ABB 0503060880, Applications Manual

Page: 48 / 90

Description Error
code Error name
The parameter
InitPatternRad
, in
be_scan
data is neg-
ative or zero. For a standard yoke-style beam-type scanning
device, this value should be about 25 mm. Correct the data
problem before retrying.
14 BEScanRadZero
The height search failed. Check that the proximity sensor in
the tool is working properly and check that the height search
instruction is named correctly in
be_scan
data. The height
search instruction is tool-dependent and is not a part of the
BullsEye software.
15 BEHeightSrchErr
The robot could not locate the sensing beam of the scan
device. Check to see that the tool is passing through the
beam and that the sensor is triggering the digital input asso-
ciated with it. 16 BEBeamNotFound
Although the beam was located, its orientation could not be
determined. 17 BEBeamSpinErr
BullsEye attempted to make a scan, but the start position of
the scan broke the beam. Check that the tool dimensions
are correct in
be_tooldesign
. Check that the scan margins
are sufficient in
be_scan
. Check that the scanning device
is triggering properly. Check that the robot is calibrated.
18 BESrchErrInBeam
BullsEye attempted to make a scan, but the scanning device
never detected the tool. Check that the tool dimensions are
correct in
be_tooldesign
. Check that the scanning device
is triggering properly. Check that the robot is calibrated.
19 BESrchErrNoDet
The number of redundant scans requested in the
be_scan
data, is less-than or equal to zero, or is not an integer.
20 BENumOfScansErr
While scanning to find the center of the tool, the diameter
of the tool was found to be less-than or equal to zero. Check
that the tool dimensions are correct in
be_tooldesign
.
Check that the scanning device is triggering properly. Check
that the robot is calibrated.
21 BEDiaZeroOrLess
BullsEye will take "slices" of the tool to find the end of the
tool. If it cannot find the end of the tool in a reasonable
number of scans, the instruction will be aborted and this
message will be raised. Verify that the flag,
Inverted
, is
set properly in
be_device
data. Verify that the slice thick-
ness specified in
<be_tooldesign>.SliceGap
is appropri-
ate. Verify that the start position is defined correctly.
22 BESliceCountErr
BullsEye will iterate until it converges to a TCP definition
that is within the requested repeatability. If it cannot arrive
at a good TCP after a reasonable number of iterations, the
process will be aborted and this error code will be raised.
This error can result if the repeatability, specified in the
be_device
data, is unreasonably small, or if the robot has
an accuracy problem. Robot accuracy problems can be
caused by incorrect calibration or damaged robot arm com-
ponents.
23 BEGetNewTcpMax
The beam orientation could not be fine-tuned correctly.
Check that the tool is perpendicular to the scan plane when
at the start position. 24 BEBeamOriFail
BullsEye failed to determine the change in the TCP for the
current iteration. This problem typically arises when the robot
calibration is wrong, or when tool dimensions specified in
be_tooldesign
are incorrect.
25 BEGetTcpDelErr
Continues on next page
48 Application manual - BullsEye
3HAC050989-001 Revision: C
© Copyright 2004-2018 ABB. All rights reserved.
5 User guide
5.4 BullsEye status codes
Continued