Programming The Synchronization; General Issues When Programming With The Synchronization Option - ABB IRC5 Applications Manual

2 Machine Synchronization

2.4.1. General issues when programming with the synchronization option

2.4 Programming the synchronization

2.4.1. General issues when programming with the synchronization option
Activate sensor
The sensor must be activated before it may be used for work object coordination, just like any
other mechanical unit. The usual
DeactUnit
By default, the sensor is installed inactive on start. If desired, the sensor may be configured
to always be active upon start. See
Automatic connection
Only for Sensor Synchronization:
When a sensor mechanical unit is activated, it first checks the state of the encoder interface
unit to see whether the sensor was previously connected. If the encoder interface unit, via the
I/O signal c1Connected, indicates connection, then the sensor will automatically be
connected upon activation. The purpose of this feature is to automatically reconnect in case
of a power failure with power backup on the encoder interface unit.
Connection via WaitSensor instruction
Motions that are to be synchronized with the external device cannot be programmed until an
object has been connected to the sensor with a
If the object is already connected with a previous
was established during activation, then execution of a second
cause an error.
After connection to an object with a
started using
For details about the instructions
synchronization instructions on page
Programming Sensor Synchronization
In the following instructions, there are references to programming examples.
40
is used to deactivate the sensor.
SyncToSensor\On
Action
1. Create a program with the following instructions:
ActUnit SSYNC1;
MoveL waitp, v1000, fine, tool;
WaitSensor SSYNC1;
2. Single-step the program past the WaitSensor instruc-
tion.
3. Run the external device until a sync signal is generated
by the synchronization switch.
instruction is used to activate the sensor and
ActUnit
Mechanical unit on page
WaitSensor
WaitSensor
instruction the synchronized motion is
WaitSensor
instruction.
and
WaitSensor SyncToSensor\On
72.
76.
instruction.
instruction, or if connection
instruction will
WaitSensor
. See General
Info
The instruction will return if
there is an object in the object
queue. If the is no object, the
execution will stop while
waiting for an object (i.e. a
sync signal).
The program should exit the
WaitSensor and is now
"connected" to the object.
Continues on next page
3HAC18154-1 Revision: F