ABB SmarTac User Manual

6 RAPID reference
6.1 Instructions
6.1.1 Search_1D - One-dimensional search
Usage
Search_1D is an instruction used for tactile searching with SmarTac. The search
path is described by two required robtargets. The search result is stored as pose
data in the required argument Result. All SmarTac board activation and
deactivation is automatically handled.
Basic examples
Search_1D peOffset, p1, p2, v200, tWeldGun;
The robot moves on a path from p1 through p2. When contact is made with the
part feature, the difference between the contact location and p2 is stored in
peOffset.
Arguments
Search_1D [\NotOff] [\Wire] Result [\SearchStop] StartPoint
SearchPoint Speed Tool [\WObj ] [\PrePDisp] [\Limit]
[\SearchName] [\TLoad]
[\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.
Result
Data type: pose
The displacement frame that will be updated
[\SearchStop]
Data type: robtarget
If selected this robtarget will be updated as the point where the robot detects the
part feature.
StartPoint
Data type: robtarget
Continues on next page
Application manual - SmarTac 81
3HAC024845-001 Revision: A
© Copyright 2004-2016 ABB. All rights reserved.
6 RAPID reference
6.1.1 Search_1D - One-dimensional search

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.