Search_Part - Search For Feature Presence - ABB SmarTac Applications Manual

6.1.3 Search_Part - Search for feature presence

Usage
Search_Part is an instruction used for tactile searching with SmarTac. The search
path is described by two required robtargets. If a feature is detected, a required
Boolean is set to TRUE, otherwise it is set to FALSE. In either case, program
execution continues.
Basis examples
The robot moves on a path from p1 through p2. If contact is made with the part
feature, the Boolean bPresent is set to TRUE. If no contact is made, it is set to
FALSE.
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.
bDetect
Data type: bool
The Boolean that will be updated. TRUE: if the part is sensed, FALSE: if the part is
not sensed.
StartPoint
Data type: robtarget
The start point of the search motion.
SearchPoint
Data type: robtarget
The point where the robot expects to touch the part. This robtarget is programmed
so that the torch is touching the surface of the part feature.
speed
Data type: speeddata
Application manual - SmarTac
3HAC024845-001 Revision: A
Search_Part bPresent,p1,p2,v200,tWeldGun;
Search_Part [\NotOff] [\Wire] bDetect StartPoint SearchPoint Speed
Tool [\WObj] [\TLoad]
© Copyright 2004-2016 ABB. All rights reserved.
6.1.3 Search_Part - Search for feature presence
6 RAPID reference
Continues on next page
95