Waitsensor - Wait For Connection On Sensor - ABB IRC5 Applications Manual

2.10.1.18. WaitSensor - Wait for connection on sensor

Usage
WaitSensor
mechanical unit.
Basic examples
Basic examples of the instruction
See also
Example 1
The program connects to the first object in the object queue that is within the start window on
the sensor. If there is no object in the start window then execution stops and waits for an
object.
Arguments
MechUnit
Mechanical Unit
Data type:
The moving mechanical unit to which the robot position in the instruction is related.
[ \RelDist ]
Relative Distance
Data type:
Waits for an object to enter the start window and go beyond the distance specified by the
argument. If the work object is already connected, then execution stops until the object passes
the given distance. If the object has already gone past the Relative Distance then execution
continues.
[ \PredTime ]
Prediction Time
Data type:
Waits for an object to enter the start window and go beyond the distance specified by the
argument. If the work object is already connected, then execution stops until the object passes
the given distance. If the object has already gone past the Prediction Time then execution
continues.
[\MaxTime]
Maximum Time
Data type:
The maximum period of waiting time permitted, expressed in seconds. If this time runs out
before the sensor connection or reldist reached, the error handler will be called, if there is one,
with the error code
stopped.
3HAC18154-1 Revision: F
(Wait Sensor) connects to an object in the start window on the sensor
More examples on page
WaitSensor Ssync1;
WaitSensor MechUnit[ \RelDist ][ \PredTime][\MaxTime][\TimeFlag]
mecunit
num
num
num
ERR_WAIT_MAXTIME
2 Machine Synchronization
2.10.1.18. WaitSensor - Wait for connection on sensor
are illustrated below.
WaitSensor
102.
. If there is no error handler, the execution will be
Machine Synchronization
Continues on next page
101