Basic Characteristics RAPID

Limitations
moved back to this point. Using program displacement, the robot then moves relative
to the searched position, sp.
Zone data for the positioning instruction that precedes SearchL must be used carefully.
The start of the search, i.e. when the I/O signal is ready to react, is not, in this case, the
programmed destination point of the previous positioning instruction, but a point along
the real robot path. Figure 2 to Figure 4 illustrate examples of things that may go wrong
when zone data other than fine is used.
Start point with
zone data z10
Figure 2 A match is made on the wrong side of the object because the wrong zone data was used.
Start point with
zone data z10
Figure 3 No match detected because the wrong zone data was used.
Start point with
zone data z10
Start point with
zone data fine
Search object
End point
Search object
End point
End point
Start point with
zone data fine
Start point with
zone data fine
Search object
Figure 4 No match detected because the wrong zone data was used.
Typical stop distance using a search velocity of 50 mm/s:
- without TCP on path (switch \Stop) 1-3 mm
- with TCP on path (switch \PStop) 12-16 mm
8-SearchL-4 RAPID Reference Manual