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Robot arm follows same path but torch path has changed

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Application manual - BullsEye

3HAC050989-001 Revision: C

2 Introduction to BullsEye®

2.2 Theory of operation

Continued

Содержание BullsEye

Страница 1: ...ROBOTICS Application manual BullsEye ...

Страница 2: ...Trace back information Workspace R18 2 version a11 Checked in 2018 10 11 Skribenta version 5 3 008 ...

Страница 4: ... persons or property fitness for a specific purpose or the like In no event shall ABB be liable for incidental or consequential damages arising from use of this manual and products described herein This manual and parts thereof must not be reproduced or copied without ABB s written permission Keep for future reference Additional copies of this manual may be obtained from ABB Original instructions ...

Страница 5: ...ng new BullsEye data instances 45 5 3 6 BullsEye data parameters 46 5 3 7 QuickCheck 47 5 4 BullsEye status codes 51 5 5 Frequently asked questions 55 6 RAPID reference 55 6 1 Data types 55 6 1 1 be_device Device data 58 6 1 2 be_scan Scan data 61 6 1 3 be_tooldesign Tool design 65 6 2 Instructions 65 6 2 1 BECheckTcp BullsEye check TCP 68 6 2 2 BEDebugState Debug state control 69 6 2 3 BERefPoint...

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Страница 7: ... the required knowledge of mechanical and electrical installation repair maintenance work be familiar with industrial robots and their terminology be familiar with the RAPID programming language be familiar with system parameters and how to configure them Reference documents Document ID References 3HAC031045 001 Operating manual General safety information i 3HAC050917 001 Technical reference manua...

Страница 8: ... 07 Added information about EIO configuration in section Installation on page 23 B Released with RobotWare 6 08 Updated the example for argument UserInterface for the RAPID instructions BECheckTcp BERefPointer and BEUpdateTcp C 8 Application manual BullsEye 3HAC050989 001 Revision C Copyright 2004 2018 ABB All rights reserved Overview of this manual Continued ...

Страница 9: ...oning Reference information safety standards unit conversions screw joints lists of tools Spare parts list with corresponding figures or references to separate spare parts lists References to circuit diagrams Technical reference manuals The technical reference manuals describe reference information for robotics products for example lubrication the RAPID language and system parameters Application m...

Страница 10: ...The manuals are aimed at those having first hand operational contact with the product that is production cell operators programmers and troubleshooters 10 Application manual BullsEye 3HAC050989 001 Revision C Copyright 2004 2018 ABB All rights reserved Product documentation Continued ...

Страница 11: ...s are not followed that can lead to serious injury pos sibly fatal and or great damage to the product It applies to warnings that apply to danger with for example contact with high voltage electrical units explosion or fire risk risk of poisonous gases risk of crushing impact fall from height etc WARNING Warns for electrical hazards which could result in severe personal injury or death ELECTRICAL ...

Страница 12: ... conditions NOTE Describes where to find additional information or how to do an operation in an easier way TIP 12 Application manual BullsEye 3HAC050989 001 Revision C Copyright 2004 2018 ABB All rights reserved 1 Safety 1 1 Safety signals in the manual Continued ...

Страница 13: ...gh voltage may suffer cardiac arrest burn injuries or other severe injuries To avoid these personal injuries switch off the main power on the controller before proceeding work Application manual BullsEye 13 3HAC050989 001 Revision C Copyright 2004 2018 ABB All rights reserved 1 Safety 1 2 Make sure that the main power has been switched off ...

Страница 14: ...ng with the system A good method is to always lock the main switch on the controller cabinet with a safety lock The necessary protection for the electrical equipment and robot during installation commissioning and maintenance is guaranteed if the valid regulations are followed Voltage related risks manipulator A danger of low voltage is associated with the manipulator in The power supply for the m...

Страница 15: ... robot arm and located at the precise point where the welding wire tip would touch the work piece using a pre determined wire stick out distance from the bottom of the gas nozzle Illustration Welding torch revolving around a defined TCP xx1400001210 BullsEye features Scanning behavior that can be configured for Scan lengths Scan speeds Tool dimensions Historical log file Fully compatible with Mult...

Страница 16: ... Optimized update times 16 Application manual BullsEye 3HAC050989 001 Revision C Copyright 2004 2018 ABB All rights reserved 2 Introduction to BullsEye 2 1 Product overview Continued ...

Страница 17: ...es the current TCP definition the torch will rotate around the TCP as before because the robot arm has adjusted its path to compensate for the torch misalignment Once a point has been programmed the robot remembers the tool center point location not what the angles of the robot joints are When the robot replays the programmed path it calculates what the joint angles should be to get the TCP back t...

Страница 18: ...ows same path but torch path has changed xx1400001212 18 Application manual BullsEye 3HAC050989 001 Revision C Copyright 2004 2018 ABB All rights reserved 2 Introduction to BullsEye 2 2 Theory of operation Continued ...

Страница 19: ...ols meet this criterion 2 There may not be any obstructions on the scanned portion of the tool Typically the BullsEye is set up to make scans along the last several inches of the tool body There can be no fittings clamps set screws wires hoses or other features extending from the tool body in this section 3 If the tool does not have a consumable wire electrode or a wire like extension it must be a...

Страница 20: ...other way you cannot have the tool pointing straight out from the center of the mounting plate BE_Data sys is a reserved module name BullsEye uses a temporary system module called BE_Data to store and recover setup information For this reason it is not permitted to have another module loaded in the robot motion task called BE_Data or BullsEye will be unable to save and retrieve data 20 Application...

Страница 21: ...rs personnel not grounded may potentially transfer high static charges This discharge may destroy sensitive electronics Note Action Wrist straps must be tested frequently to ensure that they are not damaged and are operating correctly Use a wrist strap 1 The mat must be grounded through a current limiting resistor Use an ESD protective floor mat 2 The mat should provide a controlled discharge of s...

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Страница 23: ...low BullsEye robot software Software can be delivered as a separate product or as part of cell management software like GAP and EasyArc BullsEye yoke specification 40 ma 24 VDC Electrical One digital input 24 VDC and 0 VDC Robot connections 0 006 0 163 mm Repeatability Dimensions Variant 0503060880 xx1400002302 Continues on next page Application manual BullsEye 23 3HAC050989 001 Revision C Copyrig...

Страница 24: ...configured to handle any scan device orientation it is easiest to setup BullsEye when the beam of the scanning device is in a plane parallel to the plane of the robot base Requirements for placing the BullsEye The BullsEye should be bolted securely in a position where the robot can reach it and where it is not in the way of personnel working around the robot Continues on next page 24 Application m...

Страница 25: ...alled in a system without the Arc option it will be installed in all robots EIO Configuration For DeviceNet or EtherNet IP Local IO the configuration of system parameters for the I O is set up automatically when loading the software If a manual configuration is done make sure the parameter Connection Type is set to Change Of State COS connection to get the most accurate measurement Electrical inst...

Страница 26: ...input on an I O board 1 Pass your hand through the BullsEye yoke beam to break the beam The LED on the I O board corresponding to the input should turn on when the beam is broken If it does not verify that the I O board is configured properly and that the wiring is correct 2 26 Application manual BullsEye 3HAC050989 001 Revision C Copyright 2004 2018 ABB All rights reserved 3 Installation Continue...

Страница 27: ...plete and requires very little maintenance aside from keeping the unit clean For wiring information see Electrical installation on page25 Application manual BullsEye 27 3HAC050989 001 Revision C Copyright 2004 2018 ABB All rights reserved 4 Maintenance ...

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Страница 29: ...ff whenever work is carried out in the control cabinet WARNING Even though the power is switched off at the robot controller there may be energized cables connected to external equipment and are consequently not affected by the mains switch on the controller Continues on next page Application manual BullsEye 29 3HAC050989 001 Revision C Copyright 2004 2018 ABB All rights reserved 5 User guide ...

Страница 30: ...tWeldGun QuickCheck To evaluate the TCP use the QuickCheck functionality BECheckTcp tTestTemp XYZOnly If the QuickCheck fails a more involved search pattern will automatically be made If successful the tool may be updated The optional argument XYZOnly indicates that the orientation of the tool should not be checked or updated Using this will greatly decrease the time it takes to update the tool Up...

Страница 31: ...pdate action It is automatically read before each BullsEye check action If the file is missing BullsEye assumes that no saved data is available and will force the user to execute a BullsEye setup routine Backup The data file will be included in the backup when a system backup is ordered A system restored from a backup will retain the stored data WARNING BullsEye uses a temporary system module call...

Страница 32: ...ons of any of these global methods may be found in section Instructions on page 65 After reading this section you will know how to 1 Reference appropriate scan data device data and tool design data when calling the setup routine BESetupToolJ 2 Create copies of default scan data device data and tool design data make changes to those copies and ultimately reference these new instances 3 Use the opti...

Страница 33: ... the MoveJ instruction BullsEye global metohods The BullsEye global methods are Check the TCP BECheckTcp Turn on off debug logging BEDebugState Move to the reference pointer BERefPointer Setup the tool by making an initial measure ment BESetupToolJ Change the TCP extension without re meas uring the tool BETcpExtend Measure the tool and update regardless of the measured error BEUpdateTcp Applicatio...

Страница 34: ...ruction through several required and optional argu ments BESetupToolJ jtApprPos jtStartPos 15 tdMigDefault scan BullsMig devYokeUp v100 fine tWeldGun 1 The following figure shows ModPos of the instruction BESetupToolJ xx1400001217 The instruction contains two jointtarget arguments and one tooldata argument As a result the jointtarget may be modified using ModPos Continues on next page 34 Applicati...

Страница 35: ... 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 ...

Страница 36: ...olJ instruction will be associated by the tool name BESetupToolJ jtApprPos jtStartPos 15 tdMigDefault scan BullsMig devYokeUp v100 fine tWeldGun 7 36 Application manual BullsEye 3HAC050989 001 Revision C Copyright 2004 2018 ABB All rights reserved 5 User guide 5 3 2 Defining a tool Continued ...

Страница 37: ... to find the center of the ball tdCalibBall Default device data for a standard BullsEye yoke scanning device positioned with the yoke facing up relative to the robot base devYokeUp Default device data for a standard BullsEye yoke scanning device positioned with the yoke facing down relative to the robot base devYokeDown Default scan data for a standard MIG torch with wire extension scanBullsMig De...

Страница 38: ...xx1400001219 The image on the left shows the yoke mounted right side up The figure on the right shows the yoke mounted upside down If the yoke is mounted upside down we can not use the default device data devYokeUp because its parameters will be incorrect Continues on next page 38 Application manual BullsEye 3HAC050989 001 Revision C Copyright 2004 2018 ABB All rights reserved 5 User guide 5 3 4 S...

Страница 39: ...stance and tap OK xx1400001222 The new device data is now added to the BESetupToolJ instruction When the in struction is run the parameters included in devYokeDown will be associated with tWeldGun BESetupToolJ jtApprPos jtStartPos 15 tdMigDefault scan BullsMig devYokeDown v100 fine tWeldGun 3 Continues on next page Application manual BullsEye 39 3HAC050989 001 Revision C Copyright 2004 2018 ABB Al...

Страница 40: ...re is used for choosing new be_scan and be_tooldesign data also 40 Application manual BullsEye 3HAC050989 001 Revision C Copyright 2004 2018 ABB All rights reserved 5 User guide 5 3 4 Selecting different BullsEye data Continued ...

Страница 41: ...our system A common parameter that sometimes requires a change is the Signal Name The BullsEye scanning device is wired to a digital input in the controller The signal name used in BullsEye must match the signal name defined in system parameters Creating a new be_device data instance allows us to make that change Continues on next page Application manual BullsEye 41 3HAC050989 001 Revision C Copyr...

Страница 42: ...1 The following figures shows viewing the be_device data with built in scope and with task scope xx1400001223 xx1400001224 Continues on next page 42 Application manual BullsEye 3HAC050989 001 Revision C Copyright 2004 2018 ABB All rights reserved 5 User guide 5 3 5 Creating new BullsEye data instances Continued ...

Страница 43: ...eturn to the list of be_device data instances xx1400001226 This new data instance can be used in the your BESetupToolJ instruction see Selecting different BullsEye data on page 38 BESetupToolJ jtApprPos jtStartPos 15 tdMigDefault scan BullsMig devYokeUp1 v100 fine tWeldGun Continues on next page Application manual BullsEye 43 3HAC050989 001 Revision C Copyright 2004 2018 ABB All rights reserved 5 ...

Страница 44: ... is used for choosing new be_scan and be_tooldesign data also 44 Application manual BullsEye 3HAC050989 001 Revision C Copyright 2004 2018 ABB All rights reserved 5 User guide 5 3 5 Creating new BullsEye data instances Continued ...

Страница 45: ...ould take about 10 minutes to complete If there is a problem with robot calibration the tool mounting hardware or other factors not compensated for by BullsEye the setup routine will fail and report a status message indicating the problem In this case BullsEye may attempt to find a solution for up to 20 minutes before reporting a convergence error and halting execution The most common problem enco...

Страница 46: ...ing the tool Note It is common practice to call BECheckTcp after a certain time or after a certain number of parts has been processed to ensure that the TCP is always correct Optional arguments Like the BESetupToolJ instruction BECheckTcp has several optional arguments XYZOnly One commonly used optional switch is XYZOnly If selected the instruction will only update the translation portion of the t...

Страница 47: ...a is inval id Verify that the signal exists 7 BEInvalidSignal The connection to the digital input specified in the be_device data could not be made Verify that the signal exists and is accessible 8 BEAliasSet A joint limit will be exceeded if BullsEye attempts to run the scanning process Try reinitializing the tool with a new start position using BESetupToolJ or try moving the scanning device to a...

Страница 48: ...d the center of the tool the diameter of the tool was found to be less than or equal to zero Check that the tool dimensions are correct in be_tooldesign Check that the scanning device is triggering properly Check that the robot is calibrated 21 BEDiaZeroOrLess BullsEye will take slices of the tool to find the end of the tool If it cannot find the end of the tool in a reasonable number of scans the...

Страница 49: ...as a problem in the BECheckTcp instruction The cause is unknown 37 BECheckErr The TCP has moved but the operator did not accept the change 38 BESkipUpdate An error occurred while straightening the tool The tool may be very bent the tool dimensions may be wrong in be_tooldesign or the scan margins may be too small in be_scan 39 BEStrtningErr The tool is not completely set up Redo the setup by runni...

Страница 50: ...e optional functionality is not working correctly and the execution has been aborted 44 BEGetGantryErr An unknown error has occurred 300 BEUnknownErr 50 Application manual BullsEye 3HAC050989 001 Revision C Copyright 2004 2018 ABB All rights reserved 5 User guide 5 4 BullsEye status codes Continued ...

Страница 51: ...defined for the carrier Example the following definition will not work with BullsEye MECHANICAL_UNIT name TRACK use_run_enable use_activation_relay use_brake_relay use_single_0 TRACK stand_by_state activate_at_start_up deactivation_forbidden It should look like this MECHANICAL_UNIT name TRACK use_run_enable use_activation_relay use_brake_relay use_single_0 TRACK allow_move_of_user_frame stand_by_s...

Страница 52: ...r too unrepeatable to allow BullsEye to work correctly When using non ABB devices you may need to slow the scan speeds substantially to improve accuracy A WAGO I O device for example may be used in the COS Change of State mode but the PIT Production Inhibit Time should be reduced as much as possible preferably to zero This is done in the system parameter Production inhibit time in the topic I O th...

Страница 53: ...0 100 100 100 220 130 100 100 The tool pictured above is very similar Assuming you want the TCP in the center of the sphere you would create a similar be_tooldesign instance like this CONST be_tooldesign tdMyProbe TRUE 30 1 50 3 5 4 FALSE FALSE 1 2 130 100 100 100 220 130 100 100 When a tool with welding wire is measured BullsEye cannot actually measure the real location of the end of the wire The...

Страница 54: ...nd out from the gas cup Instead we will measure all the way to the end of the tool ScanWire We want the final z axis search to be inline with the ball So this parameter should be FALSE In contrast a welding gun has a wire that is too narrow to search and the wire is always a different length For this reason a welding tool definition would have this parameter set to TRUE so that the z axis search o...

Страница 55: ...ructions Functions and Data types for an explanation of speeddata Repeatability Data type num The expected repeatability for TCP measurements This number should be about twice that of the published repeatability for the robot arm This equates to about 0 12 mm for an IRB 1400 Other factors such as torch leads exerting undue force on the tool mount bracket may have an adverse affect on the repeatabi...

Страница 56: ...to FALSE RefPoint Data type bool If there is a reference pointer to define set this parameter to TRUE xx1400001228 Structure dataobject of be_device SignalName of string SenseHigh of bool SlowScanSpeed of speeddata FastScanSpeed of speeddata Repeatability of num Inverted of bool Continues on next page 56 Application manual BullsEye 3HAC050989 001 Revision C Copyright 2004 2018 ABB All rights reser...

Страница 57: ...Eye setup tool joint move on page 72 BESetupToolJ be_scan Scan data on page 58 be_scan be_tooldesign Tool design on page 61 be_tooldesign Application manual BullsEye 57 3HAC050989 001 Revision C Copyright 2004 2018 ABB All rights reserved 6 RAPID reference 6 1 1 be_device Device data Continued ...

Страница 58: ...cy BodyScanMargin Data type num This distance mm plus half the MaxBodyDia from be_tooldesign gives the start offset of the body scan Units mm xx1400001229 WireScanMargin Data type num This distance mm plus half the WireDia from be_tooldesign gives the start offset of the wire scan Continues on next page 58 Application manual BullsEye 3HAC050989 001 Revision C Copyright 2004 2018 ABB All rights res...

Страница 59: ...tial pattern radius when scanning for beam orientation Use 25 mm for standard MIG torch and standard yoke type scanning device Units mm Structure dataobject of be_scan NumOfScans of num BodyScanMargin of num WireScanMargin of num TwistAngle of num TiltAngle of num InitPatternRad of num Continues on next page Application manual BullsEye 59 3HAC050989 001 Revision C Copyright 2004 2018 ABB All right...

Страница 60: ...ove on page 72 BESetupToolJ be_device Device data on page 55 be_device be_tooldesign Tool design on page 61 be_tooldesign 60 Application manual BullsEye 3HAC050989 001 Revision C Copyright 2004 2018 ABB All rights reserved 6 RAPID reference 6 1 2 be_scan Scan data Continued ...

Страница 61: ...he tool body MaxBodyDia Data type num The maximum tool body diameter within the scan range Units mm xx1400001231 MinBodyDia Data type num The minimum tool body diameter within the scan range This is typically the diameter at the end of the tool Units mm xx1400001232 Continues on next page Application manual BullsEye 61 3HAC050989 001 Revision C Copyright 2004 2018 ABB All rights reserved 6 RAPID r...

Страница 62: ...e takes slices of the tool until the end is found The SliceGap is the thickness of each slice Units mm ScanWire Data type bool If ScanWire is TRUE then BullsEye will look for a wire or similar narrow extension at the end of the tool Otherwise the TCP will be determined by measuring the end of the tool body When ScanWire is true the tool centerline is measured by scanning the wire a distance of one...

Страница 63: ...nWire is FALSE Units mm SlowMoveSpeed Data type speeddata Slow movements will be executed with this speed setting See the RAPID Reference Manual for an explanation of speeddata CAUTION Setting this parameter too high may cause damage to the work tool or may introduce resonance into large gantry style robot applications FastMoveSpeed Data type num Fast movements will be executed with this speed set...

Страница 64: ...m SlowMoveSpeed of speeddata FastMoveSpeed of speeddata Related information Described in BESetupToolJ BullsEye setup tool joint move on page 72 BESetupToolJ be_device Device data on page 55 be_device be_scan Scan data on page 58 be_scan 64 Application manual BullsEye 3HAC050989 001 Revision C Copyright 2004 2018 ABB All rights reserved 6 RAPID reference 6 1 3 be_tooldesign Tool design Continued ...

Страница 65: ...updated This option is used to decrease the time it takes to update the TCP Arguments BECheckTcp Tool UserInterface XYZOnly XYOnly SingleScan ElapsedTime Status TLoad Tool Data type tooldata Tool is the tooldata instance that will be evaluated The tool must be initialized and setup using the instruction BESetupToolJ before BECheckTcp can be used UserInterface Data type string An optional user inte...

Страница 66: ...ool is updated CAUTION This is not a recommended BullsEye method 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 stat...

Страница 67: ...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...

Страница 68: ...ta type switch Used to turn on debugging Off Data type switch Used to turn off debugging Program execution The instruction should be placed before BullsEye instructions The log files affected are called BE_Oper log and BE_Init log and are found in the folder TEMP Syntax BEDebugState On switch Off switch Related information Described in BECheckTcp BullsEye check TCP on page 65 BECheckTcp BEUpdateTc...

Страница 69: ...data Tool is the tooldata instance that will be evaluated The tool must be initialized in the BullsEye Collection with the instruction BESetupToolJ before BERefPointer can be used UserInterface Data type string An optional user interface may be specified here Indicate the name of the procedure and the module name Example MyUseInt MyBEUserInter Although the name of the procedure may be altered the ...

Страница 70: ...ad0 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 moves to the scanning device No warning is given Once the tool is positioned at the scanning device a prompt will be presented on the Fl...

Страница 71: ...yntax BERefPointer Tool expression PERS of tooldata UserInterface expression IN of string Status expression INOUT of be_status TLoad persistent PERS of loaddata Related information Described in 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 71 3HAC050989 00...

Страница 72: ...eed Zone Tool FixedAxes ElapsedTime MaxError MaxFromDay1 MeanDev MaxDev CheckRange CheckBeamAngle TLoad ApprPoint Data type jointtarget This is the approach position for the BullsEye scanning process The tool should be defined in a position that allows free movement to the StartPoint StartPoint Data type jointtarget This is the start position for the BullsEye scanning process The tool should be po...

Страница 73: ...ll move to the ApprPoint For more information on speeddata see Technical reference manual RAPID Instructions Functions and Data types Zone Data type zonedata The zone applied to the movement to ApprPoint For more information on zonedata see Technical reference manual RAPID Instructions Functions and Data types Tool Data type tooldata Tool is the tooldata instance that is to be added to the BullsEy...

Страница 74: ...e 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...

Страница 75: ...ument 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 p...

Страница 76: ... INOUT of num MeanDev expression INOUT of num MaxDev expression INOUT of num CheckRange switch CheckBeamAngle expression IN of num 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 Technical reference manual RAPID Instructions Functions and Data types ...

Страница 77: ...ion is automatically updated so that BECheckTcp and other methods may still be called Arguments BETcpExtend Tool Change Absolute NewExtens Status Tool Data type tooldata Tool is the tooldata instance that will be modified The tool must be set up using the instruction BESetupToolJ before BETcpExtend can be used Change Data type num This is the amount that the TCP will be extended along its z axis A...

Страница 78: ...ntinuous execution 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 BETcpExtend Tool expression PERS of tooldata Change expression IN of num Absolute expressi...

Страница 79: ...odified The tool must be set up using the instruction BESetupToolJ before BETcpExtend can be used UserInterface Data type string An optional user interface may be specified here Indicate the name of the procedure and the module name Example MyUseInt MyBEUserInter Although the name of the procedure may be altered the structure of the arguments must follow this model PROC MyBEUserInter VAR num Respo...

Страница 80: ...tion 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 arg...

Страница 81: ...age 58 be_scan be_tooldesign Tool design on page 61 be_tooldesign BESetupToolJ BullsEye setup tool joint move on page 72 BESetupToolJ Application manual BullsEye 81 3HAC050989 001 Revision C Copyright 2004 2018 ABB All rights reserved 6 RAPID reference 6 2 6 BEUpdateTcp BullsEye update TCP Continued ...

Страница 82: ... Z relative to the tool coordinates Return value Data type tooldata The new TCP data Arguments OffsToolXYZ Tool Offset Tool Data type tooldata Original tool Offset Data type pos Offset in mm Syntax OffsToolXYZ Tool expression IN of tooldata Offset expression IN of pos Related information Described in OffsToolPolar Offsets tool cartesian on page 83 OffsToolPolar Technical reference manual RAPID Ins...

Страница 83: ...set 3 mm in the X Y plane The direction is specified by MyAngle Return value Data type tooldata The new TCP data Arguments OffsToolPolar Tool Radius Angle Tool Data type tooldata Original tool Radius Data type num Offset in mm Angle Data type num Direction of offset in X Y plane in degrees Syntax OffsToolPolar Tool expression IN of tooldata Radius expression IN of num Angle expression IN of num Re...

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Страница 85: ... gauging unit Description Article number Quantity Item Complete for TC 96 BullsEye 0503060880 Measuring pin 0746335025 1 1 BullsEye fiber optic including spe cial tool 0746346011 1 2 Opto electronic sensor 0746346012 1 3 2 1 3 xx1400002302 BullsEye complete Note Description Article num ber Pos BullsEye stand alone complete 0506310880 BullsEye upper pole 0505004880 001 BullsEye pole foot 0505003880...

Страница 86: ...r Pos 7 m Ext cable 0503293880 003 10 m Ext cable 0503293881 003 15 m Ext cable 0503293883 003 xx1400002305 86 Application manual BullsEye 3HAC050989 001 Revision C Copyright 2004 2018 ABB All rights reserved 7 Spare parts Continued ...

Страница 87: ... 79 C cabinet lock 14 D danger levels 11 O OffsToolPolar 83 OffsToolXYZ 82 S safety signals 11 signals in manual 11 symbols 11 safety risk electric parts 14 voltage 14 safety signals in manual 11 signals safety 11 symbols safety 11 Application manual BullsEye 87 3HAC050989 001 Revision C Copyright 2004 2018 ABB All rights reserved Index ...

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Страница 90: ...Telephone 47 22 87 2000 ABB Engineering Shanghai Ltd Robotics and Motion No 4528 Kangxin Highway PuDong District SHANGHAI 201319 China Telephone 86 21 6105 6666 ABB Inc Robotics and Motion 1250 Brown Road Auburn Hills MI 48326 USA Telephone 1 248 391 9000 abb com robotics 3HAC050989 001 Rev C en Copyright 2004 2018 ABB All rights reserved Specifications subject to change without notice ...

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