ABB 0503060880, Applications Manual

Page: 67 / 90

Program execution
The robot will move to the initial position for the tool. A QuickCheck will be made
consisting of two scans. If the TCP has not changed appreciatively, the robot will
return to production. If the change is found to be greater than the minimum threshold
defined during the tool initialization, a full measurement will be made. The change
will be evaluated again. In rare cases, the change may appear to be smaller after
this step and no update will be made. This is due to the fact that the QuickCheck
does not gather enough information to measure the tool very accurately. In this
case the robot will return to production. If a robot continues to exhibit this behavior,
run the setup again by calling
BESetupToolJ
or update the tool with
BEUpdateTcp
.
This should correct the problem.
In most cases, the re-evaluated TCP change will require the tool to be updated. In
automatic mode, this will be done automatically before returning to production. In
manual mode, the operator will be prompted for a response before the tool is
updated.
Execution in stepwise mode
Execution in stepwise mode is not supported.
Error handling
Known errors are raised as BullsEye error codes in the optional argument
Status
.
These codes can be handled outside the instruction with standard conditional
statements. BullsEye error codes are not n constants handled in a RAPID error
handler.
Syntax
BEUpdateTcp
[ Tool ':='] < expression (PERS) of tooldata >
[ '\' UserInterface ':=' < expression (IN) of string > ]
[ '\' XYZOnly ] < switch >
[ '|' XYOnly ] < switch >
[ '\' SingleScan ] < switch >
[ '\' ElapsedTime ':=' < expression (INOUT) of num > ]
[ '\' Status ':=' < expression (INOUT) of be_status > ]
[ '\' TLoad':=' ] < persistent (PERS) of loaddata > ] ';'
Related information
Described in:
be_device - Device data on page 55 be_device
be_scan - Scan data on page 58 be_scan
be_tooldesign - Tool design on page 61 be_tooldesign
BESetupToolJ - BullsEye setup tool joint move on page 72 BESetupToolJ
Technical reference manual - RAPID Instructions, Functions and
Data types Definition of
loaddata
Application manual - BullsEye 67
3HAC050989-001 Revision: C
© Copyright 2004-2018 ABB. All rights reserved.
6 RAPID reference
6.2.1 BECheckTcp - BullsEye check TCP
Continued