Machine Synchronization; Introduction; Overview - ABB IRC5 Applications Manual

2 Machine Synchronization

2.1 Introduction

2.1.1. Overview

Two options
Machine Synchronization consists of two options, Sensor Synchronization and Analog
Synchronization. The functionality is very similar for both these options, it is the hardware
and configuration that differs.
The difference between the two options is that:
All information in this chapter refers to both options, unless something else is specified. The
term "synchronization option" refers to both options. Information that is only valid for one of
the options is said to be specific for "Sensor Synchronization" or "Analog Synchronization".
Purpose
The synchronization option adjusts the robot speed to an external moving device (e.g. a press
or conveyor) with the help of a sensor. It can also be used to synchronize two robots with each
other.
Description
For the synchronization, a sensor is used to detect the movements of a press door, conveyor,
turn table or similar device. The speed of the robot TCP will be adjusted in correlation to the
sensor output, so that the robot will reach its programmed target at the same time as the
external device reaches its programmed position.
The synchronization with the external device does not affect the path of the robot TCP, but it
affects the speed at which the robot moves along this path.
Functionality
The external device connected to the sensor cannot be controlled by the robot controller.
However, in some ways it has similarities with a mechanical unit controlled by the robot
controller:
3HAC18154-1 Revision: F
•
Analog Synchronization is used together with a sensor that shows the position of the
external mechanical unit as an analog signal.
•
Sensor Synchronization requires an encoder that counts pulses as the external
mechanical unit move, and an encoder interface unit which transforms the pulses into
a sensor position.
•
the sensor positions appears in the Jogging Window on the FlexPendant
•
the sensor positions appears in the robtarget when a MODPOS operation is performed
•
the mechanical unit may be activated, and deactivated
2 Machine Synchronization
2.1.1. Overview
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