Prxactivrecord - ABB IRC5 Applications Manual

2 Machine Synchronization

2.10.1.3. PrxActivRecord

2.10.1.3. PrxActivRecord
Usage
Activates the record that was just recorded in order to use it without having to save it before.
Basic example
Record of sensor is activated and used for prediction of sensor movement as soon as record
is ready.
Arguments
MechUnit
Data type:
The moving mechanical unit object to which the robot movement is synchronized.
Delay
Data type:
The delay in seconds can be used to shift the record in time. It must be between 0.01 and 0.1.
If given the value 0 no delay is added.
Program execution
PrxActivRecord
Error handling
The following recoverable errors can be generated. The errors can be handled in an error
handler. The system variable ERRNO will be set to:
ERR_ACTIV_PROF
ERR_STORE_PROF
ERR_USE_PROF
Syntax
Related information
For information See
Recording sensor
profile
82
PrxActivRecord SSYNC1, 0;
WaitTime 0.2;
SetDO do_startstop_machine, 1;
!Work synchronized with sensor
...
SetDO do_startstop_machine, 0;
PrxActivRecord MechUnit Delay
mechunit
num
must be executed at least 0.2 seconds before start of conveyor movement.
for error at activate profile
for error at store profile
for error at use profile
PrxActivRecord
[ MechUnit ':=' ] < expression (IN) of mechunit>' ,'
[ Delay ' :=' ] < expression (IN) of num > ';'
Synchronize with hydraulic press using recorded profile on page 63
Synchronize with molding machine using recorded profile on page
or
67.
3HAC18154-1 Revision: F