MotoSim Sensing Option Setting (SRCH)

The Sensing Detection function allows detection between a master and slave model(s). It uses the Collision Detection function to "search" for a part. This provides the ability to closely replicate real-world search applications in a simulated environment.

To use this function in MotoSim, the "Search function" OPTION FUNCTION must be used. To turn on this OPTION FUNCTION, go in to Maintenance Mode, click on "SYSTEM", "SETUP", "OPTION FUNCTION", and then scroll down to "Search function". Highlight "NOT USED" and click on the SELECT key of the Pendant. Scroll to "USED" and click SELECT again. Select "YES" when the pop-up window askes to modify the controller.

To display the Sensing Option Setting, select the "Simulation" Tab and look under the "Settings" Group:

When you click on this button, the following screen is displayed:

Models must be setup as sensing pairs for the Sensing Option to work. To set up pairs for Sensing, perform the following steps:

1. Click the Select Model button to activate the model selection
    
2. Click on ; then left-click on the desired master model in the scene.
3. Confirm that the selected model's CAD Tree name now displays in . Click .
4. Click on ; then repeating Step 1 again, left-click on the desired slave model in the scene.
5. Confirm that the selected model's CAD Tree name now displays in . Click .
6. Repeat Steps 4 & 5 to add additional Slave models.
7. When completed, click OK.
    

Using SRCH tag in MOV Instruction

Next, teach a MOV command in a job that results in the robot moving the Master model through the Slave model to reach the taught position. Open the Detail Edit window on the taught MOV command and click on the "UNTIL" property. Select "SRCH" from the list.

Make sure the same RIN# is used as configured in the Sensing Option Function. Modify the other settings as displayed below. Reference the YRC1000: Search Function manual for further information on how this function works.

Press ENTER on the Pendant until the change has been applied to the job. 

The SRCH instruction can only use Rapid Inputs (RIN). These do not have relay addresses and thus cannot be read using the DIN instruction. Using the GETS Instruction, it is possible to determine if the SRCH instruction detected the slave model using the $B002 value.

For example, the following code structure could be programmed to perform logic on whether the model was detected/not detected.