ABB IRC5 Applications Manual page 63

Considerations
The following is to be considered
3HAC18154-1 Revision: F
• The values of
extax.eax_e
synchronization. The first move instruction of the master robot, after the
synchronization, should also have a higher
instruction. Otherwise the value of
synchronization end, before the slave robot has reached its target.
• The movement back to
may be slower than the ordered speed (
value of
extax.eax_e
sensor speed.
•
Do not use
WaitSensor
• Verify that the virtual sensor max speed (speed_out) is less than 1m/s.
2 Machine Synchronization
2.5.5. Programming example for master robot
should increase for every robtarget during
extax.eax_e
extax.eax_e
(move instruction to
syncstart
). If this robot movement is short and the
v2000
is large, the maximum speed will be limited by the virtual
or .
DropSensor
Continued
value than the previous
may decrease, and the
in the example)
robpos5
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