ABB IRC5 Applications Manual page 43

Synchronize the sensor
If it is not possible to move the external device to the desired position, modify the position
first and then edit the sensor value in the robtarget (as for any additional axis).
3HAC18154-1 Revision: F
2.4.1. General issues when programming with the synchronization option
Action
4. Stop the external device in the position that should
correspond to the robot target you are about to
program.
5. Start the synchronized motion with a SyncToSensor
SSYNC1\On instruction. See
on page 42.
6. Program move instructions.
For every time you modify a position, run the external
device to the position that should correspond to the
robot target.
7. End the synchronized motion with a SyncToSensor
SSYNC1\Off instruction. See
on page 42.
8. Only for Sensor Synchronization:
Program a DropSensor SSYNC1; instruction. See
Programming examples on page
9. Program a DeactUnit SSYNC1; instruction if this is
the end of the program, or if the sensor is no longer
needed. See Programming examples on page
2 Machine Synchronization
Programming examples
Programming examples
42.
42.
Continued
Info
Use corner zones for the
move instructions, see
Finepoint programming on
page 46.
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