Program Example - ABB IRC5 Applications Manual

2 Machine Synchronization

2.7.3. Program example

2.7.3. Program example
Overview
This section describes the programming cycles that are typical for programming a molding
machine.
Program example
First press cycle
A pulse on sensor_start_signal will start storing position in a record array.
During this cycle the robot is not synchronized with press.
Second press cycle
A pulse on sensor_start_signal is needed to synchronize readings of record and actual
positions for each cycle.
During press opening the robot moves synchronized with press.
Third press cycle
No special instruction is needed, but a pulse on sensor_start_signal is needed to synchronize
readings of record and actual positions for each cycle. A new record can also be started.
During press opening the robot moves synchronized with press.
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ActUnit SSYNC1;
WaitSensor SSYNC1;
! Set up a recording for 2 seconds
PrxStartRecord SSYNC1, 2, PRX_PROFILE_T1;
! Process waiting for sensor_start_signal
! then waiting for press movement and record it during 2 sec.
PrxActivAndStoreRecord SSYNC1, 0, "profile.log";
WaitSensor Ssync1;
MoveL p10, v1000, z10, tool, \WObj:=wobj0;
SyncToSensor Ssync1\On;
MoveL p20, v1000, z20, tool, \WObj:=wobj0;
MoveL p30, v1000, z20, tool, \WObj:=wobj0;
SyncToSensor Ssync1\Off;
WaitSensor Ssync1;
MoveL p10, v1000, z10, tool, \WObj:=wobj0;
SyncToSensor Ssync1\On;
MoveL p20, v1000, z20, tool, \WObj:=wobj0;
MoveL p30, v1000, z20, tool, \WObj:=wobj0;
SyncToSensor Ssync1\Off;
3HAC18154-1 Revision: F