ABB IRC5 Applications Manual page 104

2 Machine Synchronization
2.10.1.18. WaitSensor - Wait for connection on sensor
Machine Synchronization
Continued
[\TimeFlag]
Timeout Flag
Data type:
The output parameter that contains the value
runs out before the sensor connection or reldist reached. If this parameter is included in the
instruction, it is not considered to be an error if the max. time runs out.
This argument is ignored if the
Program execution
If there is no object in the start window then program execution stops. If an object is present,
then the object is connected to the sensor and execution continues.
If a second
the
More examples
More examples of the instruction are illustrated below.
Example 1
If not connected, then wait for the object to enter the start window and then wait for the object
to pass the 500 mm point on the sensor.
If already connected to the object, then wait for the object to pass 500 mm.
Example 2
If not connected, then wait for an object in the start window.
If already connected, then continue execution as the object has already gone past 0.0 mm.
Example 3
The first
will return immediately if the object is still connected, but will wait for the next object if the
previous object had moved past the Maximum Distance or was dropped.
Example 4
The
will wait for an object will reach =Reldist - C1speed * Predtime. The goal here is to anticipate
delays before starting a new move instruction.
Example 5
The
will wait 0.1 sec for an object. If no object passes 0.5 meter during this 0.1 sec the instruction
will return with flag1 =TRUE.
102
bool
instruction is issued while connected then an error is returned unless
WaitSensor
optional argument is used.
\RelDist
WaitSensor SSYNC1\RelDist:=500.0;
WaitSensor SSYNC1\RelDist:=0.0;
WaitSensor Ssync1;
WaitSensor Ssync1\RelDist:=0.0;
connects to the object in the start window. The second
WaitSensor
WaitSensor Ssync1\RelDist:=0.5\PredTime:=0.1;
will return immediately if the object has passed 0.5 meter but otherwise
WaitSensor
WaitSensor Ssync1\RelDist:=0.5\MaxTime:=0.1\Timeflag:=flag1;
will return immediately if the object has passed 0.5 meter but otherwise
WaitSensor
if the maximum permitted waiting time
TRUE
argument is not included in the instruction.
MaxTime
WaitSensor
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3HAC18154-1 Revision: F