ABB BullsEye 7 User Manual page 37

Tool orientation
The BullsEye program always defines the tool z-axis as straight out from the torch
gas nozzle. The tool x-axis will be oriented in such as way that it is parallel with
tool0 z-axis. The positive direction will be towards the robot face plate.
In most cases the orientation will be the same as doing a manual 5-point
calibration. With the exception of when a tool has a negative x component (robot is
overhead and the tool is pointing down). In this case using the manual method, the
x-axis will come out 180 degrees opposite of the bullseye method.
Recommendation
Always define the tool using the bullseye or use the 6-point method when the robot
is mounted overhead.
7.2.1 Description of the 5 and 6 point method
•
5-point TCP&Z
Four approach points are used to define the TCP and one elongator point is
used to define the z direction of the tool. The x and y directions will be as
close as possible to the corresponding axes in the wrist coordinate system.
Using the 5-point method, the TCP and the tool's z direction are defined.
The x and y directions are set automatically by the robot.
•
6-point TCP&ZX
Four approach points are used to define the TCP, one elongator point is used
to define the z direction and one elongator point is used to define the x
direction of the tool.
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BullsEye® 7
User's Guide
37