Synctosensor - Sync To Sensor - ABB IRC5 Applications Manual

2.10.1.17. SyncToSensor - Sync to sensor

Usage
SyncToSensor
to sensor movement.
Basic examples
Basic examples of the instruction
Example 1
Arguments
MechUnit
Mechanical Unit
Data type:
The moving mechanical unit to which the robot position in the instruction is related.
[\Maxsync]
Data type:
The robot will move synchronized with sensor until the sensor passes the
After this the robot will move unsynchronized at programmed speed. If optional parameter
Maxsync
SyncToSensor SSYNC1/Off
[\On]
Data type:
The robot moves synchronized with the sensor after an instruction using the argument
[\Off]
Data type:
The robot moves unsynchronized with the sensor after an instruction using the argument
Program execution
SyncToSensor SSYNC1 /On
SSYNC1
external position stored in the robtarget.
SyncToSensor SSYNC1 /Off
sensor.
3HAC18154-1 Revision: F
(Sync To Sensor) is used to start or stop synchronization of robot movement
WaitSensor Ssync1;
MoveL *, v1000, z10, tool, \WObj:=wobj0;
SyncToSensor Ssync1\On;
MoveL *, v1000, z20, tool, \WObj:=wobj0;
MoveL *, v1000, z20, tool, \WObj:=wobj0;
SyncToSensor Ssync1\Off;
SyncToSensor MechUnit [\MaxSync][\On] | [\Off]
mecunit
num
is not defined the robot will move synchronized until the instruction
switch
switch
. So the robot passes at the taught robtarget at the same time as the sensor passes the
2 Machine Synchronization
2.10.1.17. SyncToSensor - Sync to sensor
are illustrated below.
SyncToSensor
is executed.
means that the robot starts to move synchronized with sensor
means that the robot stops moving synchronized with the
position.
Maxsync
.
On
.
Off
Continues on next page
99