ABB 0503060880, Руководство по применению

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Action
The approach position, in this example,
jtApprPos
, is an intermediate point that
should be defined near the BullsEye sensor to allow unobstructed access to the
sensor.
2
The start position, in this example,
jtStartPos
, defines the starting point for the
measurement scans. The movements made by the global method
BESetupToolJ
are dictated by this starting position. This position must be chosen so that the robot
will not reach its joint limits or pass too close to singularity. This takes practice and
patience. Try to choose a position that does not put the robot near its joint limits to
start. The start position should have the actual TCP near the center of the beam.
The following figure shows a start position.
xx1400001218
After the start position comes the TCP extension. This is the length of the TCP ex-
tension in millimeters. On a MIG welding torch this corresponds to wire stick-out as
measured from the end of the gas cup.
BESetupToolJ jtApprPos, jtStartPos, 15, tdMigDefault, scan-
BullsMig, devYokeUp, v100, fine, tWeldGun;
3
After the TCP extension comes three BullsEye specific data types called
Tool
Design Data
,
Scan Data
, and
Device Data
.
4
These three data types provide configurable parameters used to influence the beha-
vior of BullsEye for the newly added tool. The names of the data type are
be_tooldesign
,
be_scan
, and
be_device
, respectively. This section will cover
some of the basic parameters. For more detailed information refer to the section
Data types on page 55 .
BESetupToolJ jtApprPos, jtStartPos, 15, tdMigDefault, scan-
BullsMig, devYokeUp, v100, fine, tWeldGun;
The next argument in the
BESetupToolJ
instruction is the
speeddata
argument.
The robot will move to the approach position with this TCP speed.
BESetupToolJ jtApprPos, jtStartPos, 15, tdMigDefault, scan-
BullsMig, devYokeUp, v100, fine, tWeldGun;
5
The
BESetupToolJ
instruction contains a
zonedata
argument. This zone will affect
the behavior of the path as the robot moves past the approach position.
BESetupToolJ jtApprPos, jtStartPos, 15, tdMigDefault, scan-
BullsMig, devYokeUp, v100, fine, tWeldGun;
6
Continues on next page
Application manual - BullsEye 35
3HAC050989-001 Revision: C
© Copyright 2004-2018 ABB. All rights reserved.
5 User guide
5.3.2 Defining a tool
Continued