ABB 0503060880, Applications Manual

Page: 66 / 90

If selected, the orientation of the tool will not be measured and will not be updated.
Use this switch when it is undesirable to update the orientation, when the tool
design makes tool straightening impossible, or when update time must be
shortened. Update time may be reduced by as much as 50% when using this
optional switch.
[\SingleScan]
Data type:
switch
If selected, the initial QuickCheck will use single scans, even if the
NumOfScans
in
be_scan
data is set to a number higher than one. This override may be used to
shorten the QuickCheck time. Using this switch sometimes causes the robot to
run a full measurement sequence due to the limited accuracy of single scans.
[\XYOnly]
Data type:
switch
If selected, the TCP may be updated based on the result of the QuickCheck only.
With this option, the update time is greatly reduced, but the resulting accuracy may
not be ideal. With this option, neither the z-dimension of the tool, nor the orientation
of the tool, is updated.
CAUTION
This is not a recommended BullsEye method.
[\ElapsedTime]
Data type:
num
This parameter will return the overall time required to complete the QuickCheck
plus any TCP updating time.
Units: seconds
[\Status]
Data type:
be_status
This optional parameter returns the status code. A status code other than 1 indicates
a problem in execution. For a list of possible status codes, see
BullsEye status
codes on page 47 .
[\TLoad]
Data type:
loaddata
The
\TLoad
argument describes the total load used in the movement. The total
load is the tool load together with the payload that the tool is carrying. If the
\TLoad
argument is used, then the
loaddata
in the current
tooldata
is not considered.
If the
\TLoad
argument is set to
load0
, then the
\TLoad
argument is not
considered and the
loaddata
in the current
tooldata
is used instead. For a
complete description of the
TLoad
argument, see
MoveL
in Technical reference
manual - RAPID Instructions, Functions and Data types .
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66 Application manual - BullsEye
3HAC050989-001 Revision: C
© Copyright 2004-2018 ABB. All rights reserved.
6 RAPID reference
6.2.1 BECheckTcp - BullsEye check TCP
Continued