ABB SmarTac User Manual

6.2 Functions
6.2.1 PoseAdd - Adds the translation portions of pose data
Usage
PoseAdd is a function that requires two or three pose data arguments and returns
the sum of the translation portions in pose form.
The returned pose data will have the quaternions set to [1,0,0,0].
Basic examples
peSUM:=PoseAdd (peFIRST,peSECOND);
peSUM.trans is set equal to peFIRST.trans + peSECOND.trans. The rotational
portion of the peSUM is set to [1,0,0,0] by default.
Return value
Data type: pose
The displacement frame.
Arguments
PoseAdd (Pose1 Pose2 [\Pose3])
Pose1
Data type: pose
Pose data to be added
Pose2
Data type: pose
Pose data to be added
[\Pose3]
Data type: pose
Pose data to be added
Syntax
PoseAdd '('
[ Pose1 ':=' ] < expression (IN) of pose > ','
[ Pose2 ':=' ] < expression (IN) of pose > ','
[' \'Pose3 ':=' < expression (IN) of pose > ] ')'
Related information
Described in:
PDispAdd - Add program displacements on page 98PDispAdd
Technical reference manual - RAPID Instructions, Functions and Data
types
Data type pose
Application manual - SmarTac 99
3HAC024845-001 Revision: A
© Copyright 2004-2016 ABB. All rights reserved.
6 RAPID reference
6.2.1 PoseAdd - Adds the translation portions of pose data

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.