ABB 0503060880, Applications Manual

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5.3.7 QuickCheck
About QuickCheck
QuickCheck is the trade name for the TCP evaluation features offered by the global
method
BECheckTcp
.
BECheckTcp
may be called for any tool that has been
initialized and set up.
BECheckTcp tWeldGun\XYZOnly\Status:=beStatus;
Function
When called, the robot makes a move to the start position via the approach position.
Two complete scans are made. If the preliminary measurement shows a deviation,
the robot will continue to make a complete measurement of the tool. Otherwise,
the robot returns to the calling routine and no change is made to the TCP. If the
tool is measured and found to have changed, then the tool is updated before
returning to the calling routine.
Automatic mode
When running in automatic operating mode the update happens automatically
without a prompt.
Manual mode
When running in manual operating mode, the user will be prompted for action
before updating the tool.
Note
It is common practice to call
BECheckTcp
after a certain time or after a certain
number of parts has been processed to ensure that the TCP is always correct.
Optional arguments
Like the
BESetupToolJ
instruction,
BECheckTcp
has several optional arguments.
XYZOnly
One commonly used optional switch is
XYZOnly
. If selected, the instruction will
only update the translation portion of the
tooldata
when it is required to update
the TCP definition. In this case the orientation of the tool is unaffected. Using this
switch decreases the update time by about half. Keep in mind that large changes
in TCP translation without updating orientation can eventually lead to problems in
cases where tool orientation is critical as in a torch cleaning routine.
Status
Another commonly used optional argument is the
Status
argument. The
Status
argument returns an integer that may be evaluated in the calling RAPID code. Each
error condition returns a unique error number.
46 Application manual - BullsEye
3HAC050989-001 Revision: C
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5 User guide
5.3.7 QuickCheck