Search_Groove - Find Groove Width And Location - ABB SmarTac Applications Manual

6 RAPID reference

6.1.2 Search_Groove - Find groove width and location

6.1.2 Search_Groove - Find groove width and location
Usage
Search_Groove is an instruction used for tactile searching of a "groove" with
SmarTac. Searching is done with the wire. A series of searches are preformed to
find the groove and determine its width. The StartPoint is programmed outside
the groove at a point touching the part. The CentrePoint is programmed level
with the StartPoint, but in the center of the groove. The search result is stored
as pose data in the required argument Result. All SmarTac board activation and
deactivation is automatically handled.
Basic examples
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The groove search is used to find the location and width of the groove to be welded.
The groove has a 10 mm nominal width. The program displacement is stored in
peOffset. The actual width of the groove is stored in nWidth. The StartPoint
is p1 and the CentrePoint is p2. The Initial Start Point is 15 mm above
the StartPoint by default.
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Search_Groove peOffset,nWidth,p1,p2,10,v200,tWeldGun;
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Application manual - SmarTac
3HAC024845-001 Revision: A