ABB BullsEye 7 User Manual page 36

BullsEye® 7
User's Guide
GetGantryFrame
The GetGantryFrame instruction is basically an encapsulated MoveAbsJ
instruction "MoveAbsJ ToJointPos,Speed,fine,tool0" that returns the frame of
tool0 when the location is reached.
The procedure can be used to calculate a frame based on a robot joint move. This is
needed when the robot is mounted on a gantry system and the Bullseye moves with
the gantry.
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Arguments
GetGantryFrame ToJointPos Frame [\ExtAxes] Speed [\Ax7]
[\Ax8] [\Ax9] [\Ax10] [\nAx11] [\Ax12]
ToJointPos (To Joint Position)
The destination absolute joint position of the robot and external axes. It is defined
as a named position or stored directly in the instruction (marked with an * in the
instruction).
Frame
INOUT parameter that returns the location of tool0 as a frame when the
programmed location is reached. The bulleye routine can then be executed in the
calculated frame.
[\ExtAxes]
INOUT parameter that returns the present location of all external axes.
Speed
The speed data that applies to movements. Speed data defines the velocity of the
tool centre point, the tool reorientation and external axes.
[\Ax7]- [\Ax12]
The Ax7 to Ax12 parameter is used to force one or multiple axes to a specific
location. If not used, no external axes will move when executed.
36
Calculates a new frame
Data type: jointtarget
Data type: pose
Data type: extjoint
Data type: speeddata
Data type: num
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