ABB 0503060880, Applications Manual

Page: 75 / 90

[\CheckRange]
Data type:
switch
If selected, the robot will make a series of moves to approximate the motion of the
robot arm during the scan sequence. This argument may only be used when the
supplied tool includes values that are approximately correct. This setting can be
useful in determining where to mount the BullsEye sensor. This argument is used
together with
CheckBeamAngle
.
[\CheckBeamAngle]
Data type:
num
This argument is used to provide the orientation of the BullsEye beam relative to
the base of the robot. BullsEye assumes that the sensing beam is parallel to the
plane of the robot base. This value determines how the beam is oriented in that
plane. The
CheckRange
argument must be used together with this argument.
[\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 .
Program execution
The tool is added to the BullsEye collection along with all of the data that is passed
into the instruction. BullsEye will then perform a scan sequence to determine the
TCP of the tool.
Execution in stepwise mode
Forward
In forward step mode, the robot will stop at the approach point. Pressing forward
step again will advance the robot to the start point and start the scanning routine.
Backward
Not supported.
Error handling
Known errors are raised as BullsEye error codes in the optional argument
Status
.
These codes may be handled outside the instruction with standard conditional
statements. BullsEye error codes are not ERRNO constants handled in a RAPID
error handler.
Syntax
BESetupToolJ
[ ApprPoint ':='] < expression (IN) of jointtarget > ','
Continues on next page
Application manual - BullsEye 75
3HAC050989-001 Revision: C
© Copyright 2004-2018 ABB. All rights reserved.
6 RAPID reference
6.2.4 BESetupToolJ - BullsEye setup tool joint move
Continued