Operation; Basic Operation - ABB BullsEye 7 User Manual

5 Operation

5.1 Basic Operation

When the CheckTCP routine is called by the robot, the BullsEye
TCP. A system with EasyArc installed will have menus which allow the operator to
easily execute the procedure call and handle movements from the system's safe
position and the approach point to the BullsEye
EasyArc CheckTCP can be executed directly. In either event, one of the following
will happen:
If the TCP is very close to the Day-1 TCP values, no update is made, and
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the robot returns to production.
If the TCP is within a predetermined allowed error (X,Y, & Z combined) of
2
its Day-1 set up TCP, BullsEye
robot to return to production. The allowed error will be set at 5mm, unless
the optional set up parameter MaxFrDay1 is set to some other value. If the
program running in manual teach mode the following options become
available in this situation:
Program Waiting for Data!
Tcp does not match "Present" definition:
Present_TCP - Day1_TCP SetupNo:
x=2
Day1Tcp: tcp when setup was made
Present: tcp with present values
Move to pointer before updating TCP?
Select which tcp to use at pointer or
NO to continue with tcp update.
If the tool is known to be bent, it is recommended that the torch be bent back to the
original position. By selecting Day1Tcp the robot will move to the reference
pointer defined during the set up. Selecting NO allows the robot to continue with
updating the TCP, much as it would do in automatic mode. Selecting either
Day1Tcp or Present TCP allows the robot to move to the pointer with that
respective tool active. The following screen will appear:
Program Waiting for Data!
The gun should now be on the pointer.
If not, it may need to be manually
bent back to the pointer.
Select which tcp to use at pointer or PROCEED to continue.
505 942-102
®
Y=2 Z=1
Day1Tcp
®
unit. In a system without
will automatically update it and allow the
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Present NO
Day1Tcp/Present NO
BullsEye® 7
Operation
®
will measure the
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