Rapid Reference Information; Instructions; Dropsensor - Drop Object On Sensor - ABB IRC5 Applications Manual

2 Machine Synchronization

2.10.1.1. DropSensor - Drop object on sensor

2.10 RAPID reference information

2.10.1. Instructions

2.10.1.1. DropSensor - Drop object on sensor
Usage
DropSensor
next.
DropSensor
Basic examples
Basic examples of the instruction
Example 1
Arguments
MechUnit
Mechanical Unit
Data type:
The moving mechanical unit to which the robot position in the instruction is related.
Program execution
Dropping the object means that the encoder unit no longer tracks the object. The object is
removed from the object queue and cannot be recovered.
Limitations
If the instruction is issued while the robot is actively using the sensor object then the motion
stops. The instruction must be issued after the robot has passed the last synchronized
robtarget.
The instruction may be issued only after a non synchronized movement has been used in the
preceding motion instructions with either a fine point or several (>1) corner zones.
Syntax
Related information
For information about
Wait for connection on sensor
78
is used to disconnect from the current object and the program is ready for the
is used for Sensor Synchronization, but not for Analog Synchronization.
MoveL *, v1000, z10, tool, \WObj:=wobj0;
SyncToSensor Ssync1\Off;
MoveL *, v1000, fine, tool, \WObj:=wobj0;
DropSensor Ssync1;
MoveL *, v1000, z10, tool, \WObj:=wobj0;
DropSensor MechUnit
mecunit
DropSensor
[ MechUnit':='] < variable (VAR) of mecunit>';´
are illustrated below.
DropSensor
See
WaitSensor - Wait for connection on sensor on page 101
Continues on next page
3HAC18154-1 Revision: F