Help on MOTOMAN XRC serach function

[Guest Meir Lebel]

Hi, I wonder, If someone can help me on the following: I want to use a search function with a MOTOMAN UP20 robot and I can’t find any information on the subject. I know that the format is (for example) in the .JBI file: ‘MOVL C00100 P0000 V=128 SRCH RIN#(1)=ON T =1.00 DIS=10.00’ But I don’t know the meanings! 1) Is the C00100 is the target location? 2) Is the P0000 is the variable that will hold the shift for use by ‘SFTON’? 3) What the RIN#(1..3) stand for ? and what the different between 1,2.3? 4) Why do I need to turn ON or OFF the RIN? when do I use OFF? 5) What the time(T) stand for? If there is already speed(V) value. 6) Is the ‘DIS’, is the distance that the search should be stop, if it passed this distance? 7) Is the search movement, must be parallel to one of the known frames (ROBOT, BASE, USER) or it can be in any direction? If for example, I want to touch two walls and then weld, do I do it as follow (please correct): MOVJ C0000 ‘ Go to location in front of the two walls more or less 30mm from both walls MOVL C0001 P000 SRCH RIN#(1)=ON T=1.00 DIS=35.00 ‘Touch the first wall, and stop if you didn’t reach after 35mm, put the shift in P000 SFTON P000 ‘ Apply the shift using P000 MOVL C0000 ‘Go back to the first location MOVL C0002 P001 SRCH RIN#(2)=ON T=1.00 DIS=35.00 ‘Touch the second wall SFTON P001 ‘Apply the second shift using P001 MOVL C0000 ‘Go back to the first location MOVL C0100 ‘Go to first location of the weld ARCON ASF(#1) ‘And start weld …. MOVL C0200 ‘Last location of the weld ARCOF AEF(#1) ‘And stop welding SFTOF ‘Pop the second shift used by P001 SFTOF ‘Pop the first shift used by P000 Tn’x in advance & Happy new Year. meir@smarttcp.com