Besetuptoolj - Bullseye Setup Tool Joint Move - ABB BullsEye Applications Manual

6 RAPID reference

6.2.4 BESetupToolJ - BullsEye setup tool joint move

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
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
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.
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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BESetupToolJ jtApprPoint, jtStartPos,15,tdMigDefault, scanBullsMig,
devYokeUp,v200,fine,tTestTemp;
BESetupToolJ ApprPoint StartPoint TcpExtens ToolDesign Scan Device
Speed Zone Tool [\FixedAxes] [\ElapsedTime] [\MaxError]
[\MaxFromDay1] [\MeanDev] [\MaxDev] [\CheckRange]
[\CheckBeamAngle] [\TLoad]
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Application manual - BullsEye
3HAC050989-001 Revision: C