SMARTARC

hi
i want to make a three-dimensional search_1D to weld angle iron like in the picture from A to B 
work fine in X,Y but not in Z

i got this in datarob1

  PROC AddPose(
    INOUT pose pose1,
INOUT pose pose2,
INOUT pose poseResult)
poseResult:=posemult(pose1,pose2);
  ENDPROC
  !

 and my test program is this :

MODULE Stn1_Essai_Smartarc
 
    PERS gp_SaveFile gsTRAJ_Smartarc:=["","Smartarc",".mod","Traj.Stn1 Smartarc","2020-06-16",4,0,TRUE,FALSE];
    !
    TASK PERS partdata pd_Smartarc:=["Smartarc","Stn1 Essai Smartarc","",1,0,"","padv_Smartarc"];
    TASK PERS partadvdata padv_Smartarc:=[[3350,9E+09,9E+09,9E+09,0,9E+09],[5670,9E+09,9E+09,9E+09,0,9E+09],[5670,9E+09,9E+09,9E+09,0,9E+09],[1100,[0,0,2500],[1,0,0,0],0,0,0],"wobjTable1"];
    ! donnée pose
    PERS pose pose9:=[[0.0134277,11.5624,0.0136719],[1,0,0,0]];
    PERS pose pose10:=[[0.022583,8.64563,0.0153198],[1,0,0,0]];
    PERS pose pose11:=[[0.00500488,-0.00848389,5.30811],[1,0,0,0]];
    PERS pose pose12:=[[0.0308838,0.003479,-3.66309],[1,0,0,0]];
    PERS pose pose13:=[[0.0584717,8.64063,1.66034],[1,0,0,0]];
    PERS pose pose18:=[[0.0493164,11.5574,1.65869],[1,0,0,0]];
    !
PROC Smartarc()

    ActUnit stn1;
StopIfTeach;
    !
    MoveJ preplistn1, speed3, z50, tWeldGun\WObj:=wobjTable1;
    MoveJ psafestn1,speed3,z50,tWeldGun\WObj:=wobjTable1;
    !
    MoveJ [[1698.55,910.93,35.39],[0.186279,-0.683011,-0.67497,-0.207874],[-2,0,-1,0],[1927.52,9E+09,9E+09,9E+09,-0.0024901,9E+09]], speed3, z50, tWeldGun\WObj:=wobjTable1;
    WireFeeder 1\Fw;
    MoveL [[1572.36,927.91,-221.97],[0.25126,-0.650788,-0.646336,-0.309181],[-2,0,-1,0],[1927.51,9E+09,9E+09,9E+09,-0.00245188,9E+09]], speed3, z0, tWeldGun\WObj:=wobjTable1;
    Search_1D pose9, [[1616.11,990.08,-283.95],[0.251251,-0.650806,-0.64631,-0.309206],[-2,0,-1,0],[1927.5,9E+09,9E+09,9E+09,-0.0024901,9E+09]], [[1616.16,1024.05,-284.00],[0.251249,-0.65081,-0.646296,-0.309228],[-2,0,-1,0],[1927.49,9E+09,9E+09,9E+09,-0.0024901,9E+09]], v100, tWeldGun\WObj:=wobjTable1;
    MoveL [[1607.26,940.62,-205.68],[0.251252,-0.650801,-0.646297,-0.309241],[-2,0,-1,0],[1927.49,9E+09,9E+09,9E+09,-0.0024901,9E+09]], speed3, z0, tWeldGun\WObj:=wobjTable1;
    MoveL [[1875.76,944.94,-204.27],[0.251263,-0.650791,-0.646283,-0.309284],[-2,0,-1,0],[1927.48,9E+09,9E+09,9E+09,-0.00245188,9E+09]], speed3, z0, tWeldGun\WObj:=wobjTable1;
    Search_1D pose10, [[1878.49,984.60,-285.60],[0.251276,-0.650776,-0.646294,-0.309282],[-2,0,-1,0],[1927.48,9E+09,9E+09,9E+09,-0.0024901,9E+09]], [[1878.55,1026.98,-285.64],[0.251282,-0.65077,-0.64629,-0.309298],[-2,0,-1,0],[1927.47,9E+09,9E+09,9E+09,-0.0024901,9E+09]], v100, tWeldGun\WObj:=wobjTable1;
    MoveL [[1865.91,908.75,-174.69],[0.251295,-0.650758,-0.646301,-0.309289],[-2,0,-1,0],[1927.47,9E+09,9E+09,9E+09,-0.00245188,9E+09]], speed3, z0, tWeldGun\WObj:=wobjTable1;
    !
   
    !
    MoveL [[1613.12,931.58,-175.19],[0.251339,-0.650707,-0.646345,-0.30927],[-2,0,-1,0],[1927.47,9E+09,9E+09,9E+09,-0.00245188,9E+09]], speed3, z0, tWeldGun\WObj:=wobjTable1;
    Search_1D pose12, [[1607.30,990.17,-268.09],[0.251356,-0.650689,-0.646358,-0.309265],[-2,0,-1,0],[1927.47,9E+09,9E+09,9E+09,-0.00245188,9E+09]], [[1607.34,990.20,-292.17],[0.251364,-0.650679,-0.646362,-0.309271],[-2,0,-1,0],[1927.46,9E+09,9E+09,9E+09,-0.00245188,9E+09]], v100, tWeldGun\WObj:=wobjTable1;
    MoveL [[1599.65,917.83,-224.26],[0.25136,-0.650678,-0.646356,-0.309291],[-2,0,-1,0],[1927.46,9E+09,9E+09,9E+09,-0.00245188,9E+09]], speed3, z0, tWeldGun\WObj:=wobjTable1;
    !
    MoveL [[1884.21,917.61,-223.94],[0.25137,-0.650671,-0.646353,-0.309301],[-2,0,-1,0],[1927.45,9E+09,9E+09,9E+09,-0.0024901,9E+09]], speed3, z0, tWeldGun\WObj:=wobjTable1;
    Search_1D pose11, [[1880.13,993.37,-264.51],[0.251366,-0.650674,-0.646349,-0.309307],[-2,0,-1,0],[1927.45,9E+09,9E+09,9E+09,-0.00245188,9E+09]], [[1880.17,993.38,-292.24],[0.251368,-0.650672,-0.646347,-0.309314],[-2,0,-1,0],[1927.45,9E+09,9E+09,9E+09,-0.0024901,9E+09]], v100, tWeldGun\WObj:=wobjTable1;
    MoveL [[1872.57,922.13,-225.38],[0.251372,-0.650669,-0.646341,-0.309329],[-2,0,-1,0],[1927.44,9E+09,9E+09,9E+09,-0.00245188,9E+09]], speed3, z0, tWeldGun\WObj:=wobjTable1;
    !
    AddPose pose9, pose12, pose18;
    AddPose pose10, pose11, pose13;
    !
    MoveL [[1614.91,922.36,-225.70],[0.251357,-0.650688,-0.646324,-0.309339],[-2,0,-1,0],[1927.44,9E+09,9E+09,9E+09,-0.0024901,9E+09]], speed3, z0, tWeldGun\WObj:=wobjTable1;
    !
    PDispSet pose18;
    MoveL [[1604.91,1024.53,-287.68],[0.251358,-0.650685,-0.646322,-0.309347],[-2,0,-1,0],[1927.43,9E+09,9E+09,9E+09,-0.0024901,9E+09]], v100, z0, tWeldGun\WObj:=wobjTable1;
    waittime 2;
    !
    PDispSet  pose13;
    MoveL [[1885.99,1024.30,-287.34],[0.251362,-0.650684,-0.64632,-0.309352],[-2,0,-1,0],[1927.43,9E+09,9E+09,9E+09,-0.00245188,9E+09]], v10, z0, tWeldGun\WObj:=wobjTable1;
    PDispOff;
    MoveL [[1875.96,930.28,-199.14],[0.251372,-0.650675,-0.64632,-0.309361],[-2,0,-1,0],[1927.42,9E+09,9E+09,9E+09,-0.00245188,9E+09]], speed3, z0, tWeldGun\WObj:=wobjTable1;
    MoveJ [[1698.55,910.93,35.39],[0.186279,-0.683011,-0.67497,-0.207874],[-2,0,-1,0],[1927.52,9E+09,9E+09,9E+09,-0.0024901,9E+09]], speed3, z50, tWeldGun\WObj:=wobjTable1;
   !
    MoveJ psafestn1,speed3,z50,tWeldGun\WObj:=wobjTable1;
    MoveJ preplistn1, speed3, z50, tWeldGun\WObj:=wobjTable1;
    ENDPROC
ENDMODULE

Zone contenant les pièces jointes

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