ABB BullsEye Applications Manual page 48

5 User guide
5.4 BullsEye status codes
Continued
Error name
BEScanRadZero
BEHeightSrchErr
BEBeamNotFound
BEBeamSpinErr
BESrchErrInBeam
BESrchErrNoDet
BENumOfScansErr
BEDiaZeroOrLess
BESliceCountErr
BEGetNewTcpMax
BEBeamOriFail
BEGetTcpDelErr
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48
Error Description
code
14 The parameter InitPatternRad, in be_scan data is neg-
ative or zero. For a standard yoke-style beam-type scanning
device, this value should be about 25 mm. Correct the data
problem before retrying.
15 The height search failed. Check that the proximity sensor in
the tool is working properly and check that the height search
instruction is named correctly in be_scan data. The height
search instruction is tool-dependent and is not a part of the
BullsEye software.
16 The robot could not locate the sensing beam of the scan
device. Check to see that the tool is passing through the
beam and that the sensor is triggering the digital input asso-
ciated with it.
17 Although the beam was located, its orientation could not be
determined.
18 BullsEye attempted to make a scan, but the start position of
the scan broke the beam. Check that the tool dimensions
are correct in be_tooldesign. Check that the scan margins
are sufficient in be_scan. Check that the scanning device
is triggering properly. Check that the robot is calibrated.
19 BullsEye attempted to make a scan, but the scanning device
never detected the tool. Check that the tool dimensions are
correct in be_tooldesign. Check that the scanning device
is triggering properly. Check that the robot is calibrated.
20 The number of redundant scans requested in the be_scan
data, is less-than or equal to zero, or is not an integer.
21 While scanning to find the center of the tool, the diameter
of the tool was found to be less-than or equal to zero. Check
that the tool dimensions are correct in be_tooldesign.
Check that the scanning device is triggering properly. Check
that the robot is calibrated.
22 BullsEye will take "slices" of the tool to find the end of the
tool. If it cannot find the end of the tool in a reasonable
number of scans, the instruction will be aborted and this
message will be raised. Verify that the flag, Inverted, is
set properly in be_device data. Verify that the slice thick-
ness specified in <be_tooldesign>.SliceGap is appropri-
ate. Verify that the start position is defined correctly.
23 BullsEye will iterate until it converges to a TCP definition
that is within the requested repeatability. If it cannot arrive
at a good TCP after a reasonable number of iterations, the
process will be aborted and this error code will be raised.
This error can result if the repeatability, specified in the
be_device data, is unreasonably small, or if the robot has
an accuracy problem. Robot accuracy problems can be
caused by incorrect calibration or damaged robot arm com-
ponents.
24 The beam orientation could not be fine-tuned correctly.
Check that the tool is perpendicular to the scan plane when
at the start position.
25 BullsEye failed to determine the change in the TCP for the
current iteration. This problem typically arises when the robot
calibration is wrong, or when tool dimensions specified in
be_tooldesign are incorrect.
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Application manual - BullsEye
3HAC050989-001 Revision: C