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SmarTac
ABB SmarTac User Manual
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2.3.3
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software
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software
The
software
is
loaded
automatically
when
the
option
SmarTac
is
purchased
for
RobotWare.
22
Application
manual
-
SmarTac
3HAC024845-001
Revision:
A
©
Copyright
2004-2016
ABB.
All
rights
reserved.
2
Installation
2.3.3
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software
21
23
Table of Contents
Default Chapter
5
Table of Contents
5
Overview of this Manual
7
Product Documentation, IRC5
8
Safety
10
1 Introduction
11
Product Overview
11
Operation Overview
12
Prerequisites
13
System Prerequisites
13
User's Qualifications
14
2 Installation
15
Safety Instructions
15
Hardware Installation
16
Software Installation
17
About Smartac Software
17
System Parameters
18
Loading Software
22
Start-Up Test
23
3 Application Guide
25
Searching Conditions
25
Programming Limitations
26
Smartac Board Characteristics
27
Interaction with the Welding Equipment and Weldment
27
Detection Reference
29
Sensitivity
30
Sensing Voltage
31
Signals and Connections
32
4 User's Guide
33
Safety
33
Introduction
34
Exercise 1: Program Displacement
35
Exercise 2: Using Smartac to Modify a Displacement Frame
41
Introduction
41
Exercise 2: One-Dimensional Search
42
Programming Tips
48
Exercise 3: Using Smartac for Multi-Dimensional Searching
49
Introduction
49
Exercise 3: Two-Dimensional Search
50
Exercise 4: Using Smartac to Determine Simple Rotational Changes
56
Introduction
56
Exercise 4: Part Feature with Simple Rotation
57
Exercise 5: Using Smartac with Work Object Manipulation
59
Introduction
59
Smartac Functions
61
Exercise 5: Object Frame Manipulation
62
Exercise 6: Search_Part
67
Introduction
67
Exercise 6: Using Search_Part
68
Exercise 7: Wire Searching
69
Introduction
69
Exercise 7: Wire Searching
70
Exercise 8: Searching for a Groove
71
Introduction
71
Exercise 8: Searching for a Groove Weld
73
Conclusions
74
5 Trouble Shooting
75
Smartac Board Not "On
75
Smartac Board Activation Error
76
False-Positive Torch Contact
77
No Detection of the Part
78
Inaccurate Results
79
6 RAPID Reference
81
Instructions
81
Search_1D - One-Dimensional Search
81
Search_Groove - Find Groove Width and Location
88
Search_Part - Search for Feature Presence
95
Pdispadd - Add Program Displacements
98
Functions
99
Poseadd - Adds the Translation Portions of Pose Data
99
Oframechange - Create a New Shifted Object Frame
100
The Module Oframe
102
Index
105
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ABB SmarTac Specifications
General
Brand
ABB
Model
SmarTac
Category
Accessories
Language
English
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