Theory Of Operation - ABB BullsEye 7 User Manual

BullsEye® 7
Product Description

3.2 Theory of Operation

When the robot is instructed to revolve around the TCP all robot axes will move
accordingly to keep the TCP constant (See Figure 4 and Figure 5). If the torch is
bumped and the program is run again, the robot repeats its same movements but it
is possible that the TCP will no longer follow the same programmed path due to
misalignment. You now have two choices:
Physically move the torch back into alignment (a task that could be difficult
1
if not impossible)
Adjust for the misalignment automatically by redefining the TCP to the new
2
torch position using the BullsEye
current TCP definition, the torch will rotate around the TCP as before
because the robot arm has adjusted its path to compensate for the torch
misalignment.
Figure 5 Robot Arm Follows Same Path But Torch Path Has Changed
10
Figure 4 Robot Arm and Torch Movement With Correct TCP
®
. After the BullsEye
®
system updates the
505 942-102