Programming Example For Master Robot - ABB IRC5 Applications Manual

2 Machine Synchronization

2.5.5. Programming example for master robot

2.5.5. Programming example for master robot
Overview
The following program is an example of how to program a master robot.
Master robot programming
60
syncstart:=20;
Syncpos1:=300;
Syncpos2:=600;
Syncpos3:=900;
Syncpos4:=1200;
!Synchronized motion between master and slave
robpos1.extax.eax_e:=syncpos1;
robpos2.extax.eax_e:=syncpos2;
robpos3.extax.eax_e:=syncpos3;
robpos4.extax.eax_e:=syncpos4;
robpos5.extax.eax_e:=syncstart;
!Init of external axis
pOutsideNext.extax.eax_e:=syncstart;
!Activate sensor
ActUnit SSYNC1;
!Instruction with coordinated robot targets
MoveJ pOutsideNext, v1000, fine, tool1;
!Init of external axis
robposstart.extax.eax_e:=syncstart;
!Set digital output
SetDO Dosync 1,0
!Instructions with coordinated robot targets
MoveJ robposstart, v2000, z50, tool1;
!Set digital output
PulseDO\PLength:= 0.1, doSync1;
!Instructions with coordinated robot targets
MoveJ robpos1, v2000, z10, tool1;
MoveJ robpos2, v2000, z10, tool1;
MoveJ robpos3, v2000, z10, tool1;
MoveJ robpos4, v2000, z10, tool1;
MoveJ robpos5, v2000, z10, tool1;
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3HAC18154-1 Revision: F