Rapid Reference; Instructions; Search_1D - One-Dimensional Search - ABB SmarTac Applications Manual

6 RAPID reference

6.1 Instructions

6.1.1 Search_1D - One-dimensional search

Usage
Search_1D is an instruction used for tactile searching with SmarTac. The search
path is described by two required robtargets. The search result is stored as pose
data in the required argument Result. All SmarTac board activation and
deactivation is automatically handled.
Basic examples
The robot moves on a path from p1 through p2. When contact is made with the
part feature, the difference between the contact location and p2 is stored in
peOffset.
Arguments
[\NotOff]
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.
[\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
The displacement frame that will be updated
[\SearchStop]
Data type: robtarget
If selected this robtarget will be updated as the point where the robot detects the
part feature.
StartPoint
Data type: robtarget
Application manual - SmarTac
3HAC024845-001 Revision: A
Search_1D peOffset, p1, p2, v200, tWeldGun;
Search_1D [\NotOff] [\Wire] Result [\SearchStop] StartPoint
SearchPoint Speed Tool [\WObj ] [\PrePDisp] [\Limit]
[\SearchName] [\TLoad]
© Copyright 2004-2016 ABB. All rights reserved.
6 RAPID reference
6.1.1 Search_1D - One-dimensional search
Continues on next page
81