Entering And Exiting Coordinated Motion In Corner Zones - ABB IRC5 Applications Manual

2 Machine Synchronization

2.4.3. Entering and exiting coordinated motion in corner zones

2.4.3. Entering and exiting coordinated motion in corner zones
Corner zones can be used
Once a
synchronized motion with the sensor via corner zones.
Dropping object after corner zone
If an instruction using a corner zone is used to exit coordinated motion, it cannot be followed
directly by the
the robot has left the corner zone, when the motion still requires the conveyor coordinated
work object.
If the work object is dropped when motion still requires its position, then a stop will occur.
To avoid this, either call a finepoint instruction or at least two corner zone instructions before
dropping the work object.
Correct example
This is an example of how to enter and exit coordinated motion via corner zones.
Incorrect example
This is an incorrect example of exiting coordination in corner zones. This will cause the
program to stop with an error.
If coordinated motion is ended in a corner zone, another move instruction must be executed
before the sensor is dropped.
44
instruction is connected to an object it is possible to enter and exit
WaitSensor
instruction. This would cause the object to be dropped before
DropSensor
MoveL p10, v1000, fine, tool1;
WaitSensor SSYNC1;
MoveL p20, v500, z50, tool1;
!start synchronization after zone around p20
SyncToSensor SSYNC1\On
MoveL p30, v500, z20, tool1;
MoveL p40, v500, z20, tool1;
MoveL p50, v500, z20, tool1;
MoveL p60, v500, z50, tool1;
!Exit synchronization after zone around p60
SyncToSensor SSYNC1\Off;
MoveL p70, v500, fine, tool1;
DropSensor SSYNC1;
MoveL p10, v500, fine, tool1;
MoveL p50, v500, z20, tool1;
MoveL p60, v500, z50, tool1;
Exit coordination in zone
SyncToSensor SSYNC1\Off;
DropSensor SSYNC1;
3HAC18154-1 Revision: F