ABB SmarTac User Manual

4.10 Exercise 8: searching for a groove
4.10.1 Introduction
Example of weld seam
In heavy welding applications it is common to have groove type weld seams. The
simplest example is the square groove with a backing.
xx1400001517
Searching
In heavy welding tolerances are usually large so searching is critical in determining
the location and width of seams like the one above. The instruction Search_Groove
has been provided to satisfy this need.
Note
See Search_Groove - Find groove width and location on page 88.
Requirements for Search_Groove
Search_Groove performs a series of searches when executed. It requires two
robtargets. One is programmed outside the groove, and the other in the center of
the groove. It requires a displacement frame that will be returned as the seam
offset. It requires a number that will be returned as the actual width of the seam.
It also requires a nominal width, a speed, and a tool.
Continues on next page
Application manual - SmarTac 71
3HAC024845-001 Revision: A
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4 User's guide
4.10.1 Introduction

ABB SmarTac Specifications

General

Brand	ABB
Model	SmarTac
Category	Accessories
Language	English