ABB 0503060880, Applications Manual

Page: 74 / 90

[\FixedAxes]
Data type:
be_fixedaxes
If the robot is moved by a multi-axis mechanical unit and the scanning device is
mounted on one of links of this mechanical unit, other than the final link, this
argument must be used. The structure consists of six boolean flags representing
each of the six possible external axes. If an axis must be in a certain position to
maintain the robot-to-scan-device relationship, then the flag for that axis should
be set to
TRUE
. For example, if the robot is mounted on a rotating tower with linear
carriage movement on the boom, then it is possible that the BullsEye scanning
device could be mounted to the first link, and the robot mounted to the second
link. In this case, it is necessary to set the
FixedAxes
flag corresponding to the
linear axis to
TRUE
, because this axis must be driven to a designated position to
fix the relationship between the scanning device and the robot.
[\ElapsedTime]
Data type:
num
This parameter will return the overall time required to complete the setup.
Units: seconds
[\MaxError]
Data type:
num
MaxError
is the distance in millimeters that the TCP is allowed to deviate before
QuickCheck will indicate the change. When not selected,
MaxError
will be set to
four times the value of
Repeatability
found in the
be_device
data.
Units: mm
[\MaxFromDay1]
Data type:
num
If the TCP is found to be more than the distance,
MaxFromDay1
, the tool will need
to be set up again. The default is 5 mm when not selected.
Units: mm
[\MeanDev]
Data type:
num
BullsEye uses four scan orientations to determine the TCP. Some deviation between
measurements is normal, but excessive deviation suggests that the robot may be
calibrated incorrectly, or the tool or TCP extension may be loose. This parameter
may be queried to evaluate the accuracy of the TCP after the setup is complete.
Units: mm
[\MaxDev]
Data type:
num
This parameter may be used together with
MeanDev
to evaluate the accuracy of
the TCP after the setup is complete.
Units: mm
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74 Application manual - BullsEye
3HAC050989-001 Revision: C
© Copyright 2004-2018 ABB. All rights reserved.
6 RAPID reference
6.2.4 BESetupToolJ - BullsEye setup tool joint move
Continued