Supsyncsensoron - ABB IRC5 Applications Manual

2.10.1.16. SupSyncSensorOn

Usage
SupSyncSensorOn
synchronized sensor movement.
Basic example
Basic example of the instruction
Example
The mechanical unit
The supervision is terminated if the distance between the robot and sensor is smaller than 100.
Arguments
MechUnit
Mechanical unit
Data type:
The name of the mechanical unit.
MaxSyncSup
Maximal Synchronized supervised position
Data type:
The robot will supervise the sensor until the sensor passes the max sync position. When the
point is passed the supervision is stopped. The unit is mm.
SafetyDist
Safety distance
Data type:
Safetydist
machine position. It must be negative, i.e. the model should always be moving in advance of
the real machine. In the case of decreasing machine positions the limit must be negative
corresponding to maximum negative position difference (and minimum advance distance). In
the case of increasing machine positions the limit must be positive corresponding to
minimum positive position difference (and minimum advance distance).
The robot will trigger an alarm if the distance between robot and sensor is smaller then the
Safety distance. When the alarm is triggered supervision is stopped.
The unit is mm.
MinSyncSup
Minimal synchronized supervised position
Data type:
The robot will start the supervision when the sensor is in the window defined from
MinSyncSup
3HAC18154-1 Revision: F
is used to start the supervision between robot movement and a
SupSyncSensorOn Ssync1, 150, 100, 50
is supervised when the sensor is positioned between 50 and 150.
SSync1
SupSyncSensorOn MechUnit MaxSyncSup SafetyDist MinSyncSup
[\SafetyDelay]
mecunit
num
num
is the limit of the difference between expected machine position and the real
num
position to
MaxSyncSup
2 Machine Synchronization
is illustrated below.
SupSyncSensorOn
position. The unit is mm.
2.10.1.16. SupSyncSensorOn
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