ABB 0503060880, Applications Manual

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[\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 .
Program execution
The robot will move to the initial position for the tool. A full measurement will be
made and the tool will be 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 may be handled outside the instruction with standard conditional
statements. BullsEye error codes are not ERRNO constants handled in a RAPID
error handler.
Syntax
BEUpdateTcp
[ Tool ':='] < expression (PERS) of tooldata >
[ '\' UserInterface ':=' < expression (IN) of string > ]
[ '\' XYZOnly ] < switch >
[ '\' ElapsedTime ':=' < expression (INOUT) of num > ]
[ '\' Status ':=' < expression (INOUT) of be_status > ]
[ '\' TLoad':=' ] < persistent (PERS) of loaddata > ] ';'
Continues on next page
80 Application manual - BullsEye
3HAC050989-001 Revision: C
© Copyright 2004-2018 ABB. All rights reserved.
6 RAPID reference
6.2.6 BEUpdateTcp - BullsEye update TCP
Continued