ABB BullsEye 7 User Manual page 34

BullsEye® 7
User's Guide
Example
Normal setup
Stationary robot with the bullseye mounted to the floor.
The SetupBullsEye procedure is used when the BullsEye® needs to be setup.
After execution, the tWeldGun variables will have new values. The tWeldGun
variable can be replaced with your tcp name if different.
PROC SetupBullsEye()
GetNewTCPDatatWeldGun,1\DoSetup
ERROR
Standard BullsEye error handler
ENDPROC
The CheckTcp procedure is used when the tcp needs to be checked. If the tcp is OK
the IsTCPOK will return TRUE. The tWeldGun variable can be replaced with your
tcp name if different.
PROC CheckTcp()
IF NOT IsTCPOK(1) THEN
GetNewTCPDatatWeldGun,1;
ENDIF
ERROR
Standard BullsEye error handler
ENDPROC
Robot on a track system
The bullseye is mounted to the moving part of the track. With this setup, the tcp
can be checked at any location along the track.
PERS wobjdata obTrack:=
[FALSE,FALSE,"TRACK",[[0,0,0],[1,0,0,0]],[[0,0,0],[1,0,0,0]]];
PROC SetupBullsEye()
GetNewTCPDatatWeldGun,1\DoSetup\WObj:=obTrack
ERROR
Standard BullsEye error handler
ENDPROC
The CheckTcp procedure is used when the tcp needs to be checked. If the tcp is
OK the IsTCPOK will return TRUE. The tWeldGun variable can be replaced with
your tcp name if different.
PROC CheckTcp()
IF NOT IsTCPOK(1) THEN
GetNewTCPDatatWeldGun,1;
ENDIF
ERROR
Standard BullsEye error handler
ENDPROC
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