值表示选择了哪个工具，因此将选择哪个TCP
更新。更改此值必须在文本编辑器上脱机执行。
1旋转度
进行此选择将引出以下菜单：
机器人将通过在不同位置找到焊丝来计算TCP
焊枪的旋转位置。较大的旋转将导致
测量精度更高（见图7）。
2机器人安装位置
进行此选择将引出以下菜单：
此参数定义机器人和BullsEye®的安装方式
站着或倒立的相互关系。如果基础
机器人和BullsEye®都安装在同一平面上，选择
站立。例如，如果机器人倒挂在塔上
BullsEye®通常安装在地板上，反之亦然，
选择“反转”。
程序正在等待数据！
当前设置编号=1
1、旋转度=30/45
2、机器人安装位置=站立/倒置
3、枪对准=从不/设置/始终
4、斗杆伸出距离（mm）=小5 mm，大30 mm
选择要更改为的参数
保持现值；按“确定”
1 2 3 4正常
程序正在等待数据！
此参数定义
焊枪将在
每次测量
（如有可能，尽量使用45度角）
选择旋转度
30 45
程序正在等待数据！
此参数定义机器人如何
安装、站立或倒置
选择机器人安装位置。
展位库存
BullsEye®7
BullsEye®安装
18 505 942-102
3枪对准
此参数用于选择何时将焊枪与世界Z对齐
（焊炬角度重新对准）-始终建议。
切勿-如果焊炬难以对准。
设置-仅在设置期间对齐。
始终-推荐的方法。
4斗杆伸出距离
允许您指示从气杯底部到
TCP（毫米）。使用键盘输入所需的长度。
图9定义TCP
程序正在等待数据！
此参数定义是否和何时
焊枪应对齐
带World Z（焊炬角度重新对齐）
（如果可能，建议始终使用）
选择机器人安装位置。
从不总是设置
程序正在等待数据！
突出是指两个物体之间的距离
气杯底部和TCP。
小5 mm，大30 mm
选择斗杆伸出距离（mm）
十、
Z
Y
机械臂
传输控制协议
面板
BullsEye®7
BullsEye®安装
505 942-102 19
回答完所有设置问题后，您将看到的下一个屏幕是：
要继续设置，需要将机器人移动到
焊枪垂直上下放置，气杯打破
梁如果机器人能够旋转
焊枪围绕其气杯轴+/-45或30，并进行30度倾斜运动
不会超出范围（见图7和图10）。此外，梁需要
与机器人底座的平面平行。
停止
停止允许操作员手动点动机器人至
火炬垂直上下放置，气杯打破光束
BullsEye®。一旦机器人处于正确位置。然后操作员
按下示教器上的START（开始）恢复程序。
上次
LAST使机器人移动到定义为启动的后一点
位置此位置存储在TCPData模块中，无法访问
除非通过设置例程进行编辑。不建议
如果是一次在上设置BullsEye®，操作员选择LAST
特定的系统。
注意事项：
机器人无法验证是否可以在之前到达后的设置位置
试图去那里

value represents which tool is selected, and therefore which TCP is going to be updated. Changing this value must be performed off-line on a text editor. 1 Degree of rotation Making this selection elicits the following menu: The robot will calculate the TCP by finding the welding wire at different rotation locations of the welding gun. A larger rotation will result in slightly better accuracy in the measurement (See Figure 7). 2 Robot mounting position Making this selection elicits the following menu: This parameter defines how the robot and BullsEye® are mounted in relation to each other, either STANDING or INVERTED. If the base of both the robot and the BullsEye® are mounted on the same plane, select STANDING. If for example the robot is hanging upside down from a tower and the BullsEye® is mounted conventionally on the floor, or visa versa, select INVERTED. Program Waiting for Data! Present setup number =1 1. Degree of rotation =30/45 2. Robot mounting pos. =STAND/INVERTED 3. Gun alignment =NEVER/SETUP/ALWAYS 4. Stick-out distance (mm) =Min. 5 mm, Max. 30 mm Select which parameter to change to keep present values; Press OK 1 2 3 4 OK Program Waiting for Data! This parameter defines how much the welding torch will rotat between each measurement (Try to use 45 degree if possible) Select degree of rotation 30 45 Program Waiting for Data! This parameter defines how the robot is mounted, STANDING or INVERTED Select robot mounting pos. STAND INV BullsEye® 7 BullsEye® Installation 18 505 942-102 3 Gun alignment This parameter is for selecting when to align the welding gun to World Z (torch angle realignment) - Always is recommended. NEVER - If torch is difficult to align. SETUP - Aligns during setup only. ALWAYS - Recommended method. 4 Stick-out distance Allows you to indicate stick-out distance from bottom of the gas cup to the TCP in millimeters. Use the keypad to input the desired length. Figure 9 Defining The TCP Program Waiting for Data! This parameter defines if and when the welding torch should be aligned with World Z (torch angle re-alignment) (ALWAYS is recommended if possible) Select robot mounting pos. NEVER SETUP ALWAYS Program Waiting for Data! Stick-out is the distance between the bottom of the gas cup and the TCP. Min.5 mm, Max.30 mm Select stick-out distance (mm) X Z Y Robot Arm TCP Face Plate BullsEye® 7 BullsEye® Installation 505 942-102 19 Once all the set up questions have been answered, the next screen you will see is: To continue with the set up, the robot needs to be moved to a point were the welding gun is positioned straight up and down with the gas cup breaking the beam. The beam needs to be placed a location were the robot is able to rotate the welding gun around its gas cup axis +/- 45 or 30 and make a 30 tilt motion without running out of reach (See Figure 7 and Figure 10). Also, the beam needs to be parallel to the plane of the robot base. STOP STOP allows the operator to manually jog the robot to a point where the torch is positioned straight up and down with the gas cup breaking the beam of the BullsEye®. Once the robot is in a correct position. the operator then presses START on the Teach Pendant to resume the program. LAST LAST causes the robot to move to the last point defined as the Startup position. This position is stored in the TCPData module and is inaccessible to edit except through the Setup routine. It is not recommended that the operator chose LAST, if it is the first time for the BullsEye® to be set up on that particular system. Caution: The robot is not able to verify that the last setup location can be reached before trying to go there