Hi guys,
I've got a little problem with Search function at our new yaskawa robot. When I create program for detail with axis group R1 search works correctly it does find the seam. But if I create the same program for the same detail but with groups R1+S2 and I'll place detail for example 0.5cm higher, search won't change path at Z axis. I hope that i described correctly. Here is the search program given to us by yaskawa:
/JOB
//NAME SEARCH
///FOLDERNAME FOLDER005
//POS
///NPOS 0,0,0,5,0,0
///TOOL 0
///POSTYPE BASE
///RECTAN
///RCONF 1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
P00000=5444.741,1564.230,-477.256,515.8367,39.6944,-154.6418
///POSTYPE ROBOT
P00001=1662.628,1733.097,-427.198,171.5135,55.9530,48.1411
///POSTYPE BASE
P00002=5445.742,1568.288,-442.056,179.4384,45.5060,-88.1396
///POSTYPE ROBOT
P00005=1662.628,1752.672,-384.405,171.4885,55.9523,48.1148
P00006=1662.727,1753.082,-427.198,171.4898,55.9516,48.1241
//INST
///DATE 2023/08/30 08:55
///ATTR SC,RW
///GROUP1 RB1,BS1
NOP
SFTOF
GETS PX000 $PX023
GETS PX001 $PX024
GETS PX002 $PX025
CNVRT PX000 PX000 BF
CNVRT PX001 PX001 BF
CNVRT PX002 PX002 BF
SUB P006 P006
MOVL P000 V=25.0
MOVL P001 V=8.3 SRCH RIN#(1)=ON T=0.30 DIS=20.0
GETS B000 $B002
JUMP *ERROR IF B000=0
GETS PX006 $PX000
CNVRT PX006 PX006 BF
SUB P006 P001
ADD P000 P006
ADD P002 P006
MOVL P000 V=25.0
MOVL P002 V=16.7 SRCH RIN#(1)=ON T=0.30 DIS=20.0
GETS B000 $B002
JUMP *ERROR IF B000=0
GETS PX005 $PX000
CNVRT PX005 PX005 BF
SUB P005 P002
ADD P006 P005
SETE P006 (4) 0
SETE P006 (5) 0
SETE P006 (6) 0
MOVL P000 V=25.0
RET
*ERROR
'NO CONTACT
SUB P006 P006
PAUSE
MOVL P000 V=23.0
END