ABB SmarTac User 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
Action
Create a new routine called disp_ex4 that looks like this:
PROC disp_ex4()
MoveJ *, v200, fine, tWeldGun;
1
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 on page 45),
but positioned around the plate like this:
xx1400001507
Continues on next page
Application manual - SmarTac 57
3HAC024845-001 Revision: A
© Copyright 2004-2016 ABB. All rights reserved.
4 User's guide
4.6.2 Exercise 4: part feature with simple rotation

ABB SmarTac Specifications

General

Brand	ABB
Model	SmarTac
Category	Accessories
Language	English

Summary

Overview of this manual

About this manual

Describes the manual's purpose, scope, and target audience.

Prerequisites

Lists required knowledge for understanding the manual's content.

Introduction to SmarTac

Product overview

Defines SmarTac as a tactile sensor for finding weld joint locations.

Operation overview

Explains how SmarTac uses the torch to find features and record location.

System prerequisites

Details required RobotWare and controller versions for SmarTac.

Installation and Setup

Safety instructions

Critical warnings for personnel working with the robot during installation.

Hardware installation

Lists components and tools required for physical SmarTac installation.

System parameters

Configuration of I/O mapping and default settings for SmarTac.

Start-up test

Procedure to verify correct SmarTac installation and function.

Application Guide

Searching conditions

Specifies suitable applications and environmental factors for SmarTac.

SmarTac board characteristics

Explains electrical behavior and interaction with welding equipment.

Signals and connections

Details the I/O signals used by SmarTac for operation.

User's Guide and Exercises

Safety

User safety guidelines for operating the robotic system with SmarTac.

Exercise 1: program displacement

Demonstrates shifting programmed points using displacement frames.

Exercise 2: one-dimensional search

Guides on using Search_1D to find a part feature offset.

Exercise 3: two-dimensional search

Demonstrates multi-dimensional searching using Search_1D twice.

Troubleshooting

SmarTac board not "on"

Diagnosing issues when the SmarTac board is not powered.

False-positive torch contact

Addresses errors where contact is detected prematurely.

No detection of the part

Troubleshooting when the part is not detected during search.

RAPID Reference

Search_1D - One-dimensional search

Detailed explanation of the Search_1D instruction for tactile searching.

Search_Groove - Find groove width and location

Detailed explanation of the Search_Groove instruction for weld seams.

Search_Part - Search for feature presence

Detailed explanation of the Search_Part instruction for feature detection.

PoseAdd

Explains the PoseAdd function for combining translation portions of pose data.