Prxstartrecord - ABB IRC5 Applications Manual

2 Machine Synchronization

2.10.1.11. PrxStartRecord

2.10.1.11. PrxStartRecord
Usage
Resets all profile data and records a new profile of the sensor movement as soon as
sensor_start_signal is set.
To be able to make a recording it is important to first make a connection to a sensor
(mechanical unit whose speed affects the speed of the robot). This means that a
instruction has to be executed before the recording starts.
Basic example
Signal do_startstop_machine, in this example, starts the sensor movement. Profile of the
sensor is recorded as soon as the machine sets the signal sensor_start_signal.
Arguments
MechUnit
Data type:
The moving mechanical unit object to which the robot movement is synchronized.
Record_duration
Data type:
Specifies the duration of record in seconds. It must be between 0.1 and Pos Update time *
300. If the value 0 is used, the instruction
recording.
Profile_type
Data type:
Possible value and their explanation is listed below:
Value
PRX_INDEX_PROF
PRX_START_ST_PR
PRX_STOP_ST_PROF
PRX_STOP_M_PROF
PRX_HPRESS_PROF
PRX_PROFILE_T1
90
ActUnit SSYNC1;
WaitSensor SSYNC1;
PrxStartRecord SSYNC1, 1, PRX_PROFILE_T1;
WaitTime 0.2;
SetDO do_startstop_machine 1;
PrxStartRecord MechUnit, Record_duration, Profile_type
mechunit
num
num
Description
Record is started by sensor_start_signal.
A start and stop movement can be recorded.
sensor_start_signal is used to record start movement and
sensor_stop_signal is used to record stop movement.
Same as for PRX_START_ST_PR only different orders on
signals.The sensor_stop_signal is used first.
The recording is started by sensor_stop_signal.
For recording hydraulic press (where sensor position zero
corresponds to the press being open).
For recording IMM or other machine (where sensor position
zero corresponds to the press being closed).
must be used to stop the
PrxStopRecord
3HAC18154-1 Revision: F
WaitSensor
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