Programming Example For Slave Robot - ABB IRC5 Applications Manual

2 Machine Synchronization

2.5.6. Programming example for slave robot

2.5.6. Programming example for slave robot
Overview
The following program is an example of how to program a slave robot.
Slave robot programming
Considerations
The following is to be considered:
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syncstart:=20;
Syncpos1:=300;
Syncpos2:=600;
Syncpos3:=900;
!Synchronized motion between master and slave
robpos1.extax.eax_e:=syncpos1;
robpos2.extax.eax_e:=syncpos2;
robpos3.extax.eax_e:=syncpos3;
!Instructions with coordinated robot targets
MoveJ posstart, v500, z50, tool1;
!Wait for digital input
WaitDI diSync1; 1;
!Connect to the object
WaitSensor SSYNC1;\RelDist:=100;
!Start the Synchronized motion
SyncToSensor SSYNC1\On;
!Instructions with coordinated robot targets
MoveJ robpos1, v2000, z10, tool1;
MoveJ robpos2, v2000, z10, tool1;
MoveJ robpos3, v2000, z10, tool1;
!Stop the synchronized motion
SyncToSensor SSYNC1\Off;
• Do not use
DropSensor
•
Do not use any corvecs.
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3HAC18154-1 Revision: F