# Did anyone worked in SearchEdge and SenseL instruction.

**URL:** <https://tech-community.robotics.abb.com/t/did-anyone-worked-in-searchedge-and-sensel-instruction/11855>\
**Category:** RAPID Programming\
**Created:** [April 1, 2025, 7:05am UTC](https://tech-community.robotics.abb.com/t/did-anyone-worked-in-searchedge-and-sensel-instruction/11855 "2025-04-01T07:05:29Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![Parasuraman\_R](https://avatars.discourse-cdn.com/v4/letter/p/7ab992/32.png) [@Parasuraman\_R](https://tech-community.robotics.abb.com/u/Parasuraman_R)\
**Post date:** [April 1, 2025, 7:05am UTC](https://tech-community.robotics.abb.com/t/did-anyone-worked-in-searchedge-and-sensel-instruction/11855/1 "2025-04-01T07:05:29Z")

</div>

As per available manual, I had created the program, but the robot doesn’t stops at edge point, It just moves to end point. Due to this issue sometimes the result pose value is not working perfect

For your reference, I pasted my program.

ActUnit STN1;  
PDispOff;  
MoveL ws\_c1\_p10, v100, z50, CMT\_22\_deg\WObj:=wobj\_stn1\_3dp;  
MoveL ws\_c1\_p20, v100, fine, CMT\_22\_deg\WObj:=wobj\_stn1\_3dp;  
WaitTime\InPos, 0.1;

SearchEdge pose\_ws, Height\SenseHeight:=reg8, ws\_c1\_p30, ws\_c1\_p40\SearchEnd:=ws\_c1\_p40, v100, CMT\_22\_deg\WObj:=wobj\_stn1\_3dp\SchSpeed:=reg9;

MoveL ws\_c1\_p50, v100, fine, CMT\_22\_deg\WObj:=wobj\_stn1\_3dp;  
MoveL ws\_c1\_p60, v100, fine, CMT\_22\_deg\WObj:=wobj\_stn1\_3dp;  
MoveL ws\_c1\_p70, v100, fine, CMT\_22\_deg\WObj:=wobj\_stn1\_3dp;

SearchEdge pose\_ws1, Height\SenseHeight:=reg8, ws\_c1\_p80, ws\_c1\_p90\SearchEnd:=ws\_c1\_p90, v100, CMT\_22\_deg\WObj:=wobj\_stn1\_3dp\SchSpeed:=reg9;

MoveL ws\_c1\_p100, v100, fine, CMT\_22\_deg\WObj:=wobj\_stn1\_3dp;  
MoveL ws\_c1\_p110, v100, fine, CMT\_22\_deg\WObj:=wobj\_stn1\_3dp;

PDispSet pose\_ws;  
ArcLStart ws\_c1\_p120, v100, seam1, weld1, fine, CMT\_22\_deg\WObj:=wobj\_stn1\_3dp;  
PDispSet pose\_ws1;  
ArcLEnd ws\_c1\_p130, v100, seam1, weld1, fine, CMT\_22\_deg\WObj:=wobj\_stn1\_3dp;  
MoveL ws\_c1\_p140, v100, fine, CMT\_22\_deg\WObj:=wobj\_stn1\_3dp;

PDispOff;

Thanks in Advance.