Did anyone worked in SearchEdge and SenseL instruction.

Parasuraman_R

As per available manual, I had created the program, but the robot doesn't stops at edge point, It just moves to end point. Due to this issue sometimes the result pose value is not working perfect

For your reference, I pasted my program.

ActUnit STN1;

PDispOff;

MoveL ws_c1_p10, v100, z50, CMT_22_deg\WObj:=wobj_stn1_3dp;

MoveL ws_c1_p20, v100, fine, CMT_22_deg\WObj:=wobj_stn1_3dp;

WaitTime\InPos, 0.1;

    

SearchEdge pose_ws, Height\SenseHeight:=reg8, ws_c1_p30, ws_c1_p40\SearchEnd:=ws_c1_p40, v100, CMT_22_deg\WObj:=wobj_stn1_3dp\SchSpeed:=reg9;

     

MoveL ws_c1_p50, v100, fine, CMT_22_deg\WObj:=wobj_stn1_3dp;

MoveL ws_c1_p60, v100, fine, CMT_22_deg\WObj:=wobj_stn1_3dp;

MoveL ws_c1_p70, v100, fine, CMT_22_deg\WObj:=wobj_stn1_3dp;

    

SearchEdge pose_ws1, Height\SenseHeight:=reg8, ws_c1_p80, ws_c1_p90\SearchEnd:=ws_c1_p90, v100, CMT_22_deg\WObj:=wobj_stn1_3dp\SchSpeed:=reg9;

     

MoveL ws_c1_p100, v100, fine, CMT_22_deg\WObj:=wobj_stn1_3dp;

MoveL ws_c1_p110, v100, fine, CMT_22_deg\WObj:=wobj_stn1_3dp;

        

PDispSet pose_ws;

ArcLStart ws_c1_p120, v100, seam1, weld1, fine, CMT_22_deg\WObj:=wobj_stn1_3dp;

PDispSet pose_ws1;

ArcLEnd ws_c1_p130, v100, seam1, weld1, fine, CMT_22_deg\WObj:=wobj_stn1_3dp;

MoveL ws_c1_p140, v100, fine, CMT_22_deg\WObj:=wobj_stn1_3dp;

        

PDispOff;

Thanks in Advance.