ABB BullsEye 7 User Manual page 35

Robot on a gantry system
The BullsEye® is mounted to a moving part of the gantry system. With a gantry
system there is not a coordinate system that is referenced to the base of the robot.
In this case a work object has to be created every time the BullsEye® program is
executed.
The object frame is used by the BullsEye® routine and has to be set to 0.
PERS wobjdata obGantry:=
[FALSE,TRUE,"",[[1000,1000,1000],[1,0,0,0]],[[0,0,0],[1,0,0,0]]];
CONST jointtarget jByFrame:=*;
PROC SetupBullsEye()
! Program a point where the tool0 z axis is aligned with world z
GetGantryFrame jByFrame, obGantry.uframe,v100;
GetNewTCPDatatWeldGun,1\DoSetup\WObj:=obGantry
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\WObj:=obGantry)THEN
! Program a point where the tool0 z axis is aligned with world z
GetGantryFrame jByFrame, obGantry.uframe,v100;
GetNewTCPDatatWeldGun,1\WObj:=obGantry;
ENDIF
ERROR
Standard BullsEye error handler
ENDPROC
505 942-102
BullsEye® 7
User's Guide
35