Basic Characteristics RAPID

SearchL Searches linearly using the robot
Examples
Arguments
SearchL (Search Linear) is used to search for a position when moving the tool centre
point (TCP) linearly.
During the movement, the robot supervises a digital input signal. When the value of
the signal changes to active, the robot immediately reads the current position.
This instruction can typically be used when the tool held by the robot is a probe for
surface detection. Using the SearchL instruction, the outline coordinates of a work
object can be obtained.
SearchL sen1, sp, p10, v100, probe;
The TCP of the probe is moved linearly towards the position p10 at a speed of
v100. When the value of the signal sen1 changes to active, the position is stored
in sp.
SearchL \Stop, sen1, sp, p10, v100, probe;
The TCP of the probe is moved linearly towards the position p10. When the
value of the signal sen1 changes to active, the position is stored in sp and the
robot stops immediately.
SearchL [ \Stop ] | [ \PStop ] |[ \Sup ] Signal SearchPoint
ToPoint Speed [ \V ] | [ \T ] Tool [ \WObj ]
[ \Stop ] Data type: switch
The robot movement is stopped as quick as possible, without keeping the TCP
on the path, when the value of the search signal changes to active. However, the
robot is moved a small distance before it stops and is not moved back to the
searched position, i.e. to the position where the signal changed.
If this argument is omitted, the movement continues (flying search) to the position
specified in the ToPoint argument.
[ \PStop ] (Path Stop) Data type: switch
The robot movement is stopped as quick as possible, while keeping the TCP on
the path, when the value of the search signal changes to active. However, the
robot is moved a small distance before it stops and is not moved back to the
searched position, i.e. to the position where the signal changed.
RAPID Reference Manual 8-SearchL-1