Hi!
I need some help as I have come across a few different answers as to what the argument "T" stands for in a SRCH-instruction.
For instance:
MOVL P007 V=50.0 PL=0 SRCH RIN#(1)=OFF T=0.20 DIS=10
As far as I have understood the above line means that a linear move against p-variable P007 with position level 0 is made at a speed of 50.0mm/s, until the Direct input (RIN) #1 goes low. The DIS-argument allows the robot to exceed P007 with 10mm in the direction of the linear movement (in my case that would be straight down or Z minus).
But WHAT does the T-argument does? Some say that this is a delay before the movement is started, others say that it's a delay before the RIN's status i being monitored. I'm clueless as to why one would want to delay the movement (and why not just make a wait-instruction before the move-instruction?), and I don't get why you would want to delay the start of the monitoring of the RIN.
Also, when I had the robot up and running and could test my programs, I didn't have the search-sensor connected to a Direct input. Instead it went via Profibus to a PLC, and then back to the robot (via Profibus), and the instruction looked like this:
MOVL P007 V=50.0 PL=0 UNTIL IN#(45)=OFF
When performing the "search", even at the speed of 50.0mm/s the robot overshot by approximately 20-25mm (I recon that it had to do with the time it took for the signal to go all the way to the PLC, be processed, and then back to the robot). That's when I heard of the SRCH-instruction and the benefits of using Direct inputs while doing this.
So, what is the recommended top speed for a search with a RIN? The tool can cope with 40mm overshoot before it crashes and potentially breaks, and the distance of the movement will vary between 150mm and 1400mm. Given that the application is time-critical, you can see why I would want to speed up the search-movement.
And finally, I've been told to change parameter FD13 to value 2 for a softer stop and reverse. What exactly does this do? And what are the other options for this parameter?
Thanks in advance!