ABB BullsEye Applications Manual page 53

Problem
The I/O system is not responsive enough.
The I/O not repeatable enough.
Motor calibration wrong.
Inaccurate robot due to bearing imperfec-
tions.
The BullsEye sensor is faulty.
How do I setup BullsEye to calibrate a tool like this?
xx1400001227
There is a be_tooldesign instance provided as a default constant for a similar
tool called tdCalibBall:
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:
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
Application manual - BullsEye
3HAC050989-001 Revision: C
CONST be_tooldesign tdCalibBall:=
[TRUE,30,1,55,12,4,FALSE,FALSE,1.2,[130,100,100,100],
[220,130,100,100]];
CONST be_tooldesign tdMyProbe:=
[TRUE,30,1,50,3.5,4,FALSE,FALSE,1.2,[130,100,100,100],
[220,130,100,100]];
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5.5 Frequently asked questions
Solution
This can be corrected by reducing the search
speeds.
Non-ABB I/O equipment could be improved
by changing the configuration. See
I set up a non-ABB supplied I/O device? on
page 52.
Check calibration.
Increasing the Repeatability value can
work.
Occasionally there are problems with the
optical sensor. These must be replaced.
Continues on next page
5 User guide
Continued
How do
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