The Module Oframe - ABB SmarTac Applications Manual

6 RAPID reference

6.3 The module OFrame

6.3 The module OFrame
About OFrame
Exercise 5 uses a program module called 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.
Generic robtargets have been reduced to "*" to save space.
Code for OFrame
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Note
! Example Module
MODULE OFrame
PERS wobjdata obREF:=[FALSE,TRUE,"",[[0,0,0], [1,0,0,0]],
[[0,0,0], [1,0,0,0]]];
PERS wobjdata obNEW:=[FALSE,TRUE,"",[[0,0,0], [1,0,0,0]],
[[0,0,0], [1,0,0,0]]];
PERS robtarget p1:=*;
PERS robtarget p2:=*;
PERS robtarget p3:=*;
PERS pose pe1a:=[[0,0,0],[1,0,0,0]];
PERS pose pe1b:=[[0,0,0],[1,0,0,0]];
PERS pose pe2a:=[[0,0,0],[1,0,0,0]];
PERS pose pe3a:=[[0,0,0],[1,0,0,0]];
PERS pose pe1:=[[0,0,0],[1,0,0,0]];
PERS pose pe2:=[[0,0,0],[1,0,0,0]];
PERS pose pe3:=[[0,0,0],[1,0,0,0]];
PROC NewPoints()
PDispOff;
MoveJ RelTool(p1,0,0,-100), v200, fine, tWeldGun\WObj:= obREF;
MoveL RelTool(p1,0,0,-50), v200, fine, tWeldGun\WObj:= obNEW;
MoveL p1, v200, fine, tWeldGun\WObj:= obNEW;
Stop;
MoveL RelTool(p2,0,0,-50), v200, fine, tWeldGun\WObj:= obNEW;
MoveL p2, v200, fine, tWeldGun\WObj:= obNEW;
Stop;
MoveL RelTool(p3,0,0,-50), v200, fine, tWeldGun\WObj:=obNEW;
MoveL p3, v200, fine, tWeldGun\WObj:= obNEW;
Stop;
MoveL RelTool(p3,0,0,-50), v200, fine, tWeldGun\WObj:= obNEW;
MoveJ RelTool(p3,0,0,-100), v200, fine, tWeldGun\WObj:= obREF;
ENDPROC
PROC WeldSample()
MoveJ *, v200, fine, tWeldGun\WObj:=obNEW;
! Simulated weld:
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Application manual - SmarTac
3HAC024845-001 Revision: A