Programming And Configuration Data; Rapid Components - ABB IRC5 Applications Manual

2 Machine Synchronization

2.9.1. RAPID components

2.9 Programming and configuration data

2.9.1. RAPID components
About the RAPID components
This is an overview of all the instructions and functions in Machine Synchronization. For
more information, see respective instruction in
General synchronization instructions
Instruction
WaitSensor
SyncToSensor
DropSensor
PrxResetPos
PrxSetPosOffset
PrxSetSyncalarm
Instructions for handling recordings
Instruction
PrxStartRecord
PrxStopRecord
PrxActivRecord
PrxDeactRecord
PrxStoreRecord
PrxActivAndStoreRecord
PrxUseFileRecord
PrxResetRecords
PrxDbgStoreRecord
PrxSetRecordSampleTime Set sample time for recording.
Functions for handling recordings
Instruction
PrxGetMaxRecordpos
72
RAPID reference information on page
Description
WaitSensor is used to:
• connect to an object in the start window on the sensor
mechanical unit.
SyncToSensor is used to:
• start or stop synchronization of robot movement to
sensor movement.
DropSensor is used to:
• disconnect from the current object and make the
program ready for the next.
DropSensor is only used for Sensor Synchronization. Do not
use DropSensor for Analog Synchronization.
Reset the zero position of the sensor.
Set a reference position for the sensor.
Set pulse length for sync_alarm_signal.
Description
Starts a recording of the sensor movement as soon as the
sensor_start_signal is set.
Stops the recording of the sensor movement.
Activates the record that was just recorded.
Deactivates the active record.
Saves active record to file.
Activates and saves record to file.
Loads and activates a record from file.
Resets and deactivates all records.
Save a non active record for debug.
Description
Returns the maximum position (in mm) of the active record.
78.
Continues on next page
3HAC18154-1 Revision: F