Synchronization Features - ABB IRC5 Applications Manual

2.1.3. Synchronization features

Features
The synchronization option provides the following features:
Feature
Accuracy
Object queue
RAPID access
to sensor data
Multiple
sensors
3HAC18154-1 Revision: F
Description
In Auto operation at constant sensor speed, the Tool Center Point (TCP) of
the robot will stay within the programmed position corresponding to the
sensor, with an error margin of:
• +/- 50 ms for Sensor Synchronization
• +/- 100 ms for Analog Synchronization
This is valid as long as the robot is within its dynamic limits with the added
sensor motion. This figure depends on the calibration of the robot and
sensor and is applicable for linear synchronization only.
Only for Sensor Synchronization:
Each time the external device trigger the synchronization switch, a sensor
object is created in the object queue. The encoder interface unit will
maintain the object queue, although for Sensor Synchronization the queue
normally does not contain more than one object.
A RAPID program has access to the current position and speed of the
external device, via the sensor.
Up to 2 sensors are supported.
For Sensor Synchronization, each sensor must have a DSQC 377.
2 Machine Synchronization
2.1.3. Synchronization features
27