Introduction - ABB SmarTac Applications Manual

4 User's guide

4.2 Introduction

4.2 Introduction
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. All of these are
discussed in this section.
Questions
Before tactile searching can be used effectively, you need to be able to answer
these questions:
34
Note
1 How do my parts deviate?
Knowing where the parts move, and where they do not, is critical for
determining what features to search. Searching takes time. Unnecessary
searches increase cycle time and programming complexity. In this manual,
the simplest cases will be handled first. In many cases these techniques will
be enough. In some situations where the part fit-up and/or fixture is poor,
you will need to understand all the tricks described in the manual.
2 What is a frame?
A good understanding of work objects and displacement frames is the key
to successful programming with SmarTac searching. See Operating
manual - IRC5 with FlexPendant and Operating manual - RobotStudio.
3 What are the RAPID instructions and how are they used in my weld routines?
In this guide we will look at several search techniques, with detailed examples.
The SmarTac instructions and functions are described in
on page 81.
© Copyright 2004-2016 ABB. All rights reserved.
RAPID reference
Application manual - SmarTac
3HAC024845-001 Revision: A