ABB 0503060880, Applications Manual, Page: 45 / 90

5.3.6 BullsEye data parameters
Introduction
The parameter fields in
be_device
,
be_scan
, and
be_tooldesign
data are
described in their entirety in section Data types on page 55 . If the default data
instances provided by BullsEye cannot solve your particular BullsEye
implementation problem, review the detailed analysis of each BullsEye data type
before attempting to create your own versions.
Execution
When
BESetupToolJ
is executed, the robot will make a move to the start position,
via the approach position, that is defined in the instruction. It will begin searching
for the scanning device beam. If it can locate it, the robot will begin executing a
series of scans to measure the TCP of the tool.
BullsEye measures the TCP several times to verify that the measurements have
converged to a common solution. A typical setup should take about 10 minutes to
complete. If there is a problem with robot calibration, the tool mounting hardware,
or other factors not compensated for by BullsEye, the setup routine will fail and
report a status message indicating the problem. In this case BullsEye may attempt
to find a solution for up to 20 minutes before reporting a convergence error and
halting execution.
The most common problem encountered while running the setup is a joint limit
error. Joint limit errors occur when the robot tries to move to a position that is
outside the working range of the robot. When this occurs, a new start position must
be chosen and the
BESetupToolJ
instruction re-executed. It takes some practice
to be able to run the setup on the first try. It is best to try running the BullsEye
before permanently mounting the sensor, in case you find that it must be moved
to complete the setup.
Application manual - BullsEye 45
3HAC050989-001 Revision: C
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5 User guide
5.3.6 BullsEye data parameters