Hi everyone:
I have a R2000-165F robot with RJ3-IB controller. This robot has the Routeware package installed on the controller. I have seen parts of the program using the instructions Search Start and Search end. The application has a touch sensor in the robot tool used to apply an off-set in the movements. The program begins with Search Start, then the robot moves to several positions touching a surface with the sensor and finally the program ends with Search End. The following are the code lines I am talking about:
2: Search Start [1] PR[50] ;
3:J P[1] 50% CNT100 ;
4:L P[2] 500mm/sec FINE ;
5:L P[3] 100mm/sec FINE Search[-Z] ;
6: Search End ;
In line 4 the robot touches the surface with the sensor
In line 5 the robot moves vertically over the point above mentioned
After this routine, the robot uses PR[50] to apply an offset to other movements.
Can someone gives me information about the search instructions or RouteWare package?
Thanks in advance for any help.
Jorge