ABB 0503060880, Applications Manual, Page: 49 / 90

Description Error
code Error name
Reference position data could not be written to
BE_Data
. 26 BERefPosSetErr
Reference tool data could not be written to
BE_Data
. 27 BERefToolSetErr
Reference beam data could not be written to
BE_Data
. 28 BERefBeamSetErr
BullsEye does not understand the base frame definition of
the robot. Verify that the manipulator parameters are correct
(MOC.cfg). 29 BEBFrameDefErr
This tool is already set-up. Use the optional argument
n
with
BESetupToolJ
to redo the setup.
30 BESetupAlready
The reference data could not be reset. This indicates that
BullsEye could not write to the
BE_Data
module.
31 BERefResetErr
The instruction
BESetupToolJ
failed for some unknown
reason.
32 BESetupFailed
The start position is not set for this tool. Run
BESetupToolJ
to correct the problem.
33 BE Start Not Set
The tool is not set up. Run
BESetupToolJ
to correct the
problem.
34 BEToolNotSet
The start position has changed. This can only occur by
manually changing data in the
BE_Data
module, loading a
BE_Data
module from a different robot, or by loading the
wrong version of the
BE_Data
module. Load the correct
BE_Data
module, or reinitialize and run the setup instruction.
35 BEStartChanged
BullsEye has detected that the beam has moved. Re-run the
setup. 36 BEBeamMoveErr
There was a problem in the
BECheckTcp
instruction. The
cause is unknown.
37 BECheckErr
The TCP has moved, but the operator did not accept the
change. 38 BESkipUpdate
An error occurred while straightening the tool. The tool may
be very bent, the tool dimensions may be wrong in
be_tooldesign
, or the scan margins may be too small in
be_scan
.
39 BEStrtningErr
The tool is not completely set-up. Redo the setup by running
BESetupToolJ
. If the same error occurs, re-initialize the
tool with
BESetupToolJ
before running
BESetupToolJ
.
40 BEAllNotSet
The
QuickCheck
functionality in
BECheckTcp
could not run
because the quick reference position was not saved during
the setup. Redo the setup with
BESetupToolJ
.
41 BEQuikRefNotDef
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.
42 BEConvergErr
BESetupToolJ
cannot be run in step-forward mode. Execute
in continuous mode to setup the tool.
43 BEInstFwdErr
Continues on next page
Application manual - BullsEye 49
3HAC050989-001 Revision: C
© Copyright 2004-2018 ABB. All rights reserved.
5 User guide
5.4 BullsEye status codes
Continued