ABB TSC 2013, Руководство по сборке, Страница: 67 / 88

Functional description
TCP gauging (BullsEye
®
) 3HDA000057A8519-001 4-5
Assembly instructions
4.6 Functional description
TCP gauging with BullsEye
®
version 10 allows completely automatic definition of the tool center
point (TCP) for IRC robot control.
4.6.1 Examples of operation
When a robot receives the command to rotate about the TCP all the robot axes are moved such
that the TCP remains stationary.
If the torch is damaged and the program is executed again, the robot performs the same move-
ments, but the TCP no longer moves on the same trajectory because of the incorrect alignment.
You then have 2 options:
1. physical moving of the torch in order to align it correctly (a difficult, if not impossible task!) or
2. automatic correction of the incorrect alignment, the TCP being redefined according to the new
torch position with BullsEye
®
. After BullsEye
®
has updated the TCP position, the torch
rotates about the TCP as previously, because the trajectory of the robot arm was adapted in
order to offset the incorrect alignment of the torch.
After a point has been programmed the angles of the robot joints are not stored in the robot but
the data of the position of the tool center point.
If the robot repeats the programmed trajectory, it calculates the joint angles necessary so that the
TCP is back in the position it was at in the original programming of the trajectory.
As long as the robot control has information on the position of the tool center point it ensures
proper alignment of the trajectories.
Figure 4-2 Movement of robot arm and torch with correct TCP
Figure 4-3 Robot arm moves on the same trajectory, however the torch trajectory has changed