ABB BullsEye Applications Manual page 52

5 User guide
5.5 Frequently asked questions
Continued
the robot also allows the possibility of executing TCP checks anywhere in the
working range of the robot carrier. This can cut TCP checking time tremendously.
How do I set up BullsEye when the robot is moved by a track?
If the BullsEye scanning device is mounted on the carrier with the robot, no changes
are needed. This is the preferred method since it negates the positional inaccuracy
of the robot carrier. If the BullsEye scanning device is fixed in the world, then a
flag must be set in the be_device data to inform BullsEye.
The flag in the device data is called MovedWithRobot. For more information see
be_device - Device data on page
Can I change my TCP extension without rerunning the initialization?
Yes. Use the BETcpExtend instruction, see
on page
Can the BullsEye yoke be mounted in any orientation?
Yes, but the BullsEye scanning device must be mounted so that the scan plane is
parallel with the robot's physical base surface.
How do I set up a non-ABB supplied I/O device?
Only ABB I/O devices are guaranteed to work with BullsEye. Many I/O devices
from other vendors are too slow or too unrepeatable to allow BullsEye to work
correctly When using non-ABB devices, you may need to slow the scan speeds
substantially to improve accuracy.
A WAGO I/O device, for example, may be used in the COS (Change of State) mode,
but the PIT (Production Inhibit Time) should be reduced as much as possible,
preferably to zero. This is done in the system parameter Production inhibit time,
in the topic I/O, the type Unit Type.
What is a convergence error?
BullsEye measures the TCP more than once during the setup. It converges on a
solution that is within limits influenced by the be_device data, Repeatability.
If the deviation between two TCP measurements cannot be reduced to a level
specified by the Repeatability value, BullsEye eventually times-out and reports
a convergence error.
Convergence errors can occur for a variety of reasons:
Problem
Incorrect parameters are used in the setup.
The tool is not mounted securely or tool
mount bracket is too flexible.
The relationship between the BullsEye sensor
and the robot base is not solid.
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52
CONST be_device devYokeUpTrack:=["diBE_SENSE",
TRUE,[6,45,100,100],[40,45,100,100],0.10,FALSE, FALSE,TRUE];
77.
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55.
BETcpExtend - BullsEye extend TCP
Solution
This can be corrected by fixing the parameter
values to match the tool and scanning
equipment.
This can be corrected by improving the tool
mount.
This can be corrected by improving the
mounting structures.
Application manual - BullsEye
3HAC050989-001 Revision: C