System Parameters - ABB IRC5 Applications Manual

2 Machine Synchronization

2.9.2. System parameters

2.9.2. System parameters
About system parameters
This section describes the system parameters in a general way. For more information about
the parameters, see Technical reference manual - System parameters.
Fieldbus Command
Only for Sensor Synchronization.
These are different instances of the type Fieldbus Command in the topic I/O.
Type of Fieldbus
Command
Counts Per Meter
Sync Separation
Queue Tracking
Distance
Start Window Width
IIRFFP
Sensor systems
These parameters belong to the topic Process and the type Sensor System.
Parameter
Adjustment speed When entering sensor synchronization, the robot speed must be
Min dist
Max dist
Sensor nominal
speed
74
Description
The number of counts per meter of the external device motion.
Defines the minimum distance that the external device must move
after a sync signal before a new sync signal is accepted as a valid
object.
For Sensor Synchronization, there is no need to change the default
value.
Defines the placement of the synchronization switch relative to the 0.0
meter point on the sensor.
For Sensor Synchronization, there is no need to change the default
value.
Defines the size of the start window. It is possible to connect to objects
within this window with the instruction WaitSensor.
For Sensor Synchronization, there is no need to change the default
value.
Specifies the location of the real part of the poles in the left-half plane
(in Hz).
Description
adjusted to the speed of the external device. The speed (in mm/s) at
which the robot' catches up' to this speed for the first motion is defined
by Adjustment Speed.
The minimum distance (in millimeters) that a connected object may have
before being automatically dropped.
For Sensor Synchronization, there is no need to change the default
value.
Not used for Analog Synchronization.
The maximum distance (in millimeters) that a connected object may have
before being automatically dropped.
For Sensor Synchronization, there is no need to change the default
value.
Not used for Analog Synchronization.
The nominal work speed of the external device. If the speed of the device
exceeds 200 mm/s this parameter must be increased.
Continues on next page
3HAC18154-1 Revision: F