Finepoint Programming - ABB IRC5 Applications Manual

2 Machine Synchronization

2.4.5. Finepoint programming

2.4.5. Finepoint programming
Overview
Avoid the use of fine points when using synchronized motion. The robot will stop and lose
the synchronization with the sensor for 100 ms. Then the RAPID execution will continue.
Finepoint programming can be used on the last synchronized move instruction if the
synchronization does not need to be accurate at the last target.
Program example
The following program example shows how synchronized motion may be stopped.
At
restrictions for using fine points.
At
synchronization will be reduced.
46
WaitSensor SSYNC1;
SyncToSensor SSYNC1 \On;
MoveL p1, v500, z20, tool1;
MoveL p2, v500, fine, tool1;
SyncToSensor SSYNC1 \Off;
MoveL p3, v500, z20, tool1;
MoveL p4, v500, fine, tool1;
DropSensor SSYNC1;
the robot is no longer synchronized with the external device, and there are no
p4
the synchronization will end and a fine point can be used, but the accuracy of the
p2
3HAC18154-1 Revision: F