Assembly Of Tcp Gauging With Stand; Assembly Site And Alignment - ABB TSC 2013 Assembly Instructions Manual

Torch service center

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4.7.2

Assembly of TCP gauging with stand

4.7.3

Assemble the welding gun on the robot so that the torch axis points in the X-direction of the wrist.

The installation site of the TCP gauging unit must be in the working range of the robot so that no

singularity and end positions of the robot are reached.

Place the TCP gauging unit at the desired place in front or alongside the robot. Do not yet fasten,

but secure against tipping over!

It is optionally possible to install the TCP gauging unit suspended (e.g. from the cell ceiling).

The direction of the sensor should be aligned parallel to the robot base coordinates system in the

x- or y-direction. The y-axis of the write coordinates system on the robot should always be parallel

to the direction of the light barrier. This specification also results in alignment of the TCP gauging

unit to the robot base coordinates system.

The assembly site in the robot working range must be selected so that rotation about the torch

axis of at least 30° is possible. Greater accuracy is provided by 45° rotation, which should prefer-

ably be selected in the setup.

TCP gauging (BullsEye

In assembling the TCP gauging unit with stand (stand-

alone version), proceed as described in Section 2.4

Assembly and disassembly of the TC 2013.

)

3HDA000057A8519-001

NOTICE

Assembly

4-9

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