ABB 0503060880, Applications Manual

Page: 55 / 90

6 RAPID reference
6.1 Data types
6.1.1 be_device - Device data
Usage
be_device
contains parameters that are used to describe the scanning device's
properties.
Components
SignalName
Data type:
string
Digital input name used by the scanning device.
SenseHigh
Data type:
bool
Set to true if signal is high when the detecting the tool.
SlowScanSpeed
Data type:
speeddata
Slow scans will be executed with this speed setting.
See Technical reference manual - RAPID Instructions, Functions and Data types
for an explanation of
speeddata
.
FastScanSpeed
Data type:
speeddata
Fast scans will be executed with this speed setting.
See Technical reference manual - RAPID Instructions, Functions and Data types
for an explanation of
speeddata
.
Repeatability
Data type:
num
The expected repeatability for TCP measurements. This number should be about
twice that of the published repeatability for the robot arm. This equates to about
+/- 0.12 mm for an IRB 1400. Other factors, such as torch leads exerting undue
force on the tool mount bracket, may have an adverse affect on the repeatability.
In such cases it may be necessary to increase Repeatability in order for the robot
to find an acceptable solution. A convergence error is reported via the BullsEye
error code argument when the system cannot reach the desired repeatability within
a reasonable time.
Units: mm
Continues on next page
Application manual - BullsEye 55
3HAC050989-001 Revision: C
© Copyright 2004-2018 ABB. All rights reserved.
6 RAPID reference
6.1.1 be_device - Device data