Running Search Simulations

robotype

I am trying to simulate searching for a welding routine, but the virtual cell will not stop when the torch makes contact with the material.  I am running an IRC5 system with the latest robotware.

 

I have created a collision set and connected it to the appropriate Touchsensing IO as defined in the proc file, and the input will turn on and off when the torch makes contact with the material, however it does not stop the search, it continues to travel the full distance of the search.  However, it should travel twice the programmed distance since it is not detecting the part before the IO input is set to true.

 

It's as if the searching functionality is disabled in the code because it is being run offline.  Is this an accurate assessment?  Or shouldn't it behave the same whether being run online or offline?

 

Perhaps there is a switch or something that allows the instructions to run, but ignore the actual true functionality of the instruction.

 

 

Thanks all for any insight.

mattdavis

I have had searches work by doing what you have said.

They don't seem to be accurate at all though they should still work. Often they will stop with the torch about 5-10mm through the object that it found.

Also you need to make sure the io signal has access set to all so that robotstudio can change it whilst running the simulation. I remember if you are using imported geometry there were some settings for fine/course that improved the accuracy a little.

robotype

Thanks for the reply.

 

However, the real problem I think in my case is in the programming of the smartac software.  Since it is not available for veiwing, if it doesn't do what it is supposed to, I have no other way to fix it unless I write my own code to do this.  I could write it, but I'd rather not since I shouldn't have to.

The IO is changing as it should.  But even if the IO doesn't change state, the search routine should error and stop stating that it ran through the full range of the the search without detecting and subsequently ask if you want to skip, retry...etc.  I don't even get that menu.  So it's as if the searching functionality is disabled such that the instruction will run, but it will deregard looking for the IO signal all together so that a simulation can run without commenting out the search instructions.

 

I was hoping that someone would have run into this similar problem and changed a setting somwhere to turn it on and make it function as expected.

 

Thanks

Picard1de

Hi,

Searching with SmarTac is only supported in RobotStudios Addin "ArcWeldPowerPac". SmarTac doesnA't support searching in the VC as only a Move instruction is executed (instead of a Search instruction) regardless if you use a collision set to trigger the IO.  

ArcWeldPowerPac supports both the Search_1D and the Search_Groove RAPID instructions

 

Documentation :

 

webwiz/2813/ArcWeldingPowerPac.zip 

mattdavis

I don't use smarttac. I just use the SearchL command directly. This still works, seems very strange that smarttac/welding powerpac woudl disable this functionality as its very easy to make it work with collision sets.

TysonDeNobrega

Hi,

Maybe I can breathe life into this old thread. Im trying to run some search simulations in RS, using the AWPP I've been able to insert the search instructions using the templates for wire & gas cup searching.The instructions are executed but are effectively move commands because the weldgun just plows through the part without acknowledging contact of wire/gas cup to work piece.

Picard1de's post makes it seem that VC doesnt support SmarTac unless AWPP is installed.  What am I missing here?