ABB BullsEye Applications Manual page 49

Error name
BERefPosSetErr
BERefToolSetErr
BERefBeamSetErr
BEBFrameDefErr
BESetupAlready
BERefResetErr
BESetupFailed
BE Start Not Set
BEToolNotSet
BEStartChanged
BEBeamMoveErr
BECheckErr
BESkipUpdate
BEStrtningErr
BEAllNotSet
BEQuikRefNotDef
BEConvergErr
BEInstFwdErr
Application manual - BullsEye
3HAC050989-001 Revision: C
Error Description
code
26 Reference position data could not be written to BE_Data.
27 Reference tool data could not be written to BE_Data.
28 Reference beam data could not be written to BE_Data.
29 BullsEye does not understand the base frame definition of
the robot. Verify that the manipulator parameters are correct
(MOC.cfg).
30 This tool is already set-up. Use the optional argument n with
BESetupToolJ to redo the setup.
31 The reference data could not be reset. This indicates that
BullsEye could not write to the BE_Data module.
32 The instruction BESetupToolJ failed for some unknown
reason.
33 The start position is not set for this tool. Run BESetupToolJ
to correct the problem.
34 The tool is not set up. Run BESetupToolJ to correct the
problem.
35 The start position has changed. This can only occur by
manually changing data in the BE_Data module, loading a
BE_Data module from a different robot, or by loading the
wrong version of the BE_Data module. Load the correct
BE_Data module, or reinitialize and run the setup instruction.
36 BullsEye has detected that the beam has moved. Re-run the
setup.
37 There was a problem in the BECheckTcp instruction. The
cause is unknown.
38 The TCP has moved, but the operator did not accept the
change.
39 An error occurred while straightening the tool. The tool may
be very bent, the tool dimensions may be wrong in
be_tooldesign, or the scan margins may be too small in
be_scan.
40 The tool is not completely set-up. Redo the setup by running
BESetupToolJ. If the same error occurs, re-initialize the
tool with BESetupToolJ before running BESetupToolJ.
41 The QuickCheck functionality in BECheckTcp could not run
because the quick reference position was not saved during
the setup. Redo the setup with BESetupToolJ.
42 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.
43 BESetupToolJ cannot be run in step-forward mode. Execute
in continuous mode to setup the tool.
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5 User guide
5.4 BullsEye status codes
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