Programming Considerations - ABB IRC5 Applications Manual

2.4.8. Programming considerations

Performance limits
The synchronization will be lost if joint speed limits are reached, particularly in singularities.
It is the responsibility of the programmer to ensure that the path during synchronized
movement does not exceed the speed and motion capabilities of the robot.
Motion commands
All motion commands are allowed during synchronization.
Manual mode
The synchronization is not active in manual mode.
Speed reduction % button
The synchronization works only with 100% speed. As the robot speed is adjusted to sensor
movements the defined robot speed percentage will be overridden.
Programmed speed
The best performance of the synchronization will be obtained if the programmed speed is near
the real execution speed. The programmed speed should be chosen as the most probable
execution speed. Large changes in speed between two move instructions should be avoided.
Finepoints
Finepoints are allowed during synchronization motion, but the robot will stop at the fine point
and the synchronization will be lost if the external device is still moving. See
programming on page
Position warnings
If robot_to_sensor position ratio is higher than 10 or lower than 0.1 a warning will appear.
The user should modify the robtarget position or the sensor value in the robtarget according
to the warning text.
Speed warnings
If programmed
then a speed warning will appear and the user should modify robot speed or
sensor_nominal_speed or max_sync_speed according to the warning text.
If programmed
a similar warning will appear:
Change of tools
Changing the tool is not allowed during synchronization if corvec is used.
3HAC18154-1 Revision: F
46.
sensor_speed
•
(max_sync_speed*sensor_nominal_speed)/robot_tcp_speed
sensor_speed
•
(min_sync_speed*sensor_nominal_speed)/robot_tcp_speed
•
Programmed_sensor_speed equals sensor_distance/robot_interpolation_time.
2 Machine Synchronization
2.4.8. Programming considerations
is higher than:
is lower than:
Finepoint
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