimmer is necessary to ensure a known wire stick-out. A wire trimmer is a hardware device that requires extra I/O. This option may be purchased though ABB. The use of searches ranges from very simplistic to very complex. In some instances, very complex searching techniques must be used to adequately determine weld seam locations.

  • Page 27: Smartac Board Characteristics

    3.3.1 Interaction with the welding equipment and weldment SmarTac board The SmarTac board (alone) is capable of generating a stop signal from high-resistance surfaces with up to 1 Mom contact resistance. In real applications, however, the SmarTac sensing circuitry is normally loaded from the surrounding welding equipment.
  • Page 28 Continued Water-cooled gun When SmarTac is used with a water-cooled gun, the quality of the coolant becomes very important. Impure water, for example containing salt solution, acts as a conductor to ground potential, effectively reducing the sensitivity or even reduce the sensing voltage below SmarTac working range.

  • Page 29: Detection Reference

    This function reduces the effect of weld equipment impedance. It involves the use of a memory feature that latches SmarTac's reference at the time of searching. The memory feature is controlled by an output from the robot.

  • Page 30: Sensitivity

    Diagram The diagram shows SmarTac's working range, which is the area to the right of the vertical dashed line in the diagram. This line is equivalent to a load of 1.5 k ohm. On the Y axis...

  • Page 31: Sensing Voltage

    The higher the sensing voltage, the more accurate the search will be. Typical voltage A typical voltage seen on a real system is about 37 VDC. Application manual - SmarTac 3HAC024845-001 Revision: A © Copyright 2004-2016 ABB. All rights reserved.

  • Page 32: Signals And Connections

    SmarTac is operated by signals from the robot. Signals and connections are described below. SmarTac I/O There are 4 I/O signals used by SmarTac in each applicable motion task. Input used for surface detection and sensor validity. diSE_DETX Output used to activate the SmarTac board.

  • Page 33: User's Guide

    Failure to follow safety guidelines presented throughout this manual can result in property damage, serious injury, or death! The SmarTac board is typically supplied with 230 VAC from the robot main power transformer. This supply power is potentially dangerous. Consequently, the control cabinet door should always be closed when the control cabinet is turned on.

  • Page 34: Introduction

    4 User's guide 4.2 Introduction 4.2 Introduction Note All exercises assume that the SmarTac software and hardware are installed and working properly. System module The system module, SmarTac.sys, included in the package, contains useful search instructions that simplify the programming. The module also includes mathematical functions that are useful in advanced searching techniques.

  • Page 35: Exercise 1: Program Displacement

    Create a MoveJ at this point using tWeldGun and no work object selected. xx1400001480 Continues on next page Application manual - SmarTac 3HAC024845-001 Revision: A © Copyright 2004-2016 ABB. All rights reserved.
  • Page 36 Do the same for the rest of the corners, returning to the first corner, so that you have a short program that traces out the rectangle. xx1400001482 Insert the instruction PDispOff. Continues on next page Application manual - SmarTac 3HAC024845-001 Revision: A © Copyright 2004-2016 ABB. All rights reserved.
  • Page 37 In this case, however, the work object has not been specified, so wobj0 is used by default. This work object is the same as the world frame. xx1400001484 Continues on next page Application manual - SmarTac 3HAC024845-001 Revision: A © Copyright 2004-2016 ABB. All rights reserved.
  • Page 38 World frame. xx1400001486 Tap Cancel to close the work object window. Then select View Data Types. Select pose data types. Continues on next page Application manual - SmarTac 3HAC024845-001 Revision: A © Copyright 2004-2016 ABB. All rights reserved.
  • Page 39 PDispSet and PDispOff. Similarly, changes in the work object will move the robtargets as well (work object modifications are shown in Exercise 5: object frame manipulation on page 62). Continues on next page Application manual - SmarTac 3HAC024845-001 Revision: A © Copyright 2004-2016 ABB. All rights reserved.
  • Page 40 Look at the robtarget data using the same technique for looking at pose data. Note that the robtarget data does not change when the rectangle is moved using the displacement frame. Application manual - SmarTac 3HAC024845-001 Revision: A © Copyright 2004-2016 ABB. All rights reserved.

  • Page 41: Exercise 2: Using Smartac To Modify A Displacement Frame

    4.4 Exercise 2: using SmarTac to modify a displacement frame 4.4.1 Introduction About one-dimensional search SmarTac programming tools provide a simple way to search a part feature and apply the search results to a program displacement frame. As seen in Exercise 1:...

  • Page 42: Exercise 2: One-Dimensional Search

    Change the default routine name, disp_ex1Copy, to disp_ex2, then look at the in- structions in the new routine. xx1400001493 Remove the paper with the rectangle drawn on it. Continues on next page Application manual - SmarTac 3HAC024845-001 Revision: A © Copyright 2004-2016 ABB. All rights reserved.
  • Page 43 Toggle the Program Window to instruction mode. If you have a Most Common pick- list with SmarTac instructions, select it. Move the cursor to the first line, MoveJ. Using the Copy and Paste buttons, copy the MoveJ and paste the copy below.
  • Page 44 Jog the robot to the SearchPoint and modify the position of the second robtarget in the Search_1D instruction. The gas cup should make contact with the plate without deflecting the torch. Continues on next page Application manual - SmarTac 3HAC024845-001 Revision: A © Copyright 2004-2016 ABB. All rights reserved.
  • Page 45 Press the enabling device and press the forward button. The robot should move to the StartPoint, then search towards the SearchPoint, until the plate is detected. Continues on next page Application manual - SmarTac 3HAC024845-001 Revision: A © Copyright 2004-2016 ABB. All rights reserved.
  • Page 46 2 What happens when the plate is moved in other directions? Advanced 1 What happens when the search is programmed so that the search direction is not perpendicular to the plate's edge? Continues on next page Application manual - SmarTac 3HAC024845-001 Revision: A © Copyright 2004-2016 ABB. All rights reserved.
  • Page 47 2 What errors occur when the plate is moved too far away? Experiment with the error recovery options to see what they do. See Instructions on page 81 for details on error handing. Application manual - SmarTac 3HAC024845-001 Revision: A © Copyright 2004-2016 ABB. All rights reserved.

  • Page 48: Programming Tips

    SearchPoint and modify the position of the robtarget. This ensures that a search on a perfect part will return a displacement that is very close to zero. Application manual - SmarTac 3HAC024845-001 Revision: A © Copyright 2004-2016 ABB. All rights reserved.

  • Page 49: Exercise 3: Using Smartac For Multi-Dimensional Searching

    4 User's guide 4.5.1 Introduction 4.5 Exercise 3: using SmarTac for multi-dimensional searching 4.5.1 Introduction About multi-dimensional search As seen in exercise 2 (Exercise 2: one-dimensional search on page 42), a one-dimensional search will determine where a weld seam is if it is constrained to move in only one direction.

  • Page 50: Exercise 3: Two-Dimensional Search

    Copy the last Search_1D and insert it after the new MoveL. Copy the new MoveL and insert it after the last Search_1D. Continues on next page Application manual - SmarTac 3HAC024845-001 Revision: A © Copyright 2004-2016 ABB. All rights reserved.
  • Page 51 2. xx1400001501 Highlight the second Search_1D instruction and tap Enter. Tap OptArg to look at the optional arguments. Continues on next page Application manual - SmarTac 3HAC024845-001 Revision: A © Copyright 2004-2016 ABB. All rights reserved.
  • Page 52 Move the cursor down to the optional argument named PrePDisp and tap Use. xx1400001502 Tap OK. Select the new argument to open the new window. xx1400001503 Continues on next page Application manual - SmarTac 3HAC024845-001 Revision: A © Copyright 2004-2016 ABB. All rights reserved.
  • Page 53 2 Add the optional argument NotOff to the first search instruction and execute the program. What does this do? Search_1D - One-dimensional search on page Continues on next page Application manual - SmarTac 3HAC024845-001 Revision: A © Copyright 2004-2016 ABB. All rights reserved.
  • Page 54 4 Version 7.0 only: Why must there always be at least one Move instruction between two searches? What happens when SmarTac is activated while the torch is touching the part? 5 If there is time try to write a three-dimensional search. Do not corrupt disp_ex3 as it will be used later.
  • Page 55 6 In Example 1, what happens if you search the same edge twice using PrePDisp to add the second search result to the first? Application manual - SmarTac 3HAC024845-001 Revision: A © Copyright 2004-2016 ABB. All rights reserved.

  • Page 56: Exercise 4: Using Smartac To Determine Simple Rotational Changes

    4 User's guide 4.6.1 Introduction 4.6 Exercise 4: using SmarTac to determine simple rotational changes 4.6.1 Introduction Translation and rotation Up to this point basic one dimensional searches have been used to accurately locate part features that have moved only in translation, not rotation.

  • Page 57: Exercise 4: Part Feature With Simple Rotation

    The searches should look similar to those used in exercise 2 & 3 (see on page 45), but positioned around the plate like this: xx1400001507 Continues on next page Application manual - SmarTac 3HAC024845-001 Revision: A © Copyright 2004-2016 ABB. All rights reserved.
  • Page 58 P1 and P2? Why will large rotations of the plate cause some error in this example? 2 Why would it be difficult to shift an intermittent stitch weld in this way? Application manual - SmarTac 3HAC024845-001 Revision: A © Copyright 2004-2016 ABB. All rights reserved.

  • Page 59: Exercise 5: Using Smartac With Work Object Manipulation

    4 User's guide 4.7.1 Introduction 4.7 Exercise 5: using SmarTac with work object manipulation 4.7.1 Introduction Weld paths Sometimes using multiple displacement frames can not provide an easy way of determining a weld seam's location. In exercise 4 we proved that a simple weld path could be moved in translation and rotation using two displacement frames;...
  • Page 60 In this example the robtargets P1, P2, and P3 all move with the work object. In addition, P1 moves with a program displacement frame relative to that work object. The SmarTac module contains two mathematical functions that can be used in conjunction with the Search_1D instruction to make this searching technique easier.

  • Page 61: Smartac Functions

    4 User's guide 4.7.2 SmarTac functions 4.7.2 SmarTac functions Mathematical functions Two global mathematical functions are provided in the SmarTac module. • PoseAdd - Adds the translation portions of pose data on page 99 • OFrameChange - Create a new shifted object frame on page 100 Exercise 5 will illustrate the usage of these mathematical tools.

  • Page 62: Exercise 5: Object Frame Manipulation

    Continues on next page Application manual - SmarTac 3HAC024845-001 Revision: A © Copyright 2004-2016 ABB. All rights reserved.
  • Page 63 Load the program module OFrame. The module is included on the disk included in the delivery. It is also shown in module OFrame on page 102. Continues on next page Application manual - SmarTac 3HAC024845-001 Revision: A © Copyright 2004-2016 ABB. All rights reserved.
  • Page 64 Jog the robot to the p2 mark and modify the MoveL: MoveL p2, v200 Jog the robot to the p3 mark and modify the MoveL: MoveL p3, v200 Continues on next page Application manual - SmarTac 3HAC024845-001 Revision: A © Copyright 2004-2016 ABB. All rights reserved.
  • Page 65 Modify the second point to be the start of the simulated weld. Modify the third and fourth points to be the middle and end of the weld. Continues on next page Application manual - SmarTac 3HAC024845-001 Revision: A © Copyright 2004-2016 ABB. All rights reserved.
  • Page 66 If not, the object frame was not defined properly. 3 Go though Example 5 again with the new work object definition. How might this help when programming? Application manual - SmarTac 3HAC024845-001 Revision: A © Copyright 2004-2016 ABB. All rights reserved.

  • Page 67: Exercise 6: Search_Part

    Sometimes it is necessary to search a part feature to determine if it is there or not. Information like this can be used to determine what type of part is present, or if a part is loaded at all. The SmarTac instruction, Search_Part is provided for this use.

  • Page 68: Exercise 6: Using Search_Part

    2 With the plate removed, what is the value of the Boolean after searching? Advanced 1 What happens when you move the plate so that it is touching the gas cup at the start of the search? Application manual - SmarTac 3HAC024845-001 Revision: A © Copyright 2004-2016 ABB. All rights reserved.

  • Page 69: Exercise 7: Wire Searching

    Sometimes it is necessary to search with the welding wire, rather than the gas cup. In some systems with the necessary optional hardware installed, this is possible. The SmarTac instructions are designed to handle this. Search_1D and Search_Part each have an optional argument, Wire, that will switch the signal to the wire if selected.

  • Page 70: Exercise 7: Wire Searching

    2 What problems could arise from searching with the side of the wire? 3 What problems could arise when searching with the tip of the wire in the direction of the wire? See the following figure. xx1400001516 Application manual - SmarTac 3HAC024845-001 Revision: A © Copyright 2004-2016 ABB. All rights reserved.

  • Page 71: Exercise 8: Searching For A Groove

    It requires a number that will be returned as the actual width of the seam. It also requires a nominal width, a speed, and a tool. Continues on next page Application manual - SmarTac 3HAC024845-001 Revision: A © Copyright 2004-2016 ABB. All rights reserved.
  • Page 72 The StartPoint is p1 and the CentrePoint is p2. • The Initial Start Point is 15 mm above the StartPoint by default. Searching for groove width and groove location xx1400001520 Application manual - SmarTac 3HAC024845-001 Revision: A © Copyright 2004-2016 ABB. All rights reserved.

  • Page 73: Exercise 8: Searching For A Groove Weld

    Set the InitSchL equal to 15. Set the NomDepth equal to 3. 1 What happens when InitSchL is changed? 2 What happens when NomDepth is changed? Application manual - SmarTac 3HAC024845-001 Revision: A © Copyright 2004-2016 ABB. All rights reserved.

  • Page 74: Conclusions

    4.11 Conclusions About the overview This overview provides most of the techniques required to use SmarTac searching on the majority of real-world weldments. A number of optional arguments for the search instructions have not been explained here. For more information about...

  • Page 75: Trouble Shooting

    If ok, check the SmarTac circuit per the wiring schematics in section Electrical Reference in the SmarTac hardware manual. 4 If nothing can be found wrong in the above list then replace the SmarTac board. Application manual - SmarTac 3HAC024845-001 Revision: A ©...

  • Page 76: Smartac Board Activation Error

    SmarTac board should indicate the following: D22 Search Refoff D23 Search Sensor Validon If not, check that terminals 4 and 7 have 24VDC present when referenced to ground. If not, check the SmarTac wiring per the schematics in section Electrical Reference in the SmarTac hardware manual.

  • Page 77: False-Positive Torch Contact

    "positive lead break box". If the output to the contactor is not present, inspect the SmarTac wiring per the prints in section Electrical Reference in the SmarTac hardware manual.

  • Page 78: No Detection Of The Part

    A reading lower than 25 VDC indicates that there is a significant loss that will make search results inaccurate (see Inaccurate results on page 79). If no voltage is present, check that the SmarTac board is activating properly (see SmarTac board activation error on page 76). If the board is activating correctly, check the wiring from the torch to the SmarTac board.

  • Page 79: Inaccurate Results

    See User's guide on page 2 The sensing voltage is too low. Activate the SmarTac board by turning doSE_SENSOR on, and doWIRE_SEL and doSE_REF off. Check that there is at least 25 VDC measured between the torch sensing surface and the part.
  • Page 80 This page is intentionally left blank...

  • Page 81: Rapid Reference

    [\Wire] Data type: switch If selected the output doWIRE_SEL will be set high when the SmarTac activation occurs. The SmarTac sensor will be switched from the gas cup to the wire when selected. Result Data type: pose...
  • Page 82 For a complete description of the TLoad argument, see MoveL in Technical reference manual - RAPID Instructions, Functions and Data types. Continues on next page Application manual - SmarTac 3HAC024845-001 Revision: A © Copyright 2004-2016 ABB. All rights reserved.
  • Page 83 Normally the gas cup is used for searching, however, on some systems the wire can be used for searching. When the switch, Wire, is selected, the digital output, doWIRE_SEL, is set high. This switches the SmarTac signal from the gas cup to the wire.
  • Page 84 Search failed Fault 3 GasCup or Wire touching part Fault 1 If an error occurs when activating the SmarTac board, a menu will appear with the following prompts: Activation of the SmarTac failed RETRY Tries to search again with start point moved 50%...
  • Page 85 Search_1D pose1, p3, p4, v200, tWeldGun\WObj:= wobj2\PrePDisp:= pose1; PDispSet pose1; ArcL\On,*, vmax, sm1, wd1, wv1, z1, tWeldGun\Wobj:= wobj2; ArcL\Off,*, vmax, sm1, wd1, wv1, z1, tWeldGun\Wobj:= wobj2; Continues on next page Application manual - SmarTac 3HAC024845-001 Revision: A © Copyright 2004-2016 ABB. All rights reserved.
  • Page 86 Search_Part - Search for feature presence on page 95 Search_Part Data type pose Technical reference manual - RAPID Instructions, Functions and Data types Continues on next page Application manual - SmarTac 3HAC024845-001 Revision: A © Copyright 2004-2016 ABB. All rights reserved.
  • Page 87 Data types Technical reference manual - RAPID Instructions, Functions and MoveL Data types Definition of loaddata Technical reference manual - RAPID Instructions, Functions and Data types Application manual - SmarTac 3HAC024845-001 Revision: A © Copyright 2004-2016 ABB. All rights reserved.

  • Page 88: Search_Groove - Find Groove Width And Location

    Usage Search_Groove is an instruction used for tactile searching of a "groove" with SmarTac. Searching is done with the wire. A series of searches are preformed to find the groove and determine its width. The StartPoint is programmed outside the groove at a point touching the part. The CentrePoint is programmed level with the StartPoint, but in the center of the groove.
  • Page 89 Data type: switch If selected, the welding positive lead secondary contact (break box) remains open at the end of the search. Additionally, the SmarTac board remains activated after the search ends. If this switch is selected directly before a welding instruction, welding current will not reach the torch.
  • Page 90 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).
  • Page 91 Groove not found Fault 5 Groove search failed Fault 1 If an error occurs when activating the SmarTac board, a menu will appear with the following prompts: Activation of the SmarTac failed RETRY Tries to search again with start point moved 50%...
  • Page 92 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 3HAC024845-001 Revision: A © Copyright 2004-2016 ABB. All rights reserved.
  • Page 93 [ StartPoint ':=' ] < expression (IN) of robtarget > ',' [ CentrePoint ':=' ] < expression (IN) of robtarget > ',' Continues on next page Application manual - SmarTac 3HAC024845-001 Revision: A © Copyright 2004-2016 ABB. All rights reserved.
  • Page 94 Data type wobjdata Technical reference manual - RAPID Instructions, Functions and Data types Data type robtarget Technical reference manual - RAPID Instructions, Functions and Data types Application manual - SmarTac 3HAC024845-001 Revision: A © Copyright 2004-2016 ABB. All rights reserved.

  • Page 95: Search_Part - Search For Feature Presence

    [\Wire] Data type: switch If selected, the output, doWIRE_SEL, will be set high when the SmarTac activation occurs. The SmarTac sensor will be switched from the gas cup to the wire when selected. bDetect Data type: bool The Boolean that will be updated.
  • Page 96 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.
  • Page 97 Data types Technical reference manual - RAPID Instructions, Functions and MoveL Data types Definition of loaddata Technical reference manual - RAPID Instructions, Functions and Data types Application manual - SmarTac 3HAC024845-001 Revision: A © Copyright 2004-2016 ABB. All rights reserved.

  • Page 98: Pdispadd - Add Program Displacements

    PoseAdd - Adds the translation portions of pose data on page 99 PoseAdd Data type pose Technical reference manual - RAPID Instructions, Functions and Data types Application manual - SmarTac 3HAC024845-001 Revision: A © Copyright 2004-2016 ABB. All rights reserved.

  • Page 99: Functions

    Related information Described in: PDispAdd - Add program displacements on page 98 PDispAdd Data type pose Technical reference manual - RAPID Instructions, Functions and Data types Application manual - SmarTac 3HAC024845-001 Revision: A © Copyright 2004-2016 ABB. All rights reserved.

  • Page 100: Oframechange - Create A New Shifted Object Frame

    RefP1 Data type: robtarget Reference point number one. (Defined in WObj.) RefP2 Data type: robtarget Reference point number two. (Defined in WObj.) Continues on next page Application manual - SmarTac 3HAC024845-001 Revision: A © Copyright 2004-2016 ABB. All rights reserved.
  • Page 101 Data type wobjdata Technical reference manual - RAPID Instructions, Functions and Data types Data type robtarget Technical reference manual - RAPID Instructions, Functions and Data types Application manual - SmarTac 3HAC024845-001 Revision: A © Copyright 2004-2016 ABB. All rights reserved.

  • Page 102: The Module Oframe

    The module is included on a disk with the delivery. Its purpose is to speed up the training process, whether it be an ABB training course or end-users training themselves. If the disk is not present, use this printout to assist in writing the code.
  • Page 103 MoveL p2, v200, fine, tWeldGun\WObj:=obREF; Stop; MoveL RelTool(p3,0,0,-50), v200, fine, tWeldGun\WObj:=obREF; MoveL p3, v200, fine, tWeldGun\WObj:=obREF; Stop; MoveL RelTool(p3,0,0,-50), v200, fine, tWeldGun\WObj:=obREF; MoveJ *,v200, fine, tWeldGun\WObj:=obREF; ENDPROC ENDMODULE Application manual - SmarTac 3HAC024845-001 Revision: A © Copyright 2004-2016 ABB. All rights reserved.
  • Page 104 This page is intentionally left blank...

  • Page 105: Index

    22 start-up test, 23 I/O, 18 system module, 34 installation, hardware, 16 installation, software, 22 voltage, typical, 31 license, 22 water cooled gun, 28 OFrameChange, 100 Application manual - SmarTac 3HAC024845-001 Revision: A © Copyright 2004-2016 ABB. All rights reserved.
  • Page 108 Telephone +46 (0) 21 344 400 ABB AS, Robotics Discrete Automation and Motion Nordlysvegen 7, N-4340 BRYNE, Norway Box 265, N-4349 BRYNE, Norway Telephone: +47 51489000 ABB Engineering (Shanghai) Ltd. No. 4528 Kangxin Hingway PuDong District SHANGHAI 201319, China Telephone: +86 21 6105 6666 www.abb.com/robotics...

Table of Contents