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4 User's guide
4.5.2 Exercise 3: two-dimensional search
4.5.2 Exercise 3: two-dimensional search
About the exercise
In this exercise the Search_1D instruction will be used twice to determine a
two-dimensional shift in a plate on a table.
The instruction Search_1D is described in
on page
Instruction
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Action
View the routines in the module ST_TEST.
Select disp_ex2 and duplicate it. Name the new routine disp_ex3.
Toggle the Program Window to test mode.
Move the program pointer to the new procedure disp_ex3.
Move the program pointer to the instruction PDispOff near the end of the routine.
Press the enabling device and press the step forward button once to execute the in-
struction.
Make sure the robot can move to the first MoveL that traces out the plate, then move
the program pointer to this MoveL.
Press the enabling device and press the step forward button once. Align the plate to
the torch tip. Step though the rest of the points to get the plate back to where it was
when we first wrote the routine.
Move the cursor to the top of the routine. Press the enabling device and step forward
until the search is complete and the robot stops at the MoveL after the instruction
Search_1D.
Add another MoveL here. Its location should be off the end of the plate. You are going
to add another search to this routine that will search the end of the plate. This move
will provide safe passage.
Copy the last Search_1D and insert it after the new MoveL.
Copy the new MoveL and insert it after the last Search_1D.
© Copyright 2004-2016 ABB. All rights reserved.
Search_1D - One-dimensional search
Application manual - SmarTac
3HAC024845-001 Revision: A
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