ABB IRC5 Applications Manual page 105

Limitations
It requires 50 ms to connect to the first object in the start window. Once connected, a second
WaitSensor
execution time.
Error handling
If following errors occurs during execution of the
variable
ERR_CNV_NOT_ACT
ERR_CNV_CONNECT
ERR_CNV_DROPPED
ERR_WAIT_MAXTIME
Syntax
Related information
For information about
Drop object on sensor
Sync to sensor
RobotWare options
Sensor Synchronization
3HAC18154-1 Revision: F
with
\RelDist
will be set. These errors can then be handled in the error handler.
ERRNO
The sensor is not activated.
The WaitSensor instruction is already connected.
The object that the instruction WaitSensor was waiting for has
been dropped by another task. (DSQC 354 Revision 2: an object
had passed the start window)
The object did not come in time and there is no Timeflag
WaitSensor
[ MechUnit':=']< variable (VAR) of mecunit>
[ '\' RelDist':=' < expression (IN) of num > ]
[ '\' PredTime':=' < expression (IN) of num > ]
['\'MaxTime' :='<expression (IN) of num>]
['\'TimeFlag':='<variable (VAR) of bool>] ';'
2 Machine Synchronization
2.10.1.18. WaitSensor - Wait for connection on sensor
optional argument will take only normal RAPID instruction
WaitSensor
See
DropSensor - Drop object on sensor on page 78
SyncToSensor - Sync to sensor on page 99
Product Specification - Controller Software IRC5,
RobotWare 5.0
SyncToSensor - Sync to sensor on page 99
Product Specification - Controller Software IRC5,
RobotWare 5.0, section Motion Coordination - Sensor
Synchronization
Machine Synchronization
Continued
instruction, the system
103