Limitations - ABB IRC5 Applications Manual

2.1.5. Limitations

Limitations on additional axes
Each sensor is considered an additional axis. Thus the system limitation of 6 active additional
axes must be reduced by the number of active and installed sensors.
The first installed sensor will use measurement node 6 and the second sensor will use
measurement node 5. These measurement nodes are not available for additional axes and no
resolvers should be connected to these nodes on any additional axes measurement boards.
Object queue lost on warm start or power failure
Only for Sensor Synchronization:
The object queue is kept on the encoder interface unit (DSQC 377). If the system is restarted
with a Warm Start or if the power supply to either the controller or the encoder interface unit
fails, then the object queue will be lost.
Minimum speed
In order to maintain a smooth and accurate motion, there is a minimum speed of the external
device that is detected. The device is considered to be still if its movement is slower than the
minimum speed. This speed depends on the selection of encoder. It can vary from 4mm/s -
8mm/s.
Maximum speed
There is no determined maximum speed for the external device. Accuracy will decrease at
speeds over those specified, and the robot will no longer be able to follow the sensor at very
high sensor speeds (>1000mm/s) or with robot dynamic limitations.
Compatibility with Conveyor Tracking option
If both Machine Synchronization and Conveyor Tracking options are installed, only one of
the mechanical units SSYNC1 and CNV2 should be active at the same time.
For Machine Synchronization (Sensor Synchronization or Analog Synchronization), CNV2
must be deactivated.
For Conveyor Tracking, SSYNC1 must be deactivated.
3HAC18154-1 Revision: F
2 Machine Synchronization
2.1.5. Limitations
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