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ABB_Application_Manual_Bullseye
|
https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Arc%20Welding%20Equipment/en/3HAC050989-001.pdf
| 41 |
Note
This general procedure is used for choosing new be_scan and be_tooldesign
data, also.
40
Application manual - BullsEye
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
5 User guide
5.3.4 Selecting different BullsEye data
Continued
5.3.5 Creating new BullsEye data instances
Introduction
The default be_device , be_tooldesign , and be_scan data instances provided
with BullsEye cannot be changed because the module is declared as a read-only
resource. Suppose the default parameters provided do not support the BullsEye
setup in your 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
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© Copyright 2004-2021 ABB. All rights reserved.
5 User guide
5.3.5 Creating new BullsEye data instances
Creating new BullsEye data instances
Action
From the Program Data window, view the be_device data in the system.
1
The following figures shows viewing the be_device data with built-in scope and with
task scope.
![Image]
xx1400001223
![Image]
xx1400001224
Continues on next page
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5 User guide
5.3.5 Creating new BullsEye data instances
Continued
|
ABB_Application_Manual_Bullseye
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https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Arc%20Welding%20Equipment/en/3HAC050989-001.pdf
| 42 |
5.3.5 Creating new BullsEye data instances
Introduction
The default be_device , be_tooldesign , and be_scan data instances provided
with BullsEye cannot be changed because the module is declared as a read-only
resource. Suppose the default parameters provided do not support the BullsEye
setup in your 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: F
© Copyright 2004-2021 ABB. All rights reserved.
5 User guide
5.3.5 Creating new BullsEye data instances
Creating new BullsEye data instances
Action
From the Program Data window, view the be_device data in the system.
1
The following figures shows viewing the be_device data with built-in scope and with
task scope.
![Image]
xx1400001223
![Image]
xx1400001224
Continues on next page
42
Application manual - BullsEye
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
5 User guide
5.3.5 Creating new BullsEye data instances
Continued
Action
The new data instance may be modified because it was declared in an open module,
meaning it is not read-only .
2
We need to modify the Signal Name .
•
Tap Enter to view the data instance fields.
![Image]
xx1400001225
Tap Text to modify the name.
3
When finished, tap OK to return to the list of be_device data instances.
![Image]
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: F
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5 User guide
5.3.5 Creating new BullsEye data instances
Continued
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ABB_Application_Manual_Bullseye
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https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Arc%20Welding%20Equipment/en/3HAC050989-001.pdf
| 43 |
Creating new BullsEye data instances
Action
From the Program Data window, view the be_device data in the system.
1
The following figures shows viewing the be_device data with built-in scope and with
task scope.
![Image]
xx1400001223
![Image]
xx1400001224
Continues on next page
42
Application manual - BullsEye
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
5 User guide
5.3.5 Creating new BullsEye data instances
Continued
Action
The new data instance may be modified because it was declared in an open module,
meaning it is not read-only .
2
We need to modify the Signal Name .
•
Tap Enter to view the data instance fields.
![Image]
xx1400001225
Tap Text to modify the name.
3
When finished, tap OK to return to the list of be_device data instances.
![Image]
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: F
© Copyright 2004-2021 ABB. All rights reserved.
5 User guide
5.3.5 Creating new BullsEye data instances
Continued
Note
This general procedure is used for choosing new be_scan and be_tooldesign
data, also.
44
Application manual - BullsEye
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
5 User guide
5.3.5 Creating new BullsEye data instances
Continued
|
ABB_Application_Manual_Bullseye
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https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Arc%20Welding%20Equipment/en/3HAC050989-001.pdf
| 44 |
Action
The new data instance may be modified because it was declared in an open module,
meaning it is not read-only .
2
We need to modify the Signal Name .
•
Tap Enter to view the data instance fields.
![Image]
xx1400001225
Tap Text to modify the name.
3
When finished, tap OK to return to the list of be_device data instances.
![Image]
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: F
© Copyright 2004-2021 ABB. All rights reserved.
5 User guide
5.3.5 Creating new BullsEye data instances
Continued
Note
This general procedure is used for choosing new be_scan and be_tooldesign
data, also.
44
Application manual - BullsEye
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
5 User guide
5.3.5 Creating new BullsEye data instances
Continued
5.3.6 BullsEye data parameters
Introduction
The parameter fields in be_device , be_scan , and be_tooldesign data are
described in their entirety in section Data types on page 55 . If the default data
instances provided by BullsEye cannot solve your particular BullsEye
implementation problem, review the detailed analysis of each BullsEye data type
before attempting to create your own versions.
Execution
When BESetupToolJ is executed, the robot will make a move to the start position,
via the approach position, that is defined in the instruction. It will begin searching
for the scanning device beam. If it can locate it, the robot will begin executing a
series of scans to measure the TCP of the tool.
BullsEye measures the TCP several times to verify that the measurements have
converged to a common solution. A typical setup should 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 encountered while running the setup is a joint limit
error. Joint limit errors occur when the robot tries to move to a position that is
outside the working range of the robot. When this occurs, a new start position must
be chosen and the BESetupToolJ instruction re-executed. It takes some practice
to be able to run the setup on the first try. It is best to try running the BullsEye
before permanently mounting the sensor, in case you find that it must be moved
to complete the setup.
Application manual - BullsEye
45
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
5 User guide
5.3.6 BullsEye data parameters
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https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Arc%20Welding%20Equipment/en/3HAC050989-001.pdf
| 45 |
Note
This general procedure is used for choosing new be_scan and be_tooldesign
data, also.
44
Application manual - BullsEye
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
5 User guide
5.3.5 Creating new BullsEye data instances
Continued
5.3.6 BullsEye data parameters
Introduction
The parameter fields in be_device , be_scan , and be_tooldesign data are
described in their entirety in section Data types on page 55 . If the default data
instances provided by BullsEye cannot solve your particular BullsEye
implementation problem, review the detailed analysis of each BullsEye data type
before attempting to create your own versions.
Execution
When BESetupToolJ is executed, the robot will make a move to the start position,
via the approach position, that is defined in the instruction. It will begin searching
for the scanning device beam. If it can locate it, the robot will begin executing a
series of scans to measure the TCP of the tool.
BullsEye measures the TCP several times to verify that the measurements have
converged to a common solution. A typical setup should 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 encountered while running the setup is a joint limit
error. Joint limit errors occur when the robot tries to move to a position that is
outside the working range of the robot. When this occurs, a new start position must
be chosen and the BESetupToolJ instruction re-executed. It takes some practice
to be able to run the setup on the first try. It is best to try running the BullsEye
before permanently mounting the sensor, in case you find that it must be moved
to complete the setup.
Application manual - BullsEye
45
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
5 User guide
5.3.6 BullsEye data parameters
5.3.7 QuickCheck
About QuickCheck
QuickCheck is the trade name for the TCP evaluation features offered by the global
method BECheckTcp . BECheckTcp may be called for any tool that has been
initialized and set up.
BECheckTcp tWeldGun\XYZOnly\Status:=beStatus;
Function
When called, the robot makes a move to the start position via the approach position.
Two complete scans are made. If the preliminary measurement shows a deviation,
the robot will continue to make a complete measurement of the tool. Otherwise,
the robot returns to the calling routine and no change is made to the TCP. If the
tool is measured and found to have changed, then the tool is updated before
returning to the calling routine.
Automatic mode
When running in automatic operating mode the update happens automatically
without a prompt.
Manual mode
When running in manual operating mode, the user will be prompted for action
before updating 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 tooldata when it is required to update
the TCP definition. In this case the orientation of the tool is unaffected. Using this
switch decreases the update time by about half. Keep in mind that large changes
in TCP translation without updating orientation can eventually lead to problems in
cases where tool orientation is critical as in a torch cleaning routine.
Status
Another commonly used optional argument is the Status argument. The Status
argument returns an integer that may be evaluated in the calling RAPID code. Each
error condition returns a unique error number.
46
Application manual - BullsEye
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
5 User guide
5.3.7 QuickCheck
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ABB_Application_Manual_Bullseye
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https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Arc%20Welding%20Equipment/en/3HAC050989-001.pdf
| 46 |
5.3.6 BullsEye data parameters
Introduction
The parameter fields in be_device , be_scan , and be_tooldesign data are
described in their entirety in section Data types on page 55 . If the default data
instances provided by BullsEye cannot solve your particular BullsEye
implementation problem, review the detailed analysis of each BullsEye data type
before attempting to create your own versions.
Execution
When BESetupToolJ is executed, the robot will make a move to the start position,
via the approach position, that is defined in the instruction. It will begin searching
for the scanning device beam. If it can locate it, the robot will begin executing a
series of scans to measure the TCP of the tool.
BullsEye measures the TCP several times to verify that the measurements have
converged to a common solution. A typical setup should 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 encountered while running the setup is a joint limit
error. Joint limit errors occur when the robot tries to move to a position that is
outside the working range of the robot. When this occurs, a new start position must
be chosen and the BESetupToolJ instruction re-executed. It takes some practice
to be able to run the setup on the first try. It is best to try running the BullsEye
before permanently mounting the sensor, in case you find that it must be moved
to complete the setup.
Application manual - BullsEye
45
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
5 User guide
5.3.6 BullsEye data parameters
5.3.7 QuickCheck
About QuickCheck
QuickCheck is the trade name for the TCP evaluation features offered by the global
method BECheckTcp . BECheckTcp may be called for any tool that has been
initialized and set up.
BECheckTcp tWeldGun\XYZOnly\Status:=beStatus;
Function
When called, the robot makes a move to the start position via the approach position.
Two complete scans are made. If the preliminary measurement shows a deviation,
the robot will continue to make a complete measurement of the tool. Otherwise,
the robot returns to the calling routine and no change is made to the TCP. If the
tool is measured and found to have changed, then the tool is updated before
returning to the calling routine.
Automatic mode
When running in automatic operating mode the update happens automatically
without a prompt.
Manual mode
When running in manual operating mode, the user will be prompted for action
before updating 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 tooldata when it is required to update
the TCP definition. In this case the orientation of the tool is unaffected. Using this
switch decreases the update time by about half. Keep in mind that large changes
in TCP translation without updating orientation can eventually lead to problems in
cases where tool orientation is critical as in a torch cleaning routine.
Status
Another commonly used optional argument is the Status argument. The Status
argument returns an integer that may be evaluated in the calling RAPID code. Each
error condition returns a unique error number.
46
Application manual - BullsEye
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© Copyright 2004-2021 ABB. All rights reserved.
5 User guide
5.3.7 QuickCheck
5.4 BullsEye status codes
About status codes
BullsEye uses status codes to report errors from the user instructions. The error
code may be captured using the INOUT Status parameter in BEUpdateTcp ,
BERefPointer , and BECheckTcp .
List of error codes
The following is a list of the error codes and a brief description for each. These
error codes are global constants of the alias num type, be_status .
Description
Error
code
Error name
If the instruction is executed in its entirety with no errors,
status will be set to BESuccess .
1
BESuccess
If the OverWrite flag was not set and the tool is already
included in the BullsEye Collection, this code will be raised
by BESetupToolJ . Add the optional switch, OverWrite , to
the instruction to over write the existing data.
2
BENoOverwrite
No data could be located for the tool selected. Re-initialize
the tool with BESetupToolJ to correct the problem.
3
BENoNameMatch
The system module, BE_Data , appears to be missing. Load
the module before continuing.
4
BENoBEDataMod
BullsEye will accept up to 5 tools.
5
BEArrayFull
No data could be located for the tool selected. Re-initialize
the tool with BESetupToolJ to correct the problem.
6
BEToolNotFound
This digital input name used in the be_device data 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 new location and re-initializing.
9
BERangeLimFail
The robot will run close to singularity if BullsEye attempts
to run the scanning process. Try re-initializing the tool with
a new start position using BESetupToolJ , or try moving the
scanning device to a new location and re-initializing.
10
BERangeSingFail
No acceptable tilt direction could be found for the scanning
process. Try re-initializing the tool with a new start position
using BESetupToolJ , or try moving the scanning device to
a new location and re-initializing.
11
BERangeTiltFail
BullsEye could not determine the scan plane of the device.
Report this error to ABB.
12
BEScanPlaneErr
The base frame definition of the robot could not be found.
Please verify that the robot is referred to as the master in
system parameters. Report this error to ABB if the problem
cannot be determined.
13
BEBFrameNotRead
Continues on next page
Application manual - BullsEye
47
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© Copyright 2004-2021 ABB. All rights reserved.
5 User guide
5.4 BullsEye status codes
|
ABB_Application_Manual_Bullseye
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https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Arc%20Welding%20Equipment/en/3HAC050989-001.pdf
| 47 |
5.3.7 QuickCheck
About QuickCheck
QuickCheck is the trade name for the TCP evaluation features offered by the global
method BECheckTcp . BECheckTcp may be called for any tool that has been
initialized and set up.
BECheckTcp tWeldGun\XYZOnly\Status:=beStatus;
Function
When called, the robot makes a move to the start position via the approach position.
Two complete scans are made. If the preliminary measurement shows a deviation,
the robot will continue to make a complete measurement of the tool. Otherwise,
the robot returns to the calling routine and no change is made to the TCP. If the
tool is measured and found to have changed, then the tool is updated before
returning to the calling routine.
Automatic mode
When running in automatic operating mode the update happens automatically
without a prompt.
Manual mode
When running in manual operating mode, the user will be prompted for action
before updating 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 tooldata when it is required to update
the TCP definition. In this case the orientation of the tool is unaffected. Using this
switch decreases the update time by about half. Keep in mind that large changes
in TCP translation without updating orientation can eventually lead to problems in
cases where tool orientation is critical as in a torch cleaning routine.
Status
Another commonly used optional argument is the Status argument. The Status
argument returns an integer that may be evaluated in the calling RAPID code. Each
error condition returns a unique error number.
46
Application manual - BullsEye
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
5 User guide
5.3.7 QuickCheck
5.4 BullsEye status codes
About status codes
BullsEye uses status codes to report errors from the user instructions. The error
code may be captured using the INOUT Status parameter in BEUpdateTcp ,
BERefPointer , and BECheckTcp .
List of error codes
The following is a list of the error codes and a brief description for each. These
error codes are global constants of the alias num type, be_status .
Description
Error
code
Error name
If the instruction is executed in its entirety with no errors,
status will be set to BESuccess .
1
BESuccess
If the OverWrite flag was not set and the tool is already
included in the BullsEye Collection, this code will be raised
by BESetupToolJ . Add the optional switch, OverWrite , to
the instruction to over write the existing data.
2
BENoOverwrite
No data could be located for the tool selected. Re-initialize
the tool with BESetupToolJ to correct the problem.
3
BENoNameMatch
The system module, BE_Data , appears to be missing. Load
the module before continuing.
4
BENoBEDataMod
BullsEye will accept up to 5 tools.
5
BEArrayFull
No data could be located for the tool selected. Re-initialize
the tool with BESetupToolJ to correct the problem.
6
BEToolNotFound
This digital input name used in the be_device data 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 new location and re-initializing.
9
BERangeLimFail
The robot will run close to singularity if BullsEye attempts
to run the scanning process. Try re-initializing the tool with
a new start position using BESetupToolJ , or try moving the
scanning device to a new location and re-initializing.
10
BERangeSingFail
No acceptable tilt direction could be found for the scanning
process. Try re-initializing the tool with a new start position
using BESetupToolJ , or try moving the scanning device to
a new location and re-initializing.
11
BERangeTiltFail
BullsEye could not determine the scan plane of the device.
Report this error to ABB.
12
BEScanPlaneErr
The base frame definition of the robot could not be found.
Please verify that the robot is referred to as the master in
system parameters. Report this error to ABB if the problem
cannot be determined.
13
BEBFrameNotRead
Continues on next page
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5 User guide
5.4 BullsEye status codes
Description
Error
code
Error name
The parameter InitPatternRad , in be_scan data is neg-
ative or zero. For a standard yoke-style beam-type scanning
device, this value should be about 25 mm. Correct the data
problem before retrying.
14
BEScanRadZero
The height search failed. Check that the proximity sensor in
the tool is working properly and check that the height search
instruction is named correctly in be_scan data. The height
search instruction is tool-dependent and is not a part of the
BullsEye software.
15
BEHeightSrchErr
The robot could not locate the sensing beam of the scan
device. Check to see that the tool is passing through the
beam and that the sensor is triggering the digital input asso-
ciated with it.
16
BEBeamNotFound
Although the beam was located, its orientation could not be
determined.
17
BEBeamSpinErr
BullsEye attempted to make a scan, but the start position of
the scan broke the beam. Check that the tool dimensions
are correct in be_tooldesign . Check that the scan margins
are sufficient in be_scan . Check that the scanning device
is triggering properly. Check that the robot is calibrated.
18
BESrchErrInBeam
BullsEye attempted to make a scan, but the scanning device
never detected the tool. Check that the tool dimensions are
correct in be_tooldesign . Check that the scanning device
is triggering properly. Check that the robot is calibrated.
19
BESrchErrNoDet
The number of redundant scans requested in the be_scan
data, is less-than or equal to zero, or is not an integer.
20
BENumOfScansErr
While scanning to find 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 instruction will be aborted and this
message will be raised. Verify that the flag, Inverted , is
set properly in be_device data. Verify that the slice thick-
ness specified in <be_tooldesign>.SliceGap is appropri-
ate. Verify that the start position is defined correctly.
22
BESliceCountErr
BullsEye will iterate until it converges to a TCP definition
that is within the requested repeatability. If it cannot arrive
at a good TCP after a reasonable number of iterations, the
process will be aborted and this error code will be raised.
This error can result if the repeatability, specified in the
be_device data, is unreasonably small, or if the robot has
an accuracy problem. Robot accuracy problems can be
caused by incorrect calibration or damaged robot arm com-
ponents.
23
BEGetNewTcpMax
The beam orientation could not be fine-tuned correctly.
Check that the tool is perpendicular to the scan plane when
at the start position.
24
BEBeamOriFail
BullsEye failed to determine the change in the TCP for the
current iteration. This problem typically arises when the robot
calibration is wrong, or when tool dimensions specified in
be_tooldesign are incorrect.
25
BEGetTcpDelErr
Continues on next page
48
Application manual - BullsEye
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© Copyright 2004-2021 ABB. All rights reserved.
5 User guide
5.4 BullsEye status codes
Continued
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ABB_Application_Manual_Bullseye
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https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Arc%20Welding%20Equipment/en/3HAC050989-001.pdf
| 48 |
5.4 BullsEye status codes
About status codes
BullsEye uses status codes to report errors from the user instructions. The error
code may be captured using the INOUT Status parameter in BEUpdateTcp ,
BERefPointer , and BECheckTcp .
List of error codes
The following is a list of the error codes and a brief description for each. These
error codes are global constants of the alias num type, be_status .
Description
Error
code
Error name
If the instruction is executed in its entirety with no errors,
status will be set to BESuccess .
1
BESuccess
If the OverWrite flag was not set and the tool is already
included in the BullsEye Collection, this code will be raised
by BESetupToolJ . Add the optional switch, OverWrite , to
the instruction to over write the existing data.
2
BENoOverwrite
No data could be located for the tool selected. Re-initialize
the tool with BESetupToolJ to correct the problem.
3
BENoNameMatch
The system module, BE_Data , appears to be missing. Load
the module before continuing.
4
BENoBEDataMod
BullsEye will accept up to 5 tools.
5
BEArrayFull
No data could be located for the tool selected. Re-initialize
the tool with BESetupToolJ to correct the problem.
6
BEToolNotFound
This digital input name used in the be_device data 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 new location and re-initializing.
9
BERangeLimFail
The robot will run close to singularity if BullsEye attempts
to run the scanning process. Try re-initializing the tool with
a new start position using BESetupToolJ , or try moving the
scanning device to a new location and re-initializing.
10
BERangeSingFail
No acceptable tilt direction could be found for the scanning
process. Try re-initializing the tool with a new start position
using BESetupToolJ , or try moving the scanning device to
a new location and re-initializing.
11
BERangeTiltFail
BullsEye could not determine the scan plane of the device.
Report this error to ABB.
12
BEScanPlaneErr
The base frame definition of the robot could not be found.
Please verify that the robot is referred to as the master in
system parameters. Report this error to ABB if the problem
cannot be determined.
13
BEBFrameNotRead
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Description
Error
code
Error name
The parameter InitPatternRad , in be_scan data is neg-
ative or zero. For a standard yoke-style beam-type scanning
device, this value should be about 25 mm. Correct the data
problem before retrying.
14
BEScanRadZero
The height search failed. Check that the proximity sensor in
the tool is working properly and check that the height search
instruction is named correctly in be_scan data. The height
search instruction is tool-dependent and is not a part of the
BullsEye software.
15
BEHeightSrchErr
The robot could not locate the sensing beam of the scan
device. Check to see that the tool is passing through the
beam and that the sensor is triggering the digital input asso-
ciated with it.
16
BEBeamNotFound
Although the beam was located, its orientation could not be
determined.
17
BEBeamSpinErr
BullsEye attempted to make a scan, but the start position of
the scan broke the beam. Check that the tool dimensions
are correct in be_tooldesign . Check that the scan margins
are sufficient in be_scan . Check that the scanning device
is triggering properly. Check that the robot is calibrated.
18
BESrchErrInBeam
BullsEye attempted to make a scan, but the scanning device
never detected the tool. Check that the tool dimensions are
correct in be_tooldesign . Check that the scanning device
is triggering properly. Check that the robot is calibrated.
19
BESrchErrNoDet
The number of redundant scans requested in the be_scan
data, is less-than or equal to zero, or is not an integer.
20
BENumOfScansErr
While scanning to find 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 instruction will be aborted and this
message will be raised. Verify that the flag, Inverted , is
set properly in be_device data. Verify that the slice thick-
ness specified in <be_tooldesign>.SliceGap is appropri-
ate. Verify that the start position is defined correctly.
22
BESliceCountErr
BullsEye will iterate until it converges to a TCP definition
that is within the requested repeatability. If it cannot arrive
at a good TCP after a reasonable number of iterations, the
process will be aborted and this error code will be raised.
This error can result if the repeatability, specified in the
be_device data, is unreasonably small, or if the robot has
an accuracy problem. Robot accuracy problems can be
caused by incorrect calibration or damaged robot arm com-
ponents.
23
BEGetNewTcpMax
The beam orientation could not be fine-tuned correctly.
Check that the tool is perpendicular to the scan plane when
at the start position.
24
BEBeamOriFail
BullsEye failed to determine the change in the TCP for the
current iteration. This problem typically arises when the robot
calibration is wrong, or when tool dimensions specified in
be_tooldesign are incorrect.
25
BEGetTcpDelErr
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Continued
Description
Error
code
Error name
Reference position data could not be written to BE_Data .
26
BERefPosSetErr
Reference tool data could not be written to BE_Data .
27
BERefToolSetErr
Reference beam data could not be written to BE_Data .
28
BERefBeamSetErr
BullsEye does not understand the base frame definition of
the robot. Verify that the manipulator parameters are correct
(MOC.cfg).
29
BEBFrameDefErr
This tool is already set-up. Use the optional argument n with
BESetupToolJ to redo the setup.
30
BESetupAlready
The reference data could not be reset. This indicates that
BullsEye could not write to the BE_Data module.
31
BERefResetErr
The instruction BESetupToolJ failed for some unknown
reason.
32
BESetupFailed
The start position is not set for this tool. Run BESetupToolJ
to correct the problem.
33
BE Start Not Set
The tool is not set up. Run BESetupToolJ to correct the
problem.
34
BEToolNotSet
The start position has changed. This can only occur by
manually changing data in the BE_Data module, loading a
BE_Data module from a different robot, or by loading the
wrong version of the BE_Data module. Load the correct
BE_Data module, or reinitialize and run the setup instruction.
35
BEStartChanged
BullsEye has detected that the beam has moved. Re-run the
setup.
36
BEBeamMoveErr
There was 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 running
BESetupToolJ . If the same error occurs, re-initialize the
tool with BESetupToolJ before running BESetupToolJ .
40
BEAllNotSet
The QuickCheck functionality in BECheckTcp could not run
because the quick reference position was not saved during
the setup. Redo the setup with BESetupToolJ .
41
BEQuikRefNotDef
BullsEye will iterate until it converges to a TCP definition
that is within the requested repeatability. If it cannot arrive
at a good TCP after a reasonable number of iterations, the
process will be aborted and this error code will be raised.
This error can result if the repeatability, specified in the
be_device data, is unreasonably small, or if the robot has
an accuracy problem. Robot accuracy problems can be
caused by incorrect calibration or damaged robot arm com-
ponents.
42
BEConvergErr
BESetupToolJ cannot be run in step-forward mode. Execute
in continuous mode to setup the tool.
43
BEInstFwdErr
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Description
Error
code
Error name
The parameter InitPatternRad , in be_scan data is neg-
ative or zero. For a standard yoke-style beam-type scanning
device, this value should be about 25 mm. Correct the data
problem before retrying.
14
BEScanRadZero
The height search failed. Check that the proximity sensor in
the tool is working properly and check that the height search
instruction is named correctly in be_scan data. The height
search instruction is tool-dependent and is not a part of the
BullsEye software.
15
BEHeightSrchErr
The robot could not locate the sensing beam of the scan
device. Check to see that the tool is passing through the
beam and that the sensor is triggering the digital input asso-
ciated with it.
16
BEBeamNotFound
Although the beam was located, its orientation could not be
determined.
17
BEBeamSpinErr
BullsEye attempted to make a scan, but the start position of
the scan broke the beam. Check that the tool dimensions
are correct in be_tooldesign . Check that the scan margins
are sufficient in be_scan . Check that the scanning device
is triggering properly. Check that the robot is calibrated.
18
BESrchErrInBeam
BullsEye attempted to make a scan, but the scanning device
never detected the tool. Check that the tool dimensions are
correct in be_tooldesign . Check that the scanning device
is triggering properly. Check that the robot is calibrated.
19
BESrchErrNoDet
The number of redundant scans requested in the be_scan
data, is less-than or equal to zero, or is not an integer.
20
BENumOfScansErr
While scanning to find 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 instruction will be aborted and this
message will be raised. Verify that the flag, Inverted , is
set properly in be_device data. Verify that the slice thick-
ness specified in <be_tooldesign>.SliceGap is appropri-
ate. Verify that the start position is defined correctly.
22
BESliceCountErr
BullsEye will iterate until it converges to a TCP definition
that is within the requested repeatability. If it cannot arrive
at a good TCP after a reasonable number of iterations, the
process will be aborted and this error code will be raised.
This error can result if the repeatability, specified in the
be_device data, is unreasonably small, or if the robot has
an accuracy problem. Robot accuracy problems can be
caused by incorrect calibration or damaged robot arm com-
ponents.
23
BEGetNewTcpMax
The beam orientation could not be fine-tuned correctly.
Check that the tool is perpendicular to the scan plane when
at the start position.
24
BEBeamOriFail
BullsEye failed to determine the change in the TCP for the
current iteration. This problem typically arises when the robot
calibration is wrong, or when tool dimensions specified in
be_tooldesign are incorrect.
25
BEGetTcpDelErr
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Continued
Description
Error
code
Error name
Reference position data could not be written to BE_Data .
26
BERefPosSetErr
Reference tool data could not be written to BE_Data .
27
BERefToolSetErr
Reference beam data could not be written to BE_Data .
28
BERefBeamSetErr
BullsEye does not understand the base frame definition of
the robot. Verify that the manipulator parameters are correct
(MOC.cfg).
29
BEBFrameDefErr
This tool is already set-up. Use the optional argument n with
BESetupToolJ to redo the setup.
30
BESetupAlready
The reference data could not be reset. This indicates that
BullsEye could not write to the BE_Data module.
31
BERefResetErr
The instruction BESetupToolJ failed for some unknown
reason.
32
BESetupFailed
The start position is not set for this tool. Run BESetupToolJ
to correct the problem.
33
BE Start Not Set
The tool is not set up. Run BESetupToolJ to correct the
problem.
34
BEToolNotSet
The start position has changed. This can only occur by
manually changing data in the BE_Data module, loading a
BE_Data module from a different robot, or by loading the
wrong version of the BE_Data module. Load the correct
BE_Data module, or reinitialize and run the setup instruction.
35
BEStartChanged
BullsEye has detected that the beam has moved. Re-run the
setup.
36
BEBeamMoveErr
There was 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 running
BESetupToolJ . If the same error occurs, re-initialize the
tool with BESetupToolJ before running BESetupToolJ .
40
BEAllNotSet
The QuickCheck functionality in BECheckTcp could not run
because the quick reference position was not saved during
the setup. Redo the setup with BESetupToolJ .
41
BEQuikRefNotDef
BullsEye will iterate until it converges to a TCP definition
that is within the requested repeatability. If it cannot arrive
at a good TCP after a reasonable number of iterations, the
process will be aborted and this error code will be raised.
This error can result if the repeatability, specified in the
be_device data, is unreasonably small, or if the robot has
an accuracy problem. Robot accuracy problems can be
caused by incorrect calibration or damaged robot arm com-
ponents.
42
BEConvergErr
BESetupToolJ cannot be run in step-forward mode. Execute
in continuous mode to setup the tool.
43
BEInstFwdErr
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Continued
Description
Error
code
Error name
This tool has been initialized with the optional
UserFramePos . The optional functionality is not working
correctly and the execution has been aborted.
44
BEGetGantryErr
No change in BullsEye calibration since last check.
202
BENoChange
The BullsEye tool needs to be updated.
204
BEUpDateTool
The BullsEye calibration needs to do a FineCheck.
222
BEDoFineCheck
An unknown error has occurred.
300
BEUnknownErr
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Description
Error
code
Error name
Reference position data could not be written to BE_Data .
26
BERefPosSetErr
Reference tool data could not be written to BE_Data .
27
BERefToolSetErr
Reference beam data could not be written to BE_Data .
28
BERefBeamSetErr
BullsEye does not understand the base frame definition of
the robot. Verify that the manipulator parameters are correct
(MOC.cfg).
29
BEBFrameDefErr
This tool is already set-up. Use the optional argument n with
BESetupToolJ to redo the setup.
30
BESetupAlready
The reference data could not be reset. This indicates that
BullsEye could not write to the BE_Data module.
31
BERefResetErr
The instruction BESetupToolJ failed for some unknown
reason.
32
BESetupFailed
The start position is not set for this tool. Run BESetupToolJ
to correct the problem.
33
BE Start Not Set
The tool is not set up. Run BESetupToolJ to correct the
problem.
34
BEToolNotSet
The start position has changed. This can only occur by
manually changing data in the BE_Data module, loading a
BE_Data module from a different robot, or by loading the
wrong version of the BE_Data module. Load the correct
BE_Data module, or reinitialize and run the setup instruction.
35
BEStartChanged
BullsEye has detected that the beam has moved. Re-run the
setup.
36
BEBeamMoveErr
There was 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 running
BESetupToolJ . If the same error occurs, re-initialize the
tool with BESetupToolJ before running BESetupToolJ .
40
BEAllNotSet
The QuickCheck functionality in BECheckTcp could not run
because the quick reference position was not saved during
the setup. Redo the setup with BESetupToolJ .
41
BEQuikRefNotDef
BullsEye will iterate until it converges to a TCP definition
that is within the requested repeatability. If it cannot arrive
at a good TCP after a reasonable number of iterations, the
process will be aborted and this error code will be raised.
This error can result if the repeatability, specified in the
be_device data, is unreasonably small, or if the robot has
an accuracy problem. Robot accuracy problems can be
caused by incorrect calibration or damaged robot arm com-
ponents.
42
BEConvergErr
BESetupToolJ cannot be run in step-forward mode. Execute
in continuous mode to setup the tool.
43
BEInstFwdErr
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Continued
Description
Error
code
Error name
This tool has been initialized with the optional
UserFramePos . The optional functionality is not working
correctly and the execution has been aborted.
44
BEGetGantryErr
No change in BullsEye calibration since last check.
202
BENoChange
The BullsEye tool needs to be updated.
204
BEUpDateTool
The BullsEye calibration needs to do a FineCheck.
222
BEDoFineCheck
An unknown error has occurred.
300
BEUnknownErr
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Continued
5.5 Frequently asked questions
How do I configure the digital input signal?
BullsEye scanning devices use a single digital input signal. The digital input must
be defined on an I/O board. The signal is commonly given the name diBE_SENSE1 .
CONST be_device devYokeUp:=["diBE_SENSE1",TRUE,…
CONST be_device devYokeUp:=["diMyNewSense",TRUE,…
BullsEye must be informed of the name of the digital input. The name of the signal
is defined in the be_device data instance that is passed into the BESetupToolJ
instruction. See be_device in Data types on page 55 , and BESetupToolJ in
Instructions on page 67
If the signal name is different from the default names provided, new BullsEye device
data must be created. For more information about this, see section Selecting
different BullsEye data .
How do I implement multiple tools?
BullsEye can handle up to five different tools at a time by simply calling
BESetupToolJ with five different tools.
How should robot carriers be configured?
Robots moved by carriers, such as tracks, must have the user frame coordination
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_state -activate_at_start_up
-deactivation_forbidden
This is addition is needed to support coordinated work objects that have the user
frame moved by the track. It is always recommended to define tracks and other
robot carriers this way. Doing so also improves the usability of the system for other
reasons beyond the BullsEye requirements.
In addition to these mechanical unit settings, we also recommend that the BullsEye
sensor yoke be mounted to move with the robot. Doing so ensures that vibrations
in the robot carrier do not affect the relationship between the BullsEye sensor yoke
and the robot arm. Vibrations can yield poor TCP quality. Mounting the sensor with
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Description
Error
code
Error name
This tool has been initialized with the optional
UserFramePos . The optional functionality is not working
correctly and the execution has been aborted.
44
BEGetGantryErr
No change in BullsEye calibration since last check.
202
BENoChange
The BullsEye tool needs to be updated.
204
BEUpDateTool
The BullsEye calibration needs to do a FineCheck.
222
BEDoFineCheck
An unknown error has occurred.
300
BEUnknownErr
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5.4 BullsEye status codes
Continued
5.5 Frequently asked questions
How do I configure the digital input signal?
BullsEye scanning devices use a single digital input signal. The digital input must
be defined on an I/O board. The signal is commonly given the name diBE_SENSE1 .
CONST be_device devYokeUp:=["diBE_SENSE1",TRUE,…
CONST be_device devYokeUp:=["diMyNewSense",TRUE,…
BullsEye must be informed of the name of the digital input. The name of the signal
is defined in the be_device data instance that is passed into the BESetupToolJ
instruction. See be_device in Data types on page 55 , and BESetupToolJ in
Instructions on page 67
If the signal name is different from the default names provided, new BullsEye device
data must be created. For more information about this, see section Selecting
different BullsEye data .
How do I implement multiple tools?
BullsEye can handle up to five different tools at a time by simply calling
BESetupToolJ with five different tools.
How should robot carriers be configured?
Robots moved by carriers, such as tracks, must have the user frame coordination
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_state -activate_at_start_up
-deactivation_forbidden
This is addition is needed to support coordinated work objects that have the user
frame moved by the track. It is always recommended to define tracks and other
robot carriers this way. Doing so also improves the usability of the system for other
reasons beyond the BullsEye requirements.
In addition to these mechanical unit settings, we also recommend that the BullsEye
sensor yoke be mounted to move with the robot. Doing so ensures that vibrations
in the robot carrier do not affect the relationship between the BullsEye sensor yoke
and the robot arm. Vibrations can yield poor TCP quality. Mounting the sensor with
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5 User guide
5.5 Frequently asked questions
the robot also allows the possibility of executing TCP checks anywhere in the
working range of the robot carrier. This can cut TCP checking time tremendously.
How do I set up BullsEye when the robot is moved by a track?
If the BullsEye scanning device is mounted on the carrier with the robot, no changes
are needed. This is the preferred method since it negates the positional inaccuracy
of the robot carrier. If the BullsEye scanning device is fixed in the world, then a
flag must be set in the be_device data to inform BullsEye.
CONST be_device devYokeUpTrack:=["diBE_SENSE",
TRUE,[6,45,100,100],[40,45,100,100],0.10,FALSE, FALSE,TRUE];
The flag in the device data is called MovedWithRobot . For more information see
be_device - Device data on page 55 .
Can I change my TCP extension without rerunning the initialization?
Yes. Use the BETcpExtend instruction, see BETcpExtend - BullsEye extend TCP
on page 79 .
Can the BullsEye yoke be mounted in any orientation?
Yes, but the BullsEye scanning device must be mounted so that the scan plane is
parallel with the robot's physical base surface.
How do I set up a non-ABB supplied I/O device?
Only ABB I/O devices are guaranteed to work with BullsEye. Many I/O devices
from other vendors are too slow or 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 , the type Unit Type .
What is a convergence error?
BullsEye measures the TCP more than once during the setup. It converges on a
solution that is within limits influenced by the be_device data, Repeatability .
If the deviation between two TCP measurements cannot be reduced to a level
specified by the Repeatability value, BullsEye eventually times-out and reports
a convergence error .
Convergence errors can occur for a variety of reasons:
Solution
Problem
This can be corrected by fixing the parameter
values to match the tool and scanning
equipment.
Incorrect parameters are used in the setup.
This can be corrected by improving the tool
mount.
The tool is not mounted securely or tool
mount bracket is too flexible.
This can be corrected by improving the
mounting structures.
The relationship between the BullsEye sensor
and the robot base is not solid.
Continues on next page
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5 User guide
5.5 Frequently asked questions
Continued
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| 52 |
5.5 Frequently asked questions
How do I configure the digital input signal?
BullsEye scanning devices use a single digital input signal. The digital input must
be defined on an I/O board. The signal is commonly given the name diBE_SENSE1 .
CONST be_device devYokeUp:=["diBE_SENSE1",TRUE,…
CONST be_device devYokeUp:=["diMyNewSense",TRUE,…
BullsEye must be informed of the name of the digital input. The name of the signal
is defined in the be_device data instance that is passed into the BESetupToolJ
instruction. See be_device in Data types on page 55 , and BESetupToolJ in
Instructions on page 67
If the signal name is different from the default names provided, new BullsEye device
data must be created. For more information about this, see section Selecting
different BullsEye data .
How do I implement multiple tools?
BullsEye can handle up to five different tools at a time by simply calling
BESetupToolJ with five different tools.
How should robot carriers be configured?
Robots moved by carriers, such as tracks, must have the user frame coordination
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_state -activate_at_start_up
-deactivation_forbidden
This is addition is needed to support coordinated work objects that have the user
frame moved by the track. It is always recommended to define tracks and other
robot carriers this way. Doing so also improves the usability of the system for other
reasons beyond the BullsEye requirements.
In addition to these mechanical unit settings, we also recommend that the BullsEye
sensor yoke be mounted to move with the robot. Doing so ensures that vibrations
in the robot carrier do not affect the relationship between the BullsEye sensor yoke
and the robot arm. Vibrations can yield poor TCP quality. Mounting the sensor with
Continues on next page
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51
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5 User guide
5.5 Frequently asked questions
the robot also allows the possibility of executing TCP checks anywhere in the
working range of the robot carrier. This can cut TCP checking time tremendously.
How do I set up BullsEye when the robot is moved by a track?
If the BullsEye scanning device is mounted on the carrier with the robot, no changes
are needed. This is the preferred method since it negates the positional inaccuracy
of the robot carrier. If the BullsEye scanning device is fixed in the world, then a
flag must be set in the be_device data to inform BullsEye.
CONST be_device devYokeUpTrack:=["diBE_SENSE",
TRUE,[6,45,100,100],[40,45,100,100],0.10,FALSE, FALSE,TRUE];
The flag in the device data is called MovedWithRobot . For more information see
be_device - Device data on page 55 .
Can I change my TCP extension without rerunning the initialization?
Yes. Use the BETcpExtend instruction, see BETcpExtend - BullsEye extend TCP
on page 79 .
Can the BullsEye yoke be mounted in any orientation?
Yes, but the BullsEye scanning device must be mounted so that the scan plane is
parallel with the robot's physical base surface.
How do I set up a non-ABB supplied I/O device?
Only ABB I/O devices are guaranteed to work with BullsEye. Many I/O devices
from other vendors are too slow or 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 , the type Unit Type .
What is a convergence error?
BullsEye measures the TCP more than once during the setup. It converges on a
solution that is within limits influenced by the be_device data, Repeatability .
If the deviation between two TCP measurements cannot be reduced to a level
specified by the Repeatability value, BullsEye eventually times-out and reports
a convergence error .
Convergence errors can occur for a variety of reasons:
Solution
Problem
This can be corrected by fixing the parameter
values to match the tool and scanning
equipment.
Incorrect parameters are used in the setup.
This can be corrected by improving the tool
mount.
The tool is not mounted securely or tool
mount bracket is too flexible.
This can be corrected by improving the
mounting structures.
The relationship between the BullsEye sensor
and the robot base is not solid.
Continues on next page
52
Application manual - BullsEye
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
5 User guide
5.5 Frequently asked questions
Continued
Solution
Problem
This can be corrected by reducing the search
speeds.
The I/O system is not responsive enough.
Non-ABB I/O equipment could be improved
by changing the configuration. See How do
I set up a non-ABB supplied I/O device? on
page 52 .
The I/O not repeatable enough.
Check calibration.
Motor calibration wrong.
Increasing the Repeatability value can
work.
Inaccurate robot due to bearing imperfec-
tions.
Occasionally there are problems with the
optical sensor. These must be replaced.
The BullsEye sensor is faulty.
How do I setup BullsEye to calibrate a tool like this?
![Image]
xx1400001227
There is a be_tooldesign instance provided as a default constant for a similar
tool called tdCalibBall:
CONST be_tooldesign tdCalibBall:=
[TRUE,30,1,55,12,4,FALSE,FALSE,1.2,[130,100,100,100],
[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 wire location is measured close to the end
of the gas cup, and the TCP is mathematically extended down from the end of the
gas cup based on the TCP Extension parameter passed into the BESetupToolJ
instruction.
This approach works well for welding torches because the wire is often bent in an
unpredictable direction and the length will vary. However, for a tool like the probe
Continues on next page
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53
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5 User guide
5.5 Frequently asked questions
Continued
|
ABB_Application_Manual_Bullseye
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| 53 |
the robot also allows the possibility of executing TCP checks anywhere in the
working range of the robot carrier. This can cut TCP checking time tremendously.
How do I set up BullsEye when the robot is moved by a track?
If the BullsEye scanning device is mounted on the carrier with the robot, no changes
are needed. This is the preferred method since it negates the positional inaccuracy
of the robot carrier. If the BullsEye scanning device is fixed in the world, then a
flag must be set in the be_device data to inform BullsEye.
CONST be_device devYokeUpTrack:=["diBE_SENSE",
TRUE,[6,45,100,100],[40,45,100,100],0.10,FALSE, FALSE,TRUE];
The flag in the device data is called MovedWithRobot . For more information see
be_device - Device data on page 55 .
Can I change my TCP extension without rerunning the initialization?
Yes. Use the BETcpExtend instruction, see BETcpExtend - BullsEye extend TCP
on page 79 .
Can the BullsEye yoke be mounted in any orientation?
Yes, but the BullsEye scanning device must be mounted so that the scan plane is
parallel with the robot's physical base surface.
How do I set up a non-ABB supplied I/O device?
Only ABB I/O devices are guaranteed to work with BullsEye. Many I/O devices
from other vendors are too slow or 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 , the type Unit Type .
What is a convergence error?
BullsEye measures the TCP more than once during the setup. It converges on a
solution that is within limits influenced by the be_device data, Repeatability .
If the deviation between two TCP measurements cannot be reduced to a level
specified by the Repeatability value, BullsEye eventually times-out and reports
a convergence error .
Convergence errors can occur for a variety of reasons:
Solution
Problem
This can be corrected by fixing the parameter
values to match the tool and scanning
equipment.
Incorrect parameters are used in the setup.
This can be corrected by improving the tool
mount.
The tool is not mounted securely or tool
mount bracket is too flexible.
This can be corrected by improving the
mounting structures.
The relationship between the BullsEye sensor
and the robot base is not solid.
Continues on next page
52
Application manual - BullsEye
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
5 User guide
5.5 Frequently asked questions
Continued
Solution
Problem
This can be corrected by reducing the search
speeds.
The I/O system is not responsive enough.
Non-ABB I/O equipment could be improved
by changing the configuration. See How do
I set up a non-ABB supplied I/O device? on
page 52 .
The I/O not repeatable enough.
Check calibration.
Motor calibration wrong.
Increasing the Repeatability value can
work.
Inaccurate robot due to bearing imperfec-
tions.
Occasionally there are problems with the
optical sensor. These must be replaced.
The BullsEye sensor is faulty.
How do I setup BullsEye to calibrate a tool like this?
![Image]
xx1400001227
There is a be_tooldesign instance provided as a default constant for a similar
tool called tdCalibBall:
CONST be_tooldesign tdCalibBall:=
[TRUE,30,1,55,12,4,FALSE,FALSE,1.2,[130,100,100,100],
[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 wire location is measured close to the end
of the gas cup, and the TCP is mathematically extended down from the end of the
gas cup based on the TCP Extension parameter passed into the BESetupToolJ
instruction.
This approach works well for welding torches because the wire is often bent in an
unpredictable direction and the length will vary. However, for a tool like the probe
Continues on next page
Application manual - BullsEye
53
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
5 User guide
5.5 Frequently asked questions
Continued
pictured, it is more accurate to measure the end of the tool where the TCP actually
is, because we do not have to worry about variation in location.
Here is an explanation of the be_tooldesign parameters with comments:
Description
Parameter
This we want TRUE so we define orientation also.
OrientBody
Set to a value at least as large as the largest section diameter. 30
mm, in this case.
MaxBodyDia
We want to put a very small number here so that BullsEye will not
think it has reached the end of the tool until it makes slices all the
way past the end of the ball. We will use 1 mm.
MinBodyDia
Searchable portion of tool. 50 mm, in this case.
ScanRange
The ball is almost 7 mm in diameter. Putting 3.5 mm here will force
the final measurement to be near the middle of the ball. If BullsEye
misses the end of the ball during the setup process, this number
could be increased.
RangeShift
6 mm is a good number. Small numbers are important when there
are features that you don't want to miss when BullsEye is taking
slices. Big numbers are good when you want the setup process to
take less time.
SliceGap
This should be FALSE . The tool does not have a wire that we will
mathematically extend 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 occurs next to the wire and
searches for the end of the gas cup.
OffsEndSearch
This parameter has no affect when OffsEndSearch and ScanWire
are FALSE .
WireDia
Movement speed. This is not the search speed.
SlowMoveSpeed
Movement speed. This is not the search speed.
FastMoveSpeed
Last, the TCP extension passed into the BESetupToolJ instruction, must be fixed.
BESetupToolJ jtBEApprPos,jtBEStartPos,-3.375 , tdMyProbe...
A negative number will move the TCP from the end of the ball to the center of the
ball. The default settings for be_scan and be_device will work fine for a standard
ABB I/O board.
How do I proceed when BullsEye gives large deviations?
If BullsEye gives large deviations during reorientation, try rotating the BullsEye
sensor 90 degrees in order to reduce the influences from mechanical tolerances
in the robot arm.
54
Application manual - BullsEye
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
5 User guide
5.5 Frequently asked questions
Continued
|
ABB_Application_Manual_Bullseye
|
https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Arc%20Welding%20Equipment/en/3HAC050989-001.pdf
| 54 |
Solution
Problem
This can be corrected by reducing the search
speeds.
The I/O system is not responsive enough.
Non-ABB I/O equipment could be improved
by changing the configuration. See How do
I set up a non-ABB supplied I/O device? on
page 52 .
The I/O not repeatable enough.
Check calibration.
Motor calibration wrong.
Increasing the Repeatability value can
work.
Inaccurate robot due to bearing imperfec-
tions.
Occasionally there are problems with the
optical sensor. These must be replaced.
The BullsEye sensor is faulty.
How do I setup BullsEye to calibrate a tool like this?
![Image]
xx1400001227
There is a be_tooldesign instance provided as a default constant for a similar
tool called tdCalibBall:
CONST be_tooldesign tdCalibBall:=
[TRUE,30,1,55,12,4,FALSE,FALSE,1.2,[130,100,100,100],
[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 wire location is measured close to the end
of the gas cup, and the TCP is mathematically extended down from the end of the
gas cup based on the TCP Extension parameter passed into the BESetupToolJ
instruction.
This approach works well for welding torches because the wire is often bent in an
unpredictable direction and the length will vary. However, for a tool like the probe
Continues on next page
Application manual - BullsEye
53
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
5 User guide
5.5 Frequently asked questions
Continued
pictured, it is more accurate to measure the end of the tool where the TCP actually
is, because we do not have to worry about variation in location.
Here is an explanation of the be_tooldesign parameters with comments:
Description
Parameter
This we want TRUE so we define orientation also.
OrientBody
Set to a value at least as large as the largest section diameter. 30
mm, in this case.
MaxBodyDia
We want to put a very small number here so that BullsEye will not
think it has reached the end of the tool until it makes slices all the
way past the end of the ball. We will use 1 mm.
MinBodyDia
Searchable portion of tool. 50 mm, in this case.
ScanRange
The ball is almost 7 mm in diameter. Putting 3.5 mm here will force
the final measurement to be near the middle of the ball. If BullsEye
misses the end of the ball during the setup process, this number
could be increased.
RangeShift
6 mm is a good number. Small numbers are important when there
are features that you don't want to miss when BullsEye is taking
slices. Big numbers are good when you want the setup process to
take less time.
SliceGap
This should be FALSE . The tool does not have a wire that we will
mathematically extend 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 occurs next to the wire and
searches for the end of the gas cup.
OffsEndSearch
This parameter has no affect when OffsEndSearch and ScanWire
are FALSE .
WireDia
Movement speed. This is not the search speed.
SlowMoveSpeed
Movement speed. This is not the search speed.
FastMoveSpeed
Last, the TCP extension passed into the BESetupToolJ instruction, must be fixed.
BESetupToolJ jtBEApprPos,jtBEStartPos,-3.375 , tdMyProbe...
A negative number will move the TCP from the end of the ball to the center of the
ball. The default settings for be_scan and be_device will work fine for a standard
ABB I/O board.
How do I proceed when BullsEye gives large deviations?
If BullsEye gives large deviations during reorientation, try rotating the BullsEye
sensor 90 degrees in order to reduce the influences from mechanical tolerances
in the robot arm.
54
Application manual - BullsEye
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
5 User guide
5.5 Frequently asked questions
Continued
6 RAPID reference
6.1 Data types
6.1.1 be_device - Device data
Usage
be_device contains parameters that are used to describe the scanning device's
properties.
Components
SignalName
Data type: string
Digital input name used by the scanning device.
SenseHigh
Data type: bool
Set to true if signal is high when the detecting the tool.
SlowScanSpeed
Data type: speeddata
Slow scans will be executed with this speed setting.
See Technical reference manual - RAPID Instructions, Functions and Data types
for an explanation of speeddata .
FastScanSpeed
Data type: speeddata
Fast scans will be executed with this speed setting.
See Technical reference manual - RAPID Instructions, 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 repeatability.
In such cases it may be necessary to increase Repeatability in order for the robot
to find an acceptable solution. A convergence error is reported via the BullsEye
error code argument when the system cannot reach the desired repeatability within
a reasonable time.
Units: mm
Continues on next page
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55
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6 RAPID reference
6.1.1 be_device - Device data
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ABB_Application_Manual_Bullseye
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| 55 |
pictured, it is more accurate to measure the end of the tool where the TCP actually
is, because we do not have to worry about variation in location.
Here is an explanation of the be_tooldesign parameters with comments:
Description
Parameter
This we want TRUE so we define orientation also.
OrientBody
Set to a value at least as large as the largest section diameter. 30
mm, in this case.
MaxBodyDia
We want to put a very small number here so that BullsEye will not
think it has reached the end of the tool until it makes slices all the
way past the end of the ball. We will use 1 mm.
MinBodyDia
Searchable portion of tool. 50 mm, in this case.
ScanRange
The ball is almost 7 mm in diameter. Putting 3.5 mm here will force
the final measurement to be near the middle of the ball. If BullsEye
misses the end of the ball during the setup process, this number
could be increased.
RangeShift
6 mm is a good number. Small numbers are important when there
are features that you don't want to miss when BullsEye is taking
slices. Big numbers are good when you want the setup process to
take less time.
SliceGap
This should be FALSE . The tool does not have a wire that we will
mathematically extend 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 occurs next to the wire and
searches for the end of the gas cup.
OffsEndSearch
This parameter has no affect when OffsEndSearch and ScanWire
are FALSE .
WireDia
Movement speed. This is not the search speed.
SlowMoveSpeed
Movement speed. This is not the search speed.
FastMoveSpeed
Last, the TCP extension passed into the BESetupToolJ instruction, must be fixed.
BESetupToolJ jtBEApprPos,jtBEStartPos,-3.375 , tdMyProbe...
A negative number will move the TCP from the end of the ball to the center of the
ball. The default settings for be_scan and be_device will work fine for a standard
ABB I/O board.
How do I proceed when BullsEye gives large deviations?
If BullsEye gives large deviations during reorientation, try rotating the BullsEye
sensor 90 degrees in order to reduce the influences from mechanical tolerances
in the robot arm.
54
Application manual - BullsEye
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
5 User guide
5.5 Frequently asked questions
Continued
6 RAPID reference
6.1 Data types
6.1.1 be_device - Device data
Usage
be_device contains parameters that are used to describe the scanning device's
properties.
Components
SignalName
Data type: string
Digital input name used by the scanning device.
SenseHigh
Data type: bool
Set to true if signal is high when the detecting the tool.
SlowScanSpeed
Data type: speeddata
Slow scans will be executed with this speed setting.
See Technical reference manual - RAPID Instructions, Functions and Data types
for an explanation of speeddata .
FastScanSpeed
Data type: speeddata
Fast scans will be executed with this speed setting.
See Technical reference manual - RAPID Instructions, 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 repeatability.
In such cases it may be necessary to increase Repeatability in order for the robot
to find an acceptable solution. A convergence error is reported via the BullsEye
error code argument when the system cannot reach the desired repeatability within
a reasonable time.
Units: mm
Continues on next page
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55
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© Copyright 2004-2021 ABB. All rights reserved.
6 RAPID reference
6.1.1 be_device - Device data
Inverted
Data type: bool
If TRUE invert the scan plane relative to robot base.
![Image]
xx1400001220
Device inverted
![Image]
xx1400001219
Device upright
MovedWithRobot
Data type: bool
If the robot baseframe is moved by a mechanism, does the BullsEye move with it?
If not, set this to FALSE.
RefPoint
Data type: bool
If there is a reference pointer to define, set this parameter to TRUE.
![Image]
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
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6 RAPID reference
6.1.1 be_device - Device data
Continued
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| 56 |
6 RAPID reference
6.1 Data types
6.1.1 be_device - Device data
Usage
be_device contains parameters that are used to describe the scanning device's
properties.
Components
SignalName
Data type: string
Digital input name used by the scanning device.
SenseHigh
Data type: bool
Set to true if signal is high when the detecting the tool.
SlowScanSpeed
Data type: speeddata
Slow scans will be executed with this speed setting.
See Technical reference manual - RAPID Instructions, Functions and Data types
for an explanation of speeddata .
FastScanSpeed
Data type: speeddata
Fast scans will be executed with this speed setting.
See Technical reference manual - RAPID Instructions, 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 repeatability.
In such cases it may be necessary to increase Repeatability in order for the robot
to find an acceptable solution. A convergence error is reported via the BullsEye
error code argument when the system cannot reach the desired repeatability within
a reasonable time.
Units: mm
Continues on next page
Application manual - BullsEye
55
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
6 RAPID reference
6.1.1 be_device - Device data
Inverted
Data type: bool
If TRUE invert the scan plane relative to robot base.
![Image]
xx1400001220
Device inverted
![Image]
xx1400001219
Device upright
MovedWithRobot
Data type: bool
If the robot baseframe is moved by a mechanism, does the BullsEye move with it?
If not, set this to FALSE.
RefPoint
Data type: bool
If there is a reference pointer to define, set this parameter to TRUE.
![Image]
xx1400001228
Structure
<dataobject of be_device>
<SignalName of string>
<SenseHigh of bool>
<SlowScanSpeed of speeddata>
<FastScanSpeed of speeddata>
<Repeatability of num>
<Inverted of bool>
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6 RAPID reference
6.1.1 be_device - Device data
Continued
<MovedWithRobot of bool>
<RefPoint of bool>
Related information
Described in:
BESetupToolJ - BullsEye setup tool joint move on page 74
BESetupToolJ
be_scan - Scan data on page 58
be_scan
be_tooldesign - Tool design on page 61
be_tooldesign
Application manual - BullsEye
57
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6 RAPID reference
6.1.1 be_device - Device data
Continued
|
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Inverted
Data type: bool
If TRUE invert the scan plane relative to robot base.
![Image]
xx1400001220
Device inverted
![Image]
xx1400001219
Device upright
MovedWithRobot
Data type: bool
If the robot baseframe is moved by a mechanism, does the BullsEye move with it?
If not, set this to FALSE.
RefPoint
Data type: bool
If there is a reference pointer to define, set this parameter to TRUE.
![Image]
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
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6 RAPID reference
6.1.1 be_device - Device data
Continued
<MovedWithRobot of bool>
<RefPoint of bool>
Related information
Described in:
BESetupToolJ - BullsEye setup tool joint move on page 74
BESetupToolJ
be_scan - Scan data on page 58
be_scan
be_tooldesign - Tool design on page 61
be_tooldesign
Application manual - BullsEye
57
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© Copyright 2004-2021 ABB. All rights reserved.
6 RAPID reference
6.1.1 be_device - Device data
Continued
6.1.2 be_scan - Scan data
Usage
be_scan describes how BullsEye® should behave during the scanning process.
Components
NumOfScans
Data type: num
The number of redundant scans is defined here. Redundant scanning will give
better repeatability and accuracy.
BodyScanMargin
Data type: num
This distance (mm) plus half the MaxBodyDia from be_tooldesign gives the
start offset of the body scan.
Units: mm
![Image]
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
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6 RAPID reference
6.1.2 be_scan - Scan data
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ABB_Application_Manual_Bullseye
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| 58 |
<MovedWithRobot of bool>
<RefPoint of bool>
Related information
Described in:
BESetupToolJ - BullsEye setup tool joint move on page 74
BESetupToolJ
be_scan - Scan data on page 58
be_scan
be_tooldesign - Tool design on page 61
be_tooldesign
Application manual - BullsEye
57
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© Copyright 2004-2021 ABB. All rights reserved.
6 RAPID reference
6.1.1 be_device - Device data
Continued
6.1.2 be_scan - Scan data
Usage
be_scan describes how BullsEye® should behave during the scanning process.
Components
NumOfScans
Data type: num
The number of redundant scans is defined here. Redundant scanning will give
better repeatability and accuracy.
BodyScanMargin
Data type: num
This distance (mm) plus half the MaxBodyDia from be_tooldesign gives the
start offset of the body scan.
Units: mm
![Image]
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
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6 RAPID reference
6.1.2 be_scan - Scan data
Units: mm
![Image]
xx1400001230
TwistAngle
Data type: num
Plus and minus TwistAngle gives overall twist envelope for scans.
Units: degrees
TiltAngle
Data type: num
From no-Tilt to TiltAngle gives overall Tilt envelope for scans.
Units: degrees
InitPatternRad
Data type: num
Initial 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
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6 RAPID reference
6.1.2 be_scan - Scan data
Continued
|
ABB_Application_Manual_Bullseye
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| 59 |
6.1.2 be_scan - Scan data
Usage
be_scan describes how BullsEye® should behave during the scanning process.
Components
NumOfScans
Data type: num
The number of redundant scans is defined here. Redundant scanning will give
better repeatability and accuracy.
BodyScanMargin
Data type: num
This distance (mm) plus half the MaxBodyDia from be_tooldesign gives the
start offset of the body scan.
Units: mm
![Image]
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
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6 RAPID reference
6.1.2 be_scan - Scan data
Units: mm
![Image]
xx1400001230
TwistAngle
Data type: num
Plus and minus TwistAngle gives overall twist envelope for scans.
Units: degrees
TiltAngle
Data type: num
From no-Tilt to TiltAngle gives overall Tilt envelope for scans.
Units: degrees
InitPatternRad
Data type: num
Initial 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
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59
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6 RAPID reference
6.1.2 be_scan - Scan data
Continued
Related information
Described in:
BESetupToolJ - BullsEye setup tool joint move on page 74
BESetupToolJ
be_device - Device data on page 55
be_device
be_tooldesign - Tool design on page 61
be_tooldesign
60
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6 RAPID reference
6.1.2 be_scan - Scan data
Continued
|
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| 60 |
Units: mm
![Image]
xx1400001230
TwistAngle
Data type: num
Plus and minus TwistAngle gives overall twist envelope for scans.
Units: degrees
TiltAngle
Data type: num
From no-Tilt to TiltAngle gives overall Tilt envelope for scans.
Units: degrees
InitPatternRad
Data type: num
Initial 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
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59
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6 RAPID reference
6.1.2 be_scan - Scan data
Continued
Related information
Described in:
BESetupToolJ - BullsEye setup tool joint move on page 74
BESetupToolJ
be_device - Device data on page 55
be_device
be_tooldesign - Tool design on page 61
be_tooldesign
60
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© Copyright 2004-2021 ABB. All rights reserved.
6 RAPID reference
6.1.2 be_scan - Scan data
Continued
6.1.3 be_tooldesign - Tool design
Usage
The be_tooldesign data type describes the tool dimensions and other related
physical properties.
Components
OrientBody
Data type: bool
If selected, the orientation of the tool will be found by scanning the tool body.
MaxBodyDia
Data type: num
The maximum tool body diameter within the scan range.
Units: mm
![Image]
xx1400001232
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
![Image]
xx1400001231
Continues on next page
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6 RAPID reference
6.1.3 be_tooldesign - Tool design
|
ABB_Application_Manual_Bullseye
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| 61 |
Related information
Described in:
BESetupToolJ - BullsEye setup tool joint move on page 74
BESetupToolJ
be_device - Device data on page 55
be_device
be_tooldesign - Tool design on page 61
be_tooldesign
60
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© Copyright 2004-2021 ABB. All rights reserved.
6 RAPID reference
6.1.2 be_scan - Scan data
Continued
6.1.3 be_tooldesign - Tool design
Usage
The be_tooldesign data type describes the tool dimensions and other related
physical properties.
Components
OrientBody
Data type: bool
If selected, the orientation of the tool will be found by scanning the tool body.
MaxBodyDia
Data type: num
The maximum tool body diameter within the scan range.
Units: mm
![Image]
xx1400001232
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
![Image]
xx1400001231
Continues on next page
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6 RAPID reference
6.1.3 be_tooldesign - Tool design
ScanRange
Data type: num
The length of cylindrical tool section used during tool straightening. This portion
is measure from the end of the RangeShift.
Units: mm
![Image]
xx1400001233
RangeShift
Data type: num
Length of lower tool body section to ignore. This is measured from the "end" of
the tool. The RangeShift is useful in ignoring weld spatter on a MIG welding torch.
Units: mm
SliceGap
Data type: num
When scanning to find the end of the tool BullsEye® 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 SliceGap from the end of the tool body. When ScanWire
Continues on next page
62
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6 RAPID reference
6.1.3 be_tooldesign - Tool design
Continued
|
ABB_Application_Manual_Bullseye
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| 62 |
6.1.3 be_tooldesign - Tool design
Usage
The be_tooldesign data type describes the tool dimensions and other related
physical properties.
Components
OrientBody
Data type: bool
If selected, the orientation of the tool will be found by scanning the tool body.
MaxBodyDia
Data type: num
The maximum tool body diameter within the scan range.
Units: mm
![Image]
xx1400001232
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
![Image]
xx1400001231
Continues on next page
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6 RAPID reference
6.1.3 be_tooldesign - Tool design
ScanRange
Data type: num
The length of cylindrical tool section used during tool straightening. This portion
is measure from the end of the RangeShift.
Units: mm
![Image]
xx1400001233
RangeShift
Data type: num
Length of lower tool body section to ignore. This is measured from the "end" of
the tool. The RangeShift is useful in ignoring weld spatter on a MIG welding torch.
Units: mm
SliceGap
Data type: num
When scanning to find the end of the tool BullsEye® 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 SliceGap from the end of the tool body. When ScanWire
Continues on next page
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6 RAPID reference
6.1.3 be_tooldesign - Tool design
Continued
is FALSE, the tool centerline is measured on the tool body a distance of one
RangeShift up from the end of the tool body.
![Image]
xx1400001235
Figure 6.2: ScanWire: FALSE
![Image]
xx1400001234
Figure 6.1: ScanWire: TRUE
OffsEndSearch
Data type: bool
If selected, the z-search will be offset from the tool centerline. This is used to ignore
a narrow TCP extension, like a welding wire. When ScanWire is TRUE, this
parameter has no effect as the z-search will be offset automatically.
WireDia
Data type: num
The WireDia defines the approximate diameter of the wire or similar TCP extension.
This parameter has no effect when ScanWire 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 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.
Continues on next page
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63
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6 RAPID reference
6.1.3 be_tooldesign - Tool design
Continued
|
ABB_Application_Manual_Bullseye
|
https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Arc%20Welding%20Equipment/en/3HAC050989-001.pdf
| 63 |
ScanRange
Data type: num
The length of cylindrical tool section used during tool straightening. This portion
is measure from the end of the RangeShift.
Units: mm
![Image]
xx1400001233
RangeShift
Data type: num
Length of lower tool body section to ignore. This is measured from the "end" of
the tool. The RangeShift is useful in ignoring weld spatter on a MIG welding torch.
Units: mm
SliceGap
Data type: num
When scanning to find the end of the tool BullsEye® 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 SliceGap from the end of the tool body. When ScanWire
Continues on next page
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6 RAPID reference
6.1.3 be_tooldesign - Tool design
Continued
is FALSE, the tool centerline is measured on the tool body a distance of one
RangeShift up from the end of the tool body.
![Image]
xx1400001235
Figure 6.2: ScanWire: FALSE
![Image]
xx1400001234
Figure 6.1: ScanWire: TRUE
OffsEndSearch
Data type: bool
If selected, the z-search will be offset from the tool centerline. This is used to ignore
a narrow TCP extension, like a welding wire. When ScanWire is TRUE, this
parameter has no effect as the z-search will be offset automatically.
WireDia
Data type: num
The WireDia defines the approximate diameter of the wire or similar TCP extension.
This parameter has no effect when ScanWire 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 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.
Continues on next page
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63
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6 RAPID reference
6.1.3 be_tooldesign - Tool design
Continued
Structure
<dataobject of be_tooldesign>
<OrientBody of bool>
<MaxBodyDia of num>
<MinBodyDia of num>
<ScanRange of num>
<RangeShift of num>
<SliceGap of num>
<ScanWire of bool>
<OffsEndSearch of bool>
<WireDia of num>
<SlowMoveSpeed of speeddata>
<FastMoveSpeed of speeddata>
Related information
Described in:
BESetupToolJ - BullsEye setup tool joint move on page 74
BESetupToolJ
be_device - Device data on page 55
be_device
be_scan - Scan data on page 58
be_scan
64
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© Copyright 2004-2021 ABB. All rights reserved.
6 RAPID reference
6.1.3 be_tooldesign - Tool design
Continued
|
ABB_Application_Manual_Bullseye
|
https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Arc%20Welding%20Equipment/en/3HAC050989-001.pdf
| 64 |
is FALSE, the tool centerline is measured on the tool body a distance of one
RangeShift up from the end of the tool body.
![Image]
xx1400001235
Figure 6.2: ScanWire: FALSE
![Image]
xx1400001234
Figure 6.1: ScanWire: TRUE
OffsEndSearch
Data type: bool
If selected, the z-search will be offset from the tool centerline. This is used to ignore
a narrow TCP extension, like a welding wire. When ScanWire is TRUE, this
parameter has no effect as the z-search will be offset automatically.
WireDia
Data type: num
The WireDia defines the approximate diameter of the wire or similar TCP extension.
This parameter has no effect when ScanWire 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 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.
Continues on next page
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63
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6 RAPID reference
6.1.3 be_tooldesign - Tool design
Continued
Structure
<dataobject of be_tooldesign>
<OrientBody of bool>
<MaxBodyDia of num>
<MinBodyDia of num>
<ScanRange of num>
<RangeShift of num>
<SliceGap of num>
<ScanWire of bool>
<OffsEndSearch of bool>
<WireDia of num>
<SlowMoveSpeed of speeddata>
<FastMoveSpeed of speeddata>
Related information
Described in:
BESetupToolJ - BullsEye setup tool joint move on page 74
BESetupToolJ
be_device - Device data on page 55
be_device
be_scan - Scan data on page 58
be_scan
64
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© Copyright 2004-2021 ABB. All rights reserved.
6 RAPID reference
6.1.3 be_tooldesign - Tool design
Continued
6.1.4 be_mask - Mask data
Usage
be_mask can be used to control if user dialogs are shown or not in automatic or
manual mode.
Example
By default, update of a tool is done automatically in automatic mode without any
user dialogs since the internal be_mask is defined as follows:
[BEUpDateTool,TRUE,FALSE,FALSE,5];
If the following be_mask is added to the user program, it will override the internal
default be_mask and add a user dialog in auto mode.
VAR be_mask MyBEUpDateTool:=[BEUpDateTool,FALSE,FALSE,FALSE,5];
The same rule applies to the be_status codes listed below:
VAR be_mask MyBENoChange:=[BENoChange,TRUE,FALSE,FALSE,5];
VAR be_mask MyBEUpDateTool:=[BEUpDateTool,TRUE,FALSE,FALSE,5];
VAR be_mask MyBESuccess:=[BESuccess,TRUE,TRUE,TRUE,5];
VAR be_mask MyBEDoFineCheck:=[BEDoFineCheck,TRUE,TRUE,TRUE,5];
Components
Condition
Data type: num
The be_status code to handle from the BullsEye calibration.
The following codes can be handled.
CONST be_status BENoChange:=202;
CONST be_status BEUpDateTool:=204;
CONST be_status BEDoFineCheck:=222;
HideAuto
Data type: bool
Decides if a dialog should be shown on the FlexPendant ( FALSE ), or not ( TRUE ) in
automatic mode.
If set to TRUE , no dialog will be shown, and the response will be the value of
DefaultKey .
If set to FALSE , a dialog will be shown, and the user can respond to that on the
FlexPendant.
HideManual
Data type: bool
Decides if a dialog should be shown on the FlexPendant ( FALSE ), or not ( TRUE ) in
manual mode.
If set to TRUE , no dialog will be shown, and the response will be the value of
DefaultKey .
If set to FALSE , a dialog will be shown, and the user can respond to that on the
FlexPendant.
Continues on next page
Application manual - BullsEye
65
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6 RAPID reference
6.1.4 be_mask - Mask data
|
ABB_Application_Manual_Bullseye
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| 65 |
Structure
<dataobject of be_tooldesign>
<OrientBody of bool>
<MaxBodyDia of num>
<MinBodyDia of num>
<ScanRange of num>
<RangeShift of num>
<SliceGap of num>
<ScanWire of bool>
<OffsEndSearch of bool>
<WireDia of num>
<SlowMoveSpeed of speeddata>
<FastMoveSpeed of speeddata>
Related information
Described in:
BESetupToolJ - BullsEye setup tool joint move on page 74
BESetupToolJ
be_device - Device data on page 55
be_device
be_scan - Scan data on page 58
be_scan
64
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© Copyright 2004-2021 ABB. All rights reserved.
6 RAPID reference
6.1.3 be_tooldesign - Tool design
Continued
6.1.4 be_mask - Mask data
Usage
be_mask can be used to control if user dialogs are shown or not in automatic or
manual mode.
Example
By default, update of a tool is done automatically in automatic mode without any
user dialogs since the internal be_mask is defined as follows:
[BEUpDateTool,TRUE,FALSE,FALSE,5];
If the following be_mask is added to the user program, it will override the internal
default be_mask and add a user dialog in auto mode.
VAR be_mask MyBEUpDateTool:=[BEUpDateTool,FALSE,FALSE,FALSE,5];
The same rule applies to the be_status codes listed below:
VAR be_mask MyBENoChange:=[BENoChange,TRUE,FALSE,FALSE,5];
VAR be_mask MyBEUpDateTool:=[BEUpDateTool,TRUE,FALSE,FALSE,5];
VAR be_mask MyBESuccess:=[BESuccess,TRUE,TRUE,TRUE,5];
VAR be_mask MyBEDoFineCheck:=[BEDoFineCheck,TRUE,TRUE,TRUE,5];
Components
Condition
Data type: num
The be_status code to handle from the BullsEye calibration.
The following codes can be handled.
CONST be_status BENoChange:=202;
CONST be_status BEUpDateTool:=204;
CONST be_status BEDoFineCheck:=222;
HideAuto
Data type: bool
Decides if a dialog should be shown on the FlexPendant ( FALSE ), or not ( TRUE ) in
automatic mode.
If set to TRUE , no dialog will be shown, and the response will be the value of
DefaultKey .
If set to FALSE , a dialog will be shown, and the user can respond to that on the
FlexPendant.
HideManual
Data type: bool
Decides if a dialog should be shown on the FlexPendant ( FALSE ), or not ( TRUE ) in
manual mode.
If set to TRUE , no dialog will be shown, and the response will be the value of
DefaultKey .
If set to FALSE , a dialog will be shown, and the user can respond to that on the
FlexPendant.
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6.1.4 be_mask - Mask data
HideVC
Data type: bool
Decides if a dialog should be shown on the FlexPendant ( FALSE ), or not ( TRUE )
on a virtual controller.
If set to TRUE , no dialog will be shown, and the response will be the value of
DefaultKey .
If set to FALSE , a dialog will be shown, and the user can respond to that on the
FlexPendant.
DefaultKey
Data type: num
The automatic response to the dialogs on the FlexPendant. A value of 5 means
OK, 4 means cancel.
Limitation
The name of the data cannot start with int .
Structure
<dataobject of be_mask>
<Condition of num>
<HideAuto of bool>
<HideManual of bool>
<HideVC of bool>
<DefaultKey of num>
Related information
Described in:
BullsEye status codes on page 47
be_status
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6.1.4 be_mask - Mask data
Continued
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6.1.4 be_mask - Mask data
Usage
be_mask can be used to control if user dialogs are shown or not in automatic or
manual mode.
Example
By default, update of a tool is done automatically in automatic mode without any
user dialogs since the internal be_mask is defined as follows:
[BEUpDateTool,TRUE,FALSE,FALSE,5];
If the following be_mask is added to the user program, it will override the internal
default be_mask and add a user dialog in auto mode.
VAR be_mask MyBEUpDateTool:=[BEUpDateTool,FALSE,FALSE,FALSE,5];
The same rule applies to the be_status codes listed below:
VAR be_mask MyBENoChange:=[BENoChange,TRUE,FALSE,FALSE,5];
VAR be_mask MyBEUpDateTool:=[BEUpDateTool,TRUE,FALSE,FALSE,5];
VAR be_mask MyBESuccess:=[BESuccess,TRUE,TRUE,TRUE,5];
VAR be_mask MyBEDoFineCheck:=[BEDoFineCheck,TRUE,TRUE,TRUE,5];
Components
Condition
Data type: num
The be_status code to handle from the BullsEye calibration.
The following codes can be handled.
CONST be_status BENoChange:=202;
CONST be_status BEUpDateTool:=204;
CONST be_status BEDoFineCheck:=222;
HideAuto
Data type: bool
Decides if a dialog should be shown on the FlexPendant ( FALSE ), or not ( TRUE ) in
automatic mode.
If set to TRUE , no dialog will be shown, and the response will be the value of
DefaultKey .
If set to FALSE , a dialog will be shown, and the user can respond to that on the
FlexPendant.
HideManual
Data type: bool
Decides if a dialog should be shown on the FlexPendant ( FALSE ), or not ( TRUE ) in
manual mode.
If set to TRUE , no dialog will be shown, and the response will be the value of
DefaultKey .
If set to FALSE , a dialog will be shown, and the user can respond to that on the
FlexPendant.
Continues on next page
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6 RAPID reference
6.1.4 be_mask - Mask data
HideVC
Data type: bool
Decides if a dialog should be shown on the FlexPendant ( FALSE ), or not ( TRUE )
on a virtual controller.
If set to TRUE , no dialog will be shown, and the response will be the value of
DefaultKey .
If set to FALSE , a dialog will be shown, and the user can respond to that on the
FlexPendant.
DefaultKey
Data type: num
The automatic response to the dialogs on the FlexPendant. A value of 5 means
OK, 4 means cancel.
Limitation
The name of the data cannot start with int .
Structure
<dataobject of be_mask>
<Condition of num>
<HideAuto of bool>
<HideManual of bool>
<HideVC of bool>
<DefaultKey of num>
Related information
Described in:
BullsEye status codes on page 47
be_status
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6.1.4 be_mask - Mask data
Continued
6.2 Instructions
6.2.1 BECheckTcp - BullsEye check TCP
Usage
BECheckTcp is used to measure deviation in a tool that has been previously
initialized and set up with BESetupToolJ .
Basic examples
BECheckTcp tTestTemp;
The tool, tTestTemp , will be measured by making two scans. This is known as
the QuickCheck. If the measurement indicates that the tool TCP has moved,
BullsEye will do a complete evaluation to get the new TCP. If the change is found
to be less than the maximum allowed change, the TCP will be updated.
BECheckTcp tTestTemp\XYZOnly\Status:=beStatus;
As in the previous example, the tool will be updated if necessary. However, only
the translation properties of the TCP will be changed. The orientation of the TCP
will not be scanned and will not be 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 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 Response,
string st1,
string st2,
string st3,
string st4,
be_status Condition)
<body of procedure>
ENDPROC
[\XYZOnly]
Data type: switch
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6.2.1 BECheckTcp - BullsEye check TCP
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HideVC
Data type: bool
Decides if a dialog should be shown on the FlexPendant ( FALSE ), or not ( TRUE )
on a virtual controller.
If set to TRUE , no dialog will be shown, and the response will be the value of
DefaultKey .
If set to FALSE , a dialog will be shown, and the user can respond to that on the
FlexPendant.
DefaultKey
Data type: num
The automatic response to the dialogs on the FlexPendant. A value of 5 means
OK, 4 means cancel.
Limitation
The name of the data cannot start with int .
Structure
<dataobject of be_mask>
<Condition of num>
<HideAuto of bool>
<HideManual of bool>
<HideVC of bool>
<DefaultKey of num>
Related information
Described in:
BullsEye status codes on page 47
be_status
66
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6 RAPID reference
6.1.4 be_mask - Mask data
Continued
6.2 Instructions
6.2.1 BECheckTcp - BullsEye check TCP
Usage
BECheckTcp is used to measure deviation in a tool that has been previously
initialized and set up with BESetupToolJ .
Basic examples
BECheckTcp tTestTemp;
The tool, tTestTemp , will be measured by making two scans. This is known as
the QuickCheck. If the measurement indicates that the tool TCP has moved,
BullsEye will do a complete evaluation to get the new TCP. If the change is found
to be less than the maximum allowed change, the TCP will be updated.
BECheckTcp tTestTemp\XYZOnly\Status:=beStatus;
As in the previous example, the tool will be updated if necessary. However, only
the translation properties of the TCP will be changed. The orientation of the TCP
will not be scanned and will not be 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 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 Response,
string st1,
string st2,
string st3,
string st4,
be_status Condition)
<body of procedure>
ENDPROC
[\XYZOnly]
Data type: switch
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6.2.1 BECheckTcp - BullsEye check TCP
If selected, the orientation of the tool will not be measured and will not be updated.
Use this switch when it is undesirable to update the orientation, when the tool
design makes tool straightening impossible, or when update time must be
shortened. Update time may be reduced by as much as 50% when using this
optional switch.
[\SingleScan]
Data type: switch
If selected, the initial QuickCheck will use single scans, even if the NumOfScans
in be_scan data is set to a number higher than one. This override may be used to
shorten the QuickCheck time. Using this switch sometimes causes the robot to
run a full measurement sequence due to the limited accuracy of single scans.
[\XYOnly]
Data type: switch
If selected, the TCP may be updated based on the result of the QuickCheck only.
With this option, the update time is greatly reduced, but the resulting accuracy may
not be ideal. With this option, neither the z-dimension of the tool, nor the orientation
of the tool, 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 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 .
Continues on next page
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6 RAPID reference
6.2.1 BECheckTcp - BullsEye check TCP
Continued
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6.2 Instructions
6.2.1 BECheckTcp - BullsEye check TCP
Usage
BECheckTcp is used to measure deviation in a tool that has been previously
initialized and set up with BESetupToolJ .
Basic examples
BECheckTcp tTestTemp;
The tool, tTestTemp , will be measured by making two scans. This is known as
the QuickCheck. If the measurement indicates that the tool TCP has moved,
BullsEye will do a complete evaluation to get the new TCP. If the change is found
to be less than the maximum allowed change, the TCP will be updated.
BECheckTcp tTestTemp\XYZOnly\Status:=beStatus;
As in the previous example, the tool will be updated if necessary. However, only
the translation properties of the TCP will be changed. The orientation of the TCP
will not be scanned and will not be 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 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 Response,
string st1,
string st2,
string st3,
string st4,
be_status Condition)
<body of procedure>
ENDPROC
[\XYZOnly]
Data type: switch
Continues on next page
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6 RAPID reference
6.2.1 BECheckTcp - BullsEye check TCP
If selected, the orientation of the tool will not be measured and will not be updated.
Use this switch when it is undesirable to update the orientation, when the tool
design makes tool straightening impossible, or when update time must be
shortened. Update time may be reduced by as much as 50% when using this
optional switch.
[\SingleScan]
Data type: switch
If selected, the initial QuickCheck will use single scans, even if the NumOfScans
in be_scan data is set to a number higher than one. This override may be used to
shorten the QuickCheck time. Using this switch sometimes causes the robot to
run a full measurement sequence due to the limited accuracy of single scans.
[\XYOnly]
Data type: switch
If selected, the TCP may be updated based on the result of the QuickCheck only.
With this option, the update time is greatly reduced, but the resulting accuracy may
not be ideal. With this option, neither the z-dimension of the tool, nor the orientation
of the tool, 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 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 .
Continues on next page
68
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6 RAPID reference
6.2.1 BECheckTcp - BullsEye check TCP
Continued
Program execution
The robot will move to the initial position for the tool. A QuickCheck will be made
consisting of two scans. If the TCP has not changed appreciatively, the robot will
return to production. If the change is found to be greater than the minimum threshold
defined during the tool initialization, a full measurement will be made. The change
will be evaluated again. In rare cases, the change may appear to be smaller after
this step and no update will be made. This is due to the fact that the QuickCheck
does not gather enough information to measure the tool very accurately. In this
case the robot will return to production. If a robot continues to exhibit this behavior,
run the setup again by calling BESetupToolJ or update the tool with BEUpdateTcp .
This should correct the problem.
In most cases, the re-evaluated TCP change will require the tool to be updated. In
automatic mode, this will be done automatically before returning to production. 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 error
handler.
Syntax
BEUpdateTcp
[ Tool ':='] < expression ( PERS ) of tooldata >
[ '\' UserInterface ':=' < expression ( IN ) of string > ]
[ '\' XYZOnly ] < switch >
[ '|' XYOnly ] < switch >
[ '\' SingleScan ] < switch >
[ '\' ElapsedTime ':=' < expression ( INOUT ) of num > ]
[ '\' Status ':=' < expression ( INOUT ) of be_status > ]
[ '\' 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
BESetupToolJ - BullsEye setup tool joint move on page 74
BESetupToolJ
Technical reference manual - RAPID Instructions, Functions and
Data types
Definition of
loaddata
Application manual - BullsEye
69
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6 RAPID reference
6.2.1 BECheckTcp - BullsEye check TCP
Continued
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If selected, the orientation of the tool will not be measured and will not be updated.
Use this switch when it is undesirable to update the orientation, when the tool
design makes tool straightening impossible, or when update time must be
shortened. Update time may be reduced by as much as 50% when using this
optional switch.
[\SingleScan]
Data type: switch
If selected, the initial QuickCheck will use single scans, even if the NumOfScans
in be_scan data is set to a number higher than one. This override may be used to
shorten the QuickCheck time. Using this switch sometimes causes the robot to
run a full measurement sequence due to the limited accuracy of single scans.
[\XYOnly]
Data type: switch
If selected, the TCP may be updated based on the result of the QuickCheck only.
With this option, the update time is greatly reduced, but the resulting accuracy may
not be ideal. With this option, neither the z-dimension of the tool, nor the orientation
of the tool, 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 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 .
Continues on next page
68
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6 RAPID reference
6.2.1 BECheckTcp - BullsEye check TCP
Continued
Program execution
The robot will move to the initial position for the tool. A QuickCheck will be made
consisting of two scans. If the TCP has not changed appreciatively, the robot will
return to production. If the change is found to be greater than the minimum threshold
defined during the tool initialization, a full measurement will be made. The change
will be evaluated again. In rare cases, the change may appear to be smaller after
this step and no update will be made. This is due to the fact that the QuickCheck
does not gather enough information to measure the tool very accurately. In this
case the robot will return to production. If a robot continues to exhibit this behavior,
run the setup again by calling BESetupToolJ or update the tool with BEUpdateTcp .
This should correct the problem.
In most cases, the re-evaluated TCP change will require the tool to be updated. In
automatic mode, this will be done automatically before returning to production. 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 error
handler.
Syntax
BEUpdateTcp
[ Tool ':='] < expression ( PERS ) of tooldata >
[ '\' UserInterface ':=' < expression ( IN ) of string > ]
[ '\' XYZOnly ] < switch >
[ '|' XYOnly ] < switch >
[ '\' SingleScan ] < switch >
[ '\' ElapsedTime ':=' < expression ( INOUT ) of num > ]
[ '\' Status ':=' < expression ( INOUT ) of be_status > ]
[ '\' 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
BESetupToolJ - BullsEye setup tool joint move on page 74
BESetupToolJ
Technical reference manual - RAPID Instructions, Functions and
Data types
Definition of
loaddata
Application manual - BullsEye
69
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© Copyright 2004-2021 ABB. All rights reserved.
6 RAPID reference
6.2.1 BECheckTcp - BullsEye check TCP
Continued
6.2.2 BEDebugState - Debug state control
Usage
BEDebugState is used to control the debug log detail level. Normally only limited
information in stored in the BullsEye log files. With this instruction, more detailed
information is recorded to help advanced users determine the cause of an error.
This instruction is hidden from the IPL.
Basic examples
BEDebugState\On;
Turns on the debugging flag.
BEDebugState\Off;
Turns off the debugging flag.
Arguments
BEDebugState [\On] [\Off]
[\On]
Data 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
HOME/BullsEye .
Syntax
BEDebugState
[ '\' On ] < switch >
[ '|' Off ] < switch > ';'
Related information
Described in:
BECheckTcp - BullsEye check TCP on page 67
BECheckTcp
BEUpdateTcp - BullsEye update TCP on page 81
BEUpdateTcp
BESetupToolJ - BullsEye setup tool joint move on page 74
BESetupToolJ
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6.2.2 BEDebugState - Debug state control
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| 70 |
Program execution
The robot will move to the initial position for the tool. A QuickCheck will be made
consisting of two scans. If the TCP has not changed appreciatively, the robot will
return to production. If the change is found to be greater than the minimum threshold
defined during the tool initialization, a full measurement will be made. The change
will be evaluated again. In rare cases, the change may appear to be smaller after
this step and no update will be made. This is due to the fact that the QuickCheck
does not gather enough information to measure the tool very accurately. In this
case the robot will return to production. If a robot continues to exhibit this behavior,
run the setup again by calling BESetupToolJ or update the tool with BEUpdateTcp .
This should correct the problem.
In most cases, the re-evaluated TCP change will require the tool to be updated. In
automatic mode, this will be done automatically before returning to production. 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 error
handler.
Syntax
BEUpdateTcp
[ Tool ':='] < expression ( PERS ) of tooldata >
[ '\' UserInterface ':=' < expression ( IN ) of string > ]
[ '\' XYZOnly ] < switch >
[ '|' XYOnly ] < switch >
[ '\' SingleScan ] < switch >
[ '\' ElapsedTime ':=' < expression ( INOUT ) of num > ]
[ '\' Status ':=' < expression ( INOUT ) of be_status > ]
[ '\' 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
BESetupToolJ - BullsEye setup tool joint move on page 74
BESetupToolJ
Technical reference manual - RAPID Instructions, Functions and
Data types
Definition of
loaddata
Application manual - BullsEye
69
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© Copyright 2004-2021 ABB. All rights reserved.
6 RAPID reference
6.2.1 BECheckTcp - BullsEye check TCP
Continued
6.2.2 BEDebugState - Debug state control
Usage
BEDebugState is used to control the debug log detail level. Normally only limited
information in stored in the BullsEye log files. With this instruction, more detailed
information is recorded to help advanced users determine the cause of an error.
This instruction is hidden from the IPL.
Basic examples
BEDebugState\On;
Turns on the debugging flag.
BEDebugState\Off;
Turns off the debugging flag.
Arguments
BEDebugState [\On] [\Off]
[\On]
Data 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
HOME/BullsEye .
Syntax
BEDebugState
[ '\' On ] < switch >
[ '|' Off ] < switch > ';'
Related information
Described in:
BECheckTcp - BullsEye check TCP on page 67
BECheckTcp
BEUpdateTcp - BullsEye update TCP on page 81
BEUpdateTcp
BESetupToolJ - BullsEye setup tool joint move on page 74
BESetupToolJ
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6.2.2 BEDebugState - Debug state control
6.2.3 BERefPointer - BullsEye reference pointer
Usage
BERefPointer is used to view the deviation in a tool that has been previously
initialized and setup with BESetupToolJ .
![Image]
xx1400001228
Basic examples
BERefPointer tTestTemp;
The robot will move to the scanning device and prompt the user with a choice to
move to the reference pointer with the Day1 TCP definition, or with the current TCP
definition. No changes will be made to the TCP.
Arguments
BERefPointer Tool [\UserInterface] [\Status] [\TLoad]
Tool
Data type: tooldata
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 structure of the arguments must follow this model:
PROC MyBEUserInter(
VAR num Response,
string st1,
string st2,
string st3,
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6.2.3 BERefPointer - BullsEye reference pointer
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6.2.2 BEDebugState - Debug state control
Usage
BEDebugState is used to control the debug log detail level. Normally only limited
information in stored in the BullsEye log files. With this instruction, more detailed
information is recorded to help advanced users determine the cause of an error.
This instruction is hidden from the IPL.
Basic examples
BEDebugState\On;
Turns on the debugging flag.
BEDebugState\Off;
Turns off the debugging flag.
Arguments
BEDebugState [\On] [\Off]
[\On]
Data 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
HOME/BullsEye .
Syntax
BEDebugState
[ '\' On ] < switch >
[ '|' Off ] < switch > ';'
Related information
Described in:
BECheckTcp - BullsEye check TCP on page 67
BECheckTcp
BEUpdateTcp - BullsEye update TCP on page 81
BEUpdateTcp
BESetupToolJ - BullsEye setup tool joint move on page 74
BESetupToolJ
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6.2.2 BEDebugState - Debug state control
6.2.3 BERefPointer - BullsEye reference pointer
Usage
BERefPointer is used to view the deviation in a tool that has been previously
initialized and setup with BESetupToolJ .
![Image]
xx1400001228
Basic examples
BERefPointer tTestTemp;
The robot will move to the scanning device and prompt the user with a choice to
move to the reference pointer with the Day1 TCP definition, or with the current TCP
definition. No changes will be made to the TCP.
Arguments
BERefPointer Tool [\UserInterface] [\Status] [\TLoad]
Tool
Data type: tooldata
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 structure of the arguments must follow this model:
PROC MyBEUserInter(
VAR num Response,
string st1,
string st2,
string st3,
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6.2.3 BERefPointer - BullsEye reference pointer
string st4,
be_status Condition)
<body of procedure>
ENDPROC
[\Status], <INOUT>
Data type: be_status
This optional parameter returns the status code. A status code other than 1 indicates
a problem in execution. For more information on 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 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 FlexPendant:
![Image]
xx1400001236
Pressing Day1 or Latest will cause the robot to move to the pointer with each of
the TCP definitions. When finished, press Done to return to the program.
Continues on next page
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6.2.3 BERefPointer - BullsEye reference pointer
Continued
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6.2.3 BERefPointer - BullsEye reference pointer
Usage
BERefPointer is used to view the deviation in a tool that has been previously
initialized and setup with BESetupToolJ .
![Image]
xx1400001228
Basic examples
BERefPointer tTestTemp;
The robot will move to the scanning device and prompt the user with a choice to
move to the reference pointer with the Day1 TCP definition, or with the current TCP
definition. No changes will be made to the TCP.
Arguments
BERefPointer Tool [\UserInterface] [\Status] [\TLoad]
Tool
Data type: tooldata
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 structure of the arguments must follow this model:
PROC MyBEUserInter(
VAR num Response,
string st1,
string st2,
string st3,
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6.2.3 BERefPointer - BullsEye reference pointer
string st4,
be_status Condition)
<body of procedure>
ENDPROC
[\Status], <INOUT>
Data type: be_status
This optional parameter returns the status code. A status code other than 1 indicates
a problem in execution. For more information on 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 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 FlexPendant:
![Image]
xx1400001236
Pressing Day1 or Latest will cause the robot to move to the pointer with each of
the TCP definitions. When finished, press Done to return to the program.
Continues on next page
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6.2.3 BERefPointer - BullsEye reference pointer
Continued
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 error
handler.
Syntax
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 74
BESetupToolJ
Technical reference manual - RAPID Instructions, Functions and
Data types
Definition of loaddata
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6.2.3 BERefPointer - BullsEye reference pointer
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string st4,
be_status Condition)
<body of procedure>
ENDPROC
[\Status], <INOUT>
Data type: be_status
This optional parameter returns the status code. A status code other than 1 indicates
a problem in execution. For more information on 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 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 FlexPendant:
![Image]
xx1400001236
Pressing Day1 or Latest will cause the robot to move to the pointer with each of
the TCP definitions. When finished, press Done to return to the program.
Continues on next page
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6.2.3 BERefPointer - BullsEye reference pointer
Continued
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 error
handler.
Syntax
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 74
BESetupToolJ
Technical reference manual - RAPID Instructions, Functions and
Data types
Definition of loaddata
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6.2.3 BERefPointer - BullsEye reference pointer
Continued
6.2.4 BESetupToolJ - BullsEye setup tool joint move
Usage
BESetupToolJ is used to define a TCP and add the tool to the BullsEye collection.
The scanning behavior is dictated by the parameters passed into the instruction.
Basic examples
BESetupToolJ jtApprPoint, jtStartPos,15,tdMigDefault, scanBullsMig,
devYokeUp,v200,fine,tTestTemp;
The tool, tTestTemp , will be added to the BullsEye collection with a TCP extension
of 15 mm and BullsEye parameters defined by tdMigDefault , scanBullsMig ,
and devYokeUp . BullsEye will execute a scan routine to determine the TCP, storing
the results in tTestTemp and storing setup information in the BullsEye collection.
Arguments
BESetupToolJ ApprPoint StartPoint TcpExtens ToolDesign Scan Device
Speed 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
positioned so that the tool center pointer (TCP) is located on the scan beam near
its center. The tool should be oriented so that the tool is perpendicular to the
scanning device's scan plane.
![Image]
xx1400001218
TcpExtens
Data type: num
The length of the TCP extension, as measured from the end of the tool body, is
defined here in millimeters.
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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 error
handler.
Syntax
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 74
BESetupToolJ
Technical reference manual - RAPID Instructions, Functions and
Data types
Definition of loaddata
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6.2.3 BERefPointer - BullsEye reference pointer
Continued
6.2.4 BESetupToolJ - BullsEye setup tool joint move
Usage
BESetupToolJ is used to define a TCP and add the tool to the BullsEye collection.
The scanning behavior is dictated by the parameters passed into the instruction.
Basic examples
BESetupToolJ jtApprPoint, jtStartPos,15,tdMigDefault, scanBullsMig,
devYokeUp,v200,fine,tTestTemp;
The tool, tTestTemp , will be added to the BullsEye collection with a TCP extension
of 15 mm and BullsEye parameters defined by tdMigDefault , scanBullsMig ,
and devYokeUp . BullsEye will execute a scan routine to determine the TCP, storing
the results in tTestTemp and storing setup information in the BullsEye collection.
Arguments
BESetupToolJ ApprPoint StartPoint TcpExtens ToolDesign Scan Device
Speed 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
positioned so that the tool center pointer (TCP) is located on the scan beam near
its center. The tool should be oriented so that the tool is perpendicular to the
scanning device's scan plane.
![Image]
xx1400001218
TcpExtens
Data type: num
The length of the TCP extension, as measured from the end of the tool body, is
defined here in millimeters.
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6.2.4 BESetupToolJ - BullsEye setup tool joint move
Units: mm
![Image]
xx1400001237
ToolDesign
Data type: be_tooldesign
The ToolDesign data type describes the tool dimensions and other physical
properties.
Scan
Data type: be_scan
Scan data describes how BullsEye should behave during the scanning process.
Device
Data type: be_device
This data structure contains parameters that are used to describe the scanning
device's properties.
Speed
Data type: speeddata
The speed the TCP will 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 BullsEye collection.
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6.2.4 BESetupToolJ - BullsEye setup tool joint move
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6.2.4 BESetupToolJ - BullsEye setup tool joint move
Usage
BESetupToolJ is used to define a TCP and add the tool to the BullsEye collection.
The scanning behavior is dictated by the parameters passed into the instruction.
Basic examples
BESetupToolJ jtApprPoint, jtStartPos,15,tdMigDefault, scanBullsMig,
devYokeUp,v200,fine,tTestTemp;
The tool, tTestTemp , will be added to the BullsEye collection with a TCP extension
of 15 mm and BullsEye parameters defined by tdMigDefault , scanBullsMig ,
and devYokeUp . BullsEye will execute a scan routine to determine the TCP, storing
the results in tTestTemp and storing setup information in the BullsEye collection.
Arguments
BESetupToolJ ApprPoint StartPoint TcpExtens ToolDesign Scan Device
Speed 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
positioned so that the tool center pointer (TCP) is located on the scan beam near
its center. The tool should be oriented so that the tool is perpendicular to the
scanning device's scan plane.
![Image]
xx1400001218
TcpExtens
Data type: num
The length of the TCP extension, as measured from the end of the tool body, is
defined here in millimeters.
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6.2.4 BESetupToolJ - BullsEye setup tool joint move
Units: mm
![Image]
xx1400001237
ToolDesign
Data type: be_tooldesign
The ToolDesign data type describes the tool dimensions and other physical
properties.
Scan
Data type: be_scan
Scan data describes how BullsEye should behave during the scanning process.
Device
Data type: be_device
This data structure contains parameters that are used to describe the scanning
device's properties.
Speed
Data type: speeddata
The speed the TCP will 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 BullsEye collection.
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6.2.4 BESetupToolJ - BullsEye setup tool joint move
Continued
[\FixedAxes]
Data type: be_fixedaxes
If the robot is moved by a multi-axis mechanical unit and the scanning device is
mounted on one of links of this mechanical unit, other than the final link, this
argument must be used. The structure consists of six boolean flags representing
each of the six possible external axes. If an axis must be in a certain position to
maintain the robot-to-scan-device relationship, then the flag for that axis should
be set to TRUE . For example, if the robot is mounted on a rotating tower with linear
carriage movement on the boom, then it is possible that the BullsEye scanning
device could be mounted to the first link, and the robot mounted to the second
link. In this case, it is necessary to set the FixedAxes flag corresponding to the
linear axis to TRUE , because this axis must be driven to a designated position to
fix the relationship between the scanning device and the robot.
[\ElapsedTime]
Data type: num
This parameter will return the overall time 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 will need
to be set up again. The default is 5 mm when not selected.
Units: mm
[\MeanDev]
Data type: num
BullsEye uses four scan orientations to determine the TCP. Some deviation between
measurements is normal, but excessive deviation suggests that the robot may be
calibrated incorrectly, or the tool or TCP extension may be loose. This parameter
may be queried to evaluate the accuracy of the TCP after the setup is complete.
Units: mm
[\MaxDev]
Data type: num
This parameter may be used together with MeanDev to evaluate the accuracy of
the TCP after the setup is complete.
Units: mm
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6.2.4 BESetupToolJ - BullsEye setup tool joint move
Continued
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Units: mm
![Image]
xx1400001237
ToolDesign
Data type: be_tooldesign
The ToolDesign data type describes the tool dimensions and other physical
properties.
Scan
Data type: be_scan
Scan data describes how BullsEye should behave during the scanning process.
Device
Data type: be_device
This data structure contains parameters that are used to describe the scanning
device's properties.
Speed
Data type: speeddata
The speed the TCP will 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 BullsEye collection.
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6.2.4 BESetupToolJ - BullsEye setup tool joint move
Continued
[\FixedAxes]
Data type: be_fixedaxes
If the robot is moved by a multi-axis mechanical unit and the scanning device is
mounted on one of links of this mechanical unit, other than the final link, this
argument must be used. The structure consists of six boolean flags representing
each of the six possible external axes. If an axis must be in a certain position to
maintain the robot-to-scan-device relationship, then the flag for that axis should
be set to TRUE . For example, if the robot is mounted on a rotating tower with linear
carriage movement on the boom, then it is possible that the BullsEye scanning
device could be mounted to the first link, and the robot mounted to the second
link. In this case, it is necessary to set the FixedAxes flag corresponding to the
linear axis to TRUE , because this axis must be driven to a designated position to
fix the relationship between the scanning device and the robot.
[\ElapsedTime]
Data type: num
This parameter will return the overall time 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 will need
to be set up again. The default is 5 mm when not selected.
Units: mm
[\MeanDev]
Data type: num
BullsEye uses four scan orientations to determine the TCP. Some deviation between
measurements is normal, but excessive deviation suggests that the robot may be
calibrated incorrectly, or the tool or TCP extension may be loose. This parameter
may be queried to evaluate the accuracy of the TCP after the setup is complete.
Units: mm
[\MaxDev]
Data type: num
This parameter may be used together with MeanDev to evaluate the accuracy of
the TCP after the setup is complete.
Units: mm
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6.2.4 BESetupToolJ - BullsEye setup tool joint move
Continued
[\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 > ','
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6.2.4 BESetupToolJ - BullsEye setup tool joint move
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[\FixedAxes]
Data type: be_fixedaxes
If the robot is moved by a multi-axis mechanical unit and the scanning device is
mounted on one of links of this mechanical unit, other than the final link, this
argument must be used. The structure consists of six boolean flags representing
each of the six possible external axes. If an axis must be in a certain position to
maintain the robot-to-scan-device relationship, then the flag for that axis should
be set to TRUE . For example, if the robot is mounted on a rotating tower with linear
carriage movement on the boom, then it is possible that the BullsEye scanning
device could be mounted to the first link, and the robot mounted to the second
link. In this case, it is necessary to set the FixedAxes flag corresponding to the
linear axis to TRUE , because this axis must be driven to a designated position to
fix the relationship between the scanning device and the robot.
[\ElapsedTime]
Data type: num
This parameter will return the overall time 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 will need
to be set up again. The default is 5 mm when not selected.
Units: mm
[\MeanDev]
Data type: num
BullsEye uses four scan orientations to determine the TCP. Some deviation between
measurements is normal, but excessive deviation suggests that the robot may be
calibrated incorrectly, or the tool or TCP extension may be loose. This parameter
may be queried to evaluate the accuracy of the TCP after the setup is complete.
Units: mm
[\MaxDev]
Data type: num
This parameter may be used together with MeanDev to evaluate the accuracy of
the TCP after the setup is complete.
Units: mm
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6.2.4 BESetupToolJ - BullsEye setup tool joint move
Continued
[\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 > ','
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6.2.4 BESetupToolJ - BullsEye setup tool joint move
Continued
[ StartPoint ':='] < expression ( IN ) of jointtarget > ','
[ TcpExtens ':='] < expression ( IN ) of num >
[ ToolDesign ':=' ] < expression ( IN ) of be_tooldesign > ','
[ Scan ':=' ] < expression ( IN ) of be_scan > ','
[ Device ':=' ] < expression ( IN ) of be_device >
[ Speed ':='] < expression ( IN ) of speeddata > ','
[ Zone ':='] < expression ( IN ) of zonedata > ','
[ Tool ':='] < expression ( PERS ) of tooldata > ','
[ '\' FixedAxes ':=' < expression ( IN ) of be_fixedaxes > ]
[ '\' MaxError ':=' < expression ( IN ) of num > ]
[ '\' MaxFromDay1 ':=' < expression ( IN ) of num > ]
[ '\' ElapsedTime ':=' < expression ( 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
Definition of loaddata
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6.2.4 BESetupToolJ - BullsEye setup tool joint move
Continued
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[\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 > ','
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6.2.4 BESetupToolJ - BullsEye setup tool joint move
Continued
[ StartPoint ':='] < expression ( IN ) of jointtarget > ','
[ TcpExtens ':='] < expression ( IN ) of num >
[ ToolDesign ':=' ] < expression ( IN ) of be_tooldesign > ','
[ Scan ':=' ] < expression ( IN ) of be_scan > ','
[ Device ':=' ] < expression ( IN ) of be_device >
[ Speed ':='] < expression ( IN ) of speeddata > ','
[ Zone ':='] < expression ( IN ) of zonedata > ','
[ Tool ':='] < expression ( PERS ) of tooldata > ','
[ '\' FixedAxes ':=' < expression ( IN ) of be_fixedaxes > ]
[ '\' MaxError ':=' < expression ( IN ) of num > ]
[ '\' MaxFromDay1 ':=' < expression ( IN ) of num > ]
[ '\' ElapsedTime ':=' < expression ( 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
Definition of loaddata
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6 RAPID reference
6.2.4 BESetupToolJ - BullsEye setup tool joint move
Continued
6.2.5 BETcpExtend - BullsEye extend TCP
Usage
BETcpExtend is used to vary the TCP along its z-axis. The instruction may be
used to modify electrode stick-out for a tool that has already been set up in BullsEye.
There is no need to re-run the BullsEye initialization and setup routines after making
a change with BETcpExtend .
![Image]
xx1400001237
Basic examples
BETcpExtend tWeldGun\Change:=4;
The tool, tWeldGun , will be altered so that the TCP definition is now 4 mm longer.
All setup information 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.
[\Absolute]
Data type: num
This is the absolute TCP extension that is requested.
[\NewExtens]
Data type: num
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6.2.5 BETcpExtend - BullsEye extend TCP
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[ StartPoint ':='] < expression ( IN ) of jointtarget > ','
[ TcpExtens ':='] < expression ( IN ) of num >
[ ToolDesign ':=' ] < expression ( IN ) of be_tooldesign > ','
[ Scan ':=' ] < expression ( IN ) of be_scan > ','
[ Device ':=' ] < expression ( IN ) of be_device >
[ Speed ':='] < expression ( IN ) of speeddata > ','
[ Zone ':='] < expression ( IN ) of zonedata > ','
[ Tool ':='] < expression ( PERS ) of tooldata > ','
[ '\' FixedAxes ':=' < expression ( IN ) of be_fixedaxes > ]
[ '\' MaxError ':=' < expression ( IN ) of num > ]
[ '\' MaxFromDay1 ':=' < expression ( IN ) of num > ]
[ '\' ElapsedTime ':=' < expression ( 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
Definition of loaddata
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6 RAPID reference
6.2.4 BESetupToolJ - BullsEye setup tool joint move
Continued
6.2.5 BETcpExtend - BullsEye extend TCP
Usage
BETcpExtend is used to vary the TCP along its z-axis. The instruction may be
used to modify electrode stick-out for a tool that has already been set up in BullsEye.
There is no need to re-run the BullsEye initialization and setup routines after making
a change with BETcpExtend .
![Image]
xx1400001237
Basic examples
BETcpExtend tWeldGun\Change:=4;
The tool, tWeldGun , will be altered so that the TCP definition is now 4 mm longer.
All setup information 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.
[\Absolute]
Data type: num
This is the absolute TCP extension that is requested.
[\NewExtens]
Data type: num
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6.2.5 BETcpExtend - BullsEye extend TCP
Returns the value of the new TCP extension. This is useful when using the Change
argument to get the resulting TCP extension.
[\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 .
Program execution
This instruction does not cause robot motion. All data is converted if successful.
Otherwise, no data is converted.
Execution in stepwise mode
Forward
Execution when stepping forward is the same as in continuous 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 ':=' < expression (IN) of num > ]
[ '\' NewExtens ':=' < expression (INOUT) of num > ]
[ '\' Status ':=' < expression (INOUT) of be_status > ] ';'
Related information
Described in:
BESetupToolJ - BullsEye setup tool joint move on page 74
BESetupToolJ
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6.2.5 BETcpExtend - BullsEye extend TCP
Continued
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| 80 |
6.2.5 BETcpExtend - BullsEye extend TCP
Usage
BETcpExtend is used to vary the TCP along its z-axis. The instruction may be
used to modify electrode stick-out for a tool that has already been set up in BullsEye.
There is no need to re-run the BullsEye initialization and setup routines after making
a change with BETcpExtend .
![Image]
xx1400001237
Basic examples
BETcpExtend tWeldGun\Change:=4;
The tool, tWeldGun , will be altered so that the TCP definition is now 4 mm longer.
All setup information 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.
[\Absolute]
Data type: num
This is the absolute TCP extension that is requested.
[\NewExtens]
Data type: num
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6.2.5 BETcpExtend - BullsEye extend TCP
Returns the value of the new TCP extension. This is useful when using the Change
argument to get the resulting TCP extension.
[\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 .
Program execution
This instruction does not cause robot motion. All data is converted if successful.
Otherwise, no data is converted.
Execution in stepwise mode
Forward
Execution when stepping forward is the same as in continuous 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 ':=' < expression (IN) of num > ]
[ '\' NewExtens ':=' < expression (INOUT) of num > ]
[ '\' Status ':=' < expression (INOUT) of be_status > ] ';'
Related information
Described in:
BESetupToolJ - BullsEye setup tool joint move on page 74
BESetupToolJ
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6.2.5 BETcpExtend - BullsEye extend TCP
Continued
6.2.6 BEUpdateTcp - BullsEye update TCP
Usage
BEUpdateTcp is used to measure and update the TCP of a tool that has been
previously initialized and setup with BESetupToolJ .
Basic examples
BEUpdateTcp tTestTemp;
The tool, tTestTemp , will be measured by making a full set of scans, including
scans to update the tool orientation.
BEUpdateTcp tTestTemp\XYZOnly\Status:=beStatus;
As in the previous example, the translational dimensions of the TCP will be updated.
The orientation of the TCP, however, will not be scanned and will not be updated.
This option is used to decrease the time it takes to update the TCP. The optional
argument Status provides status codes after the instruction is run.
Arguments
BEUpdateTcp Tool [\UserInterface] [\XYZOnly] [\ElapsedTime]
[\Status] [\TLoad]
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.
[\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 Response,
string st1,
string st2,
string st3,
string st4,
be_status Condition)
<body of procedure>
ENDPROC
[\XYZOnly]
Data type: switch
If selected, the orientation of the tool will not be measured and will not be updated.
Use this switch when it is undesirable to update the orientation, when the tool
design makes tool straightening impossible, or when update time must be
shortened. Update time may be reduced by as much as 50% when using this
optional switch.
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6.2.6 BEUpdateTcp - BullsEye update TCP
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Returns the value of the new TCP extension. This is useful when using the Change
argument to get the resulting TCP extension.
[\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 .
Program execution
This instruction does not cause robot motion. All data is converted if successful.
Otherwise, no data is converted.
Execution in stepwise mode
Forward
Execution when stepping forward is the same as in continuous 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 ':=' < expression (IN) of num > ]
[ '\' NewExtens ':=' < expression (INOUT) of num > ]
[ '\' Status ':=' < expression (INOUT) of be_status > ] ';'
Related information
Described in:
BESetupToolJ - BullsEye setup tool joint move on page 74
BESetupToolJ
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6.2.5 BETcpExtend - BullsEye extend TCP
Continued
6.2.6 BEUpdateTcp - BullsEye update TCP
Usage
BEUpdateTcp is used to measure and update the TCP of a tool that has been
previously initialized and setup with BESetupToolJ .
Basic examples
BEUpdateTcp tTestTemp;
The tool, tTestTemp , will be measured by making a full set of scans, including
scans to update the tool orientation.
BEUpdateTcp tTestTemp\XYZOnly\Status:=beStatus;
As in the previous example, the translational dimensions of the TCP will be updated.
The orientation of the TCP, however, will not be scanned and will not be updated.
This option is used to decrease the time it takes to update the TCP. The optional
argument Status provides status codes after the instruction is run.
Arguments
BEUpdateTcp Tool [\UserInterface] [\XYZOnly] [\ElapsedTime]
[\Status] [\TLoad]
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.
[\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 Response,
string st1,
string st2,
string st3,
string st4,
be_status Condition)
<body of procedure>
ENDPROC
[\XYZOnly]
Data type: switch
If selected, the orientation of the tool will not be measured and will not be updated.
Use this switch when it is undesirable to update the orientation, when the tool
design makes tool straightening impossible, or when update time must be
shortened. Update time may be reduced by as much as 50% when using this
optional switch.
Continues on next page
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6.2.6 BEUpdateTcp - BullsEye update TCP
[\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
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6.2.6 BEUpdateTcp - BullsEye update TCP
Continued
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6.2.6 BEUpdateTcp - BullsEye update TCP
Usage
BEUpdateTcp is used to measure and update the TCP of a tool that has been
previously initialized and setup with BESetupToolJ .
Basic examples
BEUpdateTcp tTestTemp;
The tool, tTestTemp , will be measured by making a full set of scans, including
scans to update the tool orientation.
BEUpdateTcp tTestTemp\XYZOnly\Status:=beStatus;
As in the previous example, the translational dimensions of the TCP will be updated.
The orientation of the TCP, however, will not be scanned and will not be updated.
This option is used to decrease the time it takes to update the TCP. The optional
argument Status provides status codes after the instruction is run.
Arguments
BEUpdateTcp Tool [\UserInterface] [\XYZOnly] [\ElapsedTime]
[\Status] [\TLoad]
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.
[\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 Response,
string st1,
string st2,
string st3,
string st4,
be_status Condition)
<body of procedure>
ENDPROC
[\XYZOnly]
Data type: switch
If selected, the orientation of the tool will not be measured and will not be updated.
Use this switch when it is undesirable to update the orientation, when the tool
design makes tool straightening impossible, or when update time must be
shortened. Update time may be reduced by as much as 50% when using this
optional switch.
Continues on next page
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6 RAPID reference
6.2.6 BEUpdateTcp - BullsEye update TCP
[\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
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6 RAPID reference
6.2.6 BEUpdateTcp - BullsEye update TCP
Continued
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
BESetupToolJ - BullsEye setup tool joint move on page 74
BESetupToolJ
Application manual - BullsEye
83
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6 RAPID reference
6.2.6 BEUpdateTcp - BullsEye update TCP
Continued
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| 83 |
[\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
82
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© Copyright 2004-2021 ABB. All rights reserved.
6 RAPID reference
6.2.6 BEUpdateTcp - BullsEye update TCP
Continued
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
BESetupToolJ - BullsEye setup tool joint move on page 74
BESetupToolJ
Application manual - BullsEye
83
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© Copyright 2004-2021 ABB. All rights reserved.
6 RAPID reference
6.2.6 BEUpdateTcp - BullsEye update TCP
Continued
6.3 Functions
6.3.1 OffsToolXYZ - Offsets tool cartesian
Usage
OffsToolXYZ is a function that requires an instance of tooldata and an offset
as pos data . The function will return a new tooldata value offset in tool
coordinates by the amount specified by the pos offset .
Basic examples
CONST pos psMyOffset := [1,2,3];
tMyOffsetTool:=OffsToolXYZ (tMyOriginalTool,psMyOffset);
The tool is offset 1 mm in X, 2 mm in Y, and 3 mm in 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 85
OffsToolPolar
Technical reference manual - RAPID Instructions, Functions and
Data types
Definition of pos
84
Application manual - BullsEye
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© Copyright 2004-2021 ABB. All rights reserved.
6 RAPID reference
6.3.1 OffsToolXYZ - Offsets tool cartesian
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| 84 |
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
BESetupToolJ - BullsEye setup tool joint move on page 74
BESetupToolJ
Application manual - BullsEye
83
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© Copyright 2004-2021 ABB. All rights reserved.
6 RAPID reference
6.2.6 BEUpdateTcp - BullsEye update TCP
Continued
6.3 Functions
6.3.1 OffsToolXYZ - Offsets tool cartesian
Usage
OffsToolXYZ is a function that requires an instance of tooldata and an offset
as pos data . The function will return a new tooldata value offset in tool
coordinates by the amount specified by the pos offset .
Basic examples
CONST pos psMyOffset := [1,2,3];
tMyOffsetTool:=OffsToolXYZ (tMyOriginalTool,psMyOffset);
The tool is offset 1 mm in X, 2 mm in Y, and 3 mm in 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 85
OffsToolPolar
Technical reference manual - RAPID Instructions, Functions and
Data types
Definition of pos
84
Application manual - BullsEye
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
6 RAPID reference
6.3.1 OffsToolXYZ - Offsets tool cartesian
6.3.2 OffsToolPolar - Offsets tool cartesian
Usage
OffsToolPolar is a function that requires an instance of tooldata , an offset
radius as num data, and an angle as num . The function will return a new tooldata
value offset in tool coordinates by the amount specified by the offset in the direction
specified in the angle.
Basic examples
CONST num MyRadius := 3;
CONST num MyAngle := 35;
tMyOffsetTool:=OffsToolPolar (tMyOriginalTool, MyRadius, MyAngle);
The tool is offset 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 > ')'
Related information
Described in:
OffsToolXYZ - Offsets tool cartesian on page 84
OffsToolXYZ
Application manual - BullsEye
85
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
6 RAPID reference
6.3.2 OffsToolPolar - Offsets tool cartesian
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| 85 |
6.3 Functions
6.3.1 OffsToolXYZ - Offsets tool cartesian
Usage
OffsToolXYZ is a function that requires an instance of tooldata and an offset
as pos data . The function will return a new tooldata value offset in tool
coordinates by the amount specified by the pos offset .
Basic examples
CONST pos psMyOffset := [1,2,3];
tMyOffsetTool:=OffsToolXYZ (tMyOriginalTool,psMyOffset);
The tool is offset 1 mm in X, 2 mm in Y, and 3 mm in 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 85
OffsToolPolar
Technical reference manual - RAPID Instructions, Functions and
Data types
Definition of pos
84
Application manual - BullsEye
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
6 RAPID reference
6.3.1 OffsToolXYZ - Offsets tool cartesian
6.3.2 OffsToolPolar - Offsets tool cartesian
Usage
OffsToolPolar is a function that requires an instance of tooldata , an offset
radius as num data, and an angle as num . The function will return a new tooldata
value offset in tool coordinates by the amount specified by the offset in the direction
specified in the angle.
Basic examples
CONST num MyRadius := 3;
CONST num MyAngle := 35;
tMyOffsetTool:=OffsToolPolar (tMyOriginalTool, MyRadius, MyAngle);
The tool is offset 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 > ')'
Related information
Described in:
OffsToolXYZ - Offsets tool cartesian on page 84
OffsToolXYZ
Application manual - BullsEye
85
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
6 RAPID reference
6.3.2 OffsToolPolar - Offsets tool cartesian
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| 86 |
6.3.2 OffsToolPolar - Offsets tool cartesian
Usage
OffsToolPolar is a function that requires an instance of tooldata , an offset
radius as num data, and an angle as num . The function will return a new tooldata
value offset in tool coordinates by the amount specified by the offset in the direction
specified in the angle.
Basic examples
CONST num MyRadius := 3;
CONST num MyAngle := 35;
tMyOffsetTool:=OffsToolPolar (tMyOriginalTool, MyRadius, MyAngle);
The tool is offset 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 > ')'
Related information
Described in:
OffsToolXYZ - Offsets tool cartesian on page 84
OffsToolXYZ
Application manual - BullsEye
85
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
6 RAPID reference
6.3.2 OffsToolPolar - Offsets tool cartesian
This page is intentionally left blank
7 Spare parts
Introduction
The spare parts list contains all information required for ordering special parts of
the TCP gauging unit. Make sure that you give us the precise description of the
part which you require.
Required equipment
A pair of special-purpose pliers is essential for fitting the fiber-optic cable for the
TCP gauging unit.
TCP 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
![Image]
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
002
Continues on next page
Application manual - BullsEye
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© Copyright 2004-2021 ABB. All rights reserved.
7 Spare parts
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| 87 |
This page is intentionally left blank
7 Spare parts
Introduction
The spare parts list contains all information required for ordering special parts of
the TCP gauging unit. Make sure that you give us the precise description of the
part which you require.
Required equipment
A pair of special-purpose pliers is essential for fitting the fiber-optic cable for the
TCP gauging unit.
TCP 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
![Image]
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
002
Continues on next page
Application manual - BullsEye
87
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
7 Spare parts
Note
Description
Article num-
ber
Pos
7 m
Ext. cable
0503293880
003
10 m
Ext. cable
0503293881
003
15 m
Ext. cable
0503293883
003
![Image]
xx1400002305
88
Application manual - BullsEye
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
7 Spare parts
Continued
|
ABB_Application_Manual_Bullseye
|
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| 88 |
7 Spare parts
Introduction
The spare parts list contains all information required for ordering special parts of
the TCP gauging unit. Make sure that you give us the precise description of the
part which you require.
Required equipment
A pair of special-purpose pliers is essential for fitting the fiber-optic cable for the
TCP gauging unit.
TCP 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
![Image]
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
002
Continues on next page
Application manual - BullsEye
87
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
7 Spare parts
Note
Description
Article num-
ber
Pos
7 m
Ext. cable
0503293880
003
10 m
Ext. cable
0503293881
003
15 m
Ext. cable
0503293883
003
![Image]
xx1400002305
88
Application manual - BullsEye
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
7 Spare parts
Continued
Index
B
be_device, 55
be_scan, 58
be_tooldesign, 61
BECheckTcp, 67
BEDebugState, 70
BERefPointer, 71
BESetupToolJ, 74
BETcpExtend, 79
BEUpdateTcp, 81
C
cabinet lock, 14
H
hazard levels, 11
O
OffsToolPolar, 85
OffsToolXYZ, 84
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
89
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
Index
|
ABB_Application_Manual_Bullseye
|
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| 89 |
Note
Description
Article num-
ber
Pos
7 m
Ext. cable
0503293880
003
10 m
Ext. cable
0503293881
003
15 m
Ext. cable
0503293883
003
![Image]
xx1400002305
88
Application manual - BullsEye
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
7 Spare parts
Continued
Index
B
be_device, 55
be_scan, 58
be_tooldesign, 61
BECheckTcp, 67
BEDebugState, 70
BERefPointer, 71
BESetupToolJ, 74
BETcpExtend, 79
BEUpdateTcp, 81
C
cabinet lock, 14
H
hazard levels, 11
O
OffsToolPolar, 85
OffsToolXYZ, 84
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
89
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
Index
|
ABB_Application_Manual_Bullseye
|
https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Arc%20Welding%20Equipment/en/3HAC050989-001.pdf
| 90 |
Index
B
be_device, 55
be_scan, 58
be_tooldesign, 61
BECheckTcp, 67
BEDebugState, 70
BERefPointer, 71
BESetupToolJ, 74
BETcpExtend, 79
BEUpdateTcp, 81
C
cabinet lock, 14
H
hazard levels, 11
O
OffsToolPolar, 85
OffsToolXYZ, 84
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
89
3HAC050989-001 Revision: F
© Copyright 2004-2021 ABB. All rights reserved.
Index
|
ABB_Application_Manual_Bullseye
|
https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Arc%20Welding%20Equipment/en/3HAC050989-001.pdf
| 91 |
ABB AB
Robotics & Discrete Automation
S-721 68 VÄSTERÅS, Sweden
Telephone +46 (0) 21 344 400
ABB AS
Robotics & Discrete Automation
Nordlysvegen 7, N-4340 BRYNE, Norway
Box 265, N-4349 BRYNE, Norway
Telephone: +47 22 87 2000
ABB Engineering (Shanghai) Ltd.
Robotics & Discrete Automation
No. 4528 Kangxin Highway
PuDong District
SHANGHAI 201319, China
Telephone: +86 21 6105 6666
ABB Inc.
Robotics & Discrete Automation
1250 Brown Road
Auburn Hills, MI 48326
USA
Telephone: +1 248 391 9000
abb.com/robotics
3HAC050989-001, Rev F, en
© Copyright 2004-2021 ABB. All rights reserved.
Specifications subject to change without notice.
|
ABB_Application_Manual_Bullseye
|
https://www.uzivatelskadokumentace.cz/Application%20Equipment%20&%20Accessories/Arc%20Welding%20Equipment/en/3HAC050989-001.pdf
| 92 |
ABB AB
Robotics & Discrete Automation
S-721 68 VÄSTERÅS, Sweden
Telephone +46 (0) 21 344 400
ABB AS
Robotics & Discrete Automation
Nordlysvegen 7, N-4340 BRYNE, Norway
Box 265, N-4349 BRYNE, Norway
Telephone: +47 22 87 2000
ABB Engineering (Shanghai) Ltd.
Robotics & Discrete Automation
No. 4528 Kangxin Highway
PuDong District
SHANGHAI 201319, China
Telephone: +86 21 6105 6666
ABB Inc.
Robotics & Discrete Automation
1250 Brown Road
Auburn Hills, MI 48326
USA
Telephone: +1 248 391 9000
abb.com/robotics
3HAC050989-001, Rev F, en
© Copyright 2004-2021 ABB. All rights reserved.
Specifications subject to change without notice.
|
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