ABB BullsEye Applications Manual page 35

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Application manual - BullsEye
3HAC050989-001 Revision: C
Action
The approach position, in this example, jtApprPos, is an intermediate point that
should be defined near the BullsEye sensor to allow unobstructed access to the
sensor.
The start position, in this example, jtStartPos, defines the starting point for the
measurement scans. The movements made by the global method BESetupToolJ
are dictated by this starting position. This position must be chosen so that the robot
will not reach its joint limits or pass too close to singularity. This takes practice and
patience. Try to choose a position that does not put the robot near its joint limits to
start. The start position should have the actual TCP near the center of the beam.
The following figure shows a start position.
xx1400001218
After the start position comes the TCP extension. This is the length of the TCP ex-
tension in millimeters. On a MIG welding torch this corresponds to wire stick-out as
measured from the end of the gas cup.
BESetupToolJ jtApprPos, jtStartPos, 15, tdMigDefault, scan-
BullsMig, devYokeUp, v100, fine, tWeldGun;
After the TCP extension comes three BullsEye specific data types called Tool
Design Data, Scan Data, and Device Data.
These three data types provide configurable parameters used to influence the beha-
vior of BullsEye for the newly added tool. The names of the data type are
be_tooldesign, be_scan, and be_device, respectively. This section will cover
some of the basic parameters. For more detailed information refer to the section
Data types on page 55.
BESetupToolJ jtApprPos, jtStartPos, 15, tdMigDefault, scan-
BullsMig, devYokeUp, v100, fine, tWeldGun;
The next argument in the BESetupToolJ instruction is the speeddata argument.
The robot will move to the approach position with this TCP speed.
BESetupToolJ jtApprPos, jtStartPos, 15, tdMigDefault, scan-
BullsMig, devYokeUp, v100, fine, tWeldGun;
The BESetupToolJ instruction contains a zonedata argument. This zone will affect
the behavior of the path as the robot moves past the approach position.
BESetupToolJ jtApprPos, jtStartPos, 15, tdMigDefault, scan-
BullsMig, devYokeUp, v100, fine, tWeldGun;
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5 User guide
5.3.2 Defining a tool
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