Exercise 4: Part Feature With Simple Rotation - ABB SmarTac Applications Manual

4.6.2 Exercise 4: part feature with simple rotation

About the exercise
In this example a simple path with two points will be moved in translation as well
as in rotation.
Instructions
1
Application manual - SmarTac
3HAC024845-001 Revision: A
Action
Create a new routine called disp_ex4 that looks like this:
PROC disp_ex4()
MoveJ *, v200, fine, tWeldGun;
MoveL *, v200, fine, tWeldGun;
! Search 1
Search_1D peEX1, *, *, v200, tWeldGun;
MoveL *,v200,fine,tWeldGun;
MoveL *,v200,fine,tWeldGun;
! Search 2
Search_1D peEX2, *, *, v200, tWeldGun\PrePDisp:=peEX1;
MoveL *, v200, fine, tWeldGun;
MoveL *, v200, fine, tWeldGun;
! Search 3
Search_1D peEX3, *, *, v200, tWeldGun\PrePDisp:=peEX1;
MoveL *, v200, fine, tWeldGun;
MoveL *, v200, fine, tWeldGun;
PDispSet peEX2;
! Corner 1
MoveL P1, v200, fine, tWeldGun;
PDispSet peEX3;
! Corner 2
MoveL P2, v20, fine, tWeldGun;
PDispOff;
MoveL *, v200, fine, tWeldGun;
ENDPROC
Three displacement frames will be used, peEX1, peEX2, and peEX3. You will need
to create these if they do not exist in the system. Be careful that the correct pre-dis-
placement is called for each search instruction.
The searches should look similar to those used in exercise 2 & 3 (see
but positioned around the plate like this:
xx1400001507
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4.6.2 Exercise 4: part feature with simple rotation
4 User's guide
on page 45),
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