ABB BullsEye Instructions for use

ROBOTICS
Application manual
BullsEye

Trace back information:
Workspace R18-2 version a11
Checked in 2018-10-11
Skribenta version 5.3.008

Application manual
BullsEye
RobotWare 6.08
Document ID: 3HAC050989-001
Revision: C
© Copyright 2004-2018 ABB. All rights reserved.
Specifications subject to change without notice.

The information in this manual is subject to change without notice and should not
be construed as a commitment by ABB. ABB assumes no responsibility for any errors
that may appear in this manual.
Except as may be expressly stated anywhere in this manual, nothing herein shall be
construed as any kind of guarantee or warranty by ABB for losses, damages to
persons or property, fitness for a specific purpose or the like.
In no event shall ABB be liable for incidental or consequential damages arising from
use of this manual and products described herein.
This manual and parts thereof must not be reproduced or copied without ABB's
written permission.
Keep for future reference.
Additional copies of this manual may be obtained from ABB.
Original instructions.
© Copyright 2004-2018 ABB. All rights reserved.
Specifications subject to change without notice.
ABB AB, Robotics
Robotics and Motion
Se-721 68 Västerås
Sweden

Table of contents
7Overview of this manual ...................................................................................................................
9Product documentation ....................................................................................................................
111 Safety
111.1 Safety signals in the manual ................................................................................
131.2 Make sure that the main power has been switched off ..............................................
141.3 Risks associated with live electric parts .................................................................
152 Introduction to BullsEye®
152.1 Product overview ..............................................................................................
172.2 Theory of operation ...........................................................................................
192.3 Limitations .......................................................................................................
212.4 Safety information .............................................................................................
233 Installation
274 Maintenance
295 User guide
305.1 Overview .........................................................................................................
315.2 Data storage .....................................................................................................
325.3 Using BullsEye .................................................................................................
335.3.1 The global methods of BullsEye .................................................................
345.3.2 Defining a tool ........................................................................................
375.3.3 Default BullsEye data ...............................................................................
385.3.4 Selecting different BullsEye data ................................................................
415.3.5 Creating new BullsEye data instances .........................................................
455.3.6 BullsEye data parameters .........................................................................
465.3.7 QuickCheck ...........................................................................................
475.4 BullsEye status codes ........................................................................................
515.5 Frequently asked questions ................................................................................
556 RAPID reference
556.1 Data types .......................................................................................................
556.1.1 be_device - Device data ...........................................................................
586.1.2 be_scan - Scan data ................................................................................
616.1.3 be_tooldesign - Tool design ......................................................................
656.2 Instructions ......................................................................................................
656.2.1 BECheckTcp - BullsEye check TCP ............................................................
686.2.2 BEDebugState - Debug state control ...........................................................
696.2.3 BERefPointer - BullsEye reference pointer ...................................................
726.2.4 BESetupToolJ - BullsEye setup tool joint move .............................................
776.2.5 BETcpExtend - BullsEye extend TCP ..........................................................
796.2.6 BEUpdateTcp - BullsEye update TCP ..........................................................
826.3 Functions ........................................................................................................
826.3.1 OffsToolXYZ - Offsets tool cartesian ...........................................................
836.3.2 OffsToolPolar - Offsets tool cartesian ..........................................................
857 Spare parts
87Index
Application manual - BullsEye 5
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Table of contents

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Overview of this manual
About this manual
This manual explains the basics of when and how to use the option BullsEye®.
• Product overview
• Operation overview
• Requirements overview
• Software set-up
• Software reference, RAPID
Usage
This manual can be used either as a reference to find out if an option is the right
choice for solving a problem, or as a description of how to use an option. Detailed
information regarding syntax for RAPID routines, and similar, is not described here,
but can be found in the respective reference manual.
Who should read this manual?
This manual is intended for:
• installation personnel
• maintenance personnel
• repair personnel.
• robot programmers
Prerequisites
Maintenance/repair/installation personnel working with an ABB Robot must:
• be trained by ABB and have the required knowledge of mechanical and
electrical installation/repair/maintenance work.
• be familiar with industrial robots and their terminology
• be familiar with the RAPID programming language
• be familiar with system parameters and how to configure them.
Reference documents
Document IDReferences
3HAC031045-001Operating manual - General safety information i
3HAC050917-001Technical reference manual - RAPID Instructions, Functions
and Data types
3HAC050947-001Technical reference manual - RAPID Overview
3HAC050941-001Operating manual - IRC5 with FlexPendant
3HAC050948-001Technical reference manual - System parameters
3HAC032104-001Operating manual - RobotStudio
3HAC052855-001Application manual - Production Manager
iThis manual contains all safety instructions from the product manuals for the manipulators and the
controllers.
Continues on next page
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Overview of this manual

Revisions
DescriptionRevision
Released with RobotWare 6.0.-
Released with RobotWare 6.04.
• BullsEye is now a separate RobotWare option.
A
Released with RobotWare 6.07.
• Added information about EIO configuration in section Installation on
page 23.
B
Released with RobotWare 6.08.
•Updated the example for argument [\UserInterface] for the RAPID
instructions BECheckTcp,BERefPointer and BEUpdateTcp.
C
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Overview of this manual
Continued

Product documentation
Categories for user documentation from ABB Robotics
The user documentation from ABB Robotics is divided into a number of categories.
This listing is based on the type of information in the documents, regardless of
whether the products are standard or optional.
All documents can be found via myABB Business Portal, www.myportal.abb.com.
Product manuals
Manipulators, controllers, DressPack/SpotPack, and most other hardware is
delivered with a Product manual that generally contains:
• Safety information.
• Installation and commissioning (descriptions of mechanical installation or
electrical connections).
•Maintenance (descriptions of all required preventive maintenance procedures
including intervals and expected life time of parts).
• Repair (descriptions of all recommended repair procedures including spare
parts).
• Calibration.
• Decommissioning.
•Reference information (safety standards, unit conversions, screw joints, lists
of tools).
• Spare parts list with corresponding figures (or references to separate spare
parts lists).
• References to circuit diagrams.
Technical reference manuals
The technical reference manuals describe reference information for robotics
products, for example lubrication, the RAPID language, and system parameters.
Application manuals
Specific applications (for example software or hardware options) are described in
Application manuals. An application manual can describe one or several
applications.
An application manual generally contains information about:
• The purpose of the application (what it does and when it is useful).
•What is included (for example cables, I/O boards, RAPID instructions, system
parameters, software).
• How to install included or required hardware.
• How to use the application.
• Examples of how to use the application.
Continues on next page
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Product documentation

Operating manuals
The operating manuals describe hands-on handling of the products. The manuals
are aimed at those having first-hand operational contact with the product, that is
production cell operators, programmers, and troubleshooters.
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Product documentation
Continued