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SmarTac
程序实例
在实际的应用中，
smartac
有两种方法对焊缝进行纠偏，
***种
是用
search1D
指令检测单个焊缝的偏移，
比如寻找起弧点和收
弧点，寻找的方向可以使
1
维的也可以是
2
维和
3
维的。这种
方法适用于每一条焊缝的变化都是相对对立的并且焊缝相对于
检测方向不能有太大的角度变化，比如开关柜。这种方法是直
接找到偏移量然后用
P-disp frame
(
P-DispSet
指令)
直接在工
件坐标系里面偏移相应的坐标值。例如：
找点程序
PDispOff;
MoveJ
*, v1000, z5, tSensor\WObj:=Wobj_StnA;
MoveJ
*, v1000, z5, tSensor\WObj:=Wobj_StnA;
Search_1D Cs2401, *, scp2_4_x, v100, tSensor\WObj:=Wobj_StnA\SchSpeed:=3;
MoveL
*, v1000, z5, tSensor\WObj:=Wobj_StnA;
MoveL *, v1000, z5, tSensor\WObj:=Wobj_StnA;
Search_1D Cs2401,*,scp2_4_z,v100, tSensor\WObj:=Wobj_StnA\PrePDisp:=Cs2401\SchSpeed:=3;
MoveL *, v1000, z5, tSensor\WObj:=Wobj_StnA;
MoveL *, v1000, z5, tSensor\WObj:=Wobj_StnA;
MoveL *, v1000, z5, tSensor\WObj:=Wobj_StnA;
Search_1DCs2401,*,scp2_4_y,v100, tSensor\WObj:=Wobj_StnA\PrePDisp:=Cs2401\SchSpeed:=3;
MoveL *, v1000, z5, tSensor\WObj:=Wobj_StnA;
MoveJ *, v1000, z5, tSensor\WObj:=Wobj_StnA;
Search_1D s2400,*, sp2400_x, v100, tSensor\WObj:=Wobj_StnA\SchSpeed:=3;
MoveJ *, v1000, z5, tSensor\WObj:=Wobj_StnA;
Search_1D s2400, *, sp2400_y, v100, tSensor\WObj:=Wobj_StnA\PrePDisp:=s2400\SchSpeed:=3;
PDispSet Cs2401
MoveJ
*, v1000, z5, tSensor\WObj:=Wobj_StnA;
MoveJ
*, v1000, z5, tSensor\WObj:=Wobj_StnA;
ArcLStart p2401, v1000, seam1,wd01_16\Weave:=Weave1,fine, tWeldGun\Wobj:=Wobj_StnA;
PDispoff;
PDispSet Cs2400;
ArcLEnd p2400, v1000, seam1, wd01_16\Weave:=weave1, fine, tWeldGun\WObj:=Wobj_StnA;
PDispOff;
方法
2
：通过计算工件坐标(
oframe
)的变化来进行焊缝纠正，原理
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