ABB SmarTac User Manual

4.7 Exercise 5: using SmarTac with work object manipulation
4.7.1 Introduction
Weld paths
Sometimes using multiple displacement frames can not provide an easy way of
determining a weld seam's location. In exercise 4 we proved that a simple weld
path could be moved in translation and rotation using two displacement frames;
one for the start and one for the end of the weld path. If the weld were not
continuous, that is a stitch weld, this would not work. There is no displacement
information about the intermediate weld points.
Work object
In some cases it is necessary to determine how the whole part has moved in
translation and rotation. The best way to do this is to use a work object to describe
where the part is in relation to the world frame. Based on search information, the
object frame of a work object can be moved in translation and rotation. If the weld
sequence in written in this work object, the points in the sequence will move with
changes to the work object.
Example 1
xx1400001508
Note
An important benefit to this technique is that searching and program
displacements can still be used for features on the part after the part program
has been rotated in the work object.
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Application manual - SmarTac 59
3HAC024845-001 Revision: A
© Copyright 2004-2016 ABB. All rights reserved.
4 User's guide
4.7.1 Introduction

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.