ABB Robotics RobotWare 6, Руководство по применению

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5.2.2 RAPID references for MGAS
5.2.2.1 SearchMoveCheck
Usage
SearchMoveCheck
is used to do search movements without any contact to repeat
movements during tuning procedures. A tuning procedure is typically used to find
an optimal value for a parameter. A test movement (that is, a program execution
with a
SearchMoveCheck
) is repeated when using different parameter tune values
set up by
TuneDetectionParams
.
Basic examples
The following example illustrates the instruction
SearchMoveCheck
.
SearchMoveCheck gun1, \GunOpenPos:=100;
Arguments
SearchMoveCheck gunnum [\GunOpenPos]
gunnum
Data type:
num
Used gun number. Corresponding to the element number in the
gundata
array
curr_gundata
in the module SWUSER.SYS.
[\GunOpenPos]
Data type:
num
Optional parameter. The gun will open to the specified position [mm] (only servo
guns).
Syntax
SearchMoveCheck
[GunNo ':='] < expression (IN) of num >
['\' GunOpenPos ':=' < expression (IN) of num > ] ';'
74 Application manual - Servo Gun Setup
3HAC065014-001 Revision: E
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5 TuneMaster and tuning
5.2.2.1 SearchMoveCheck