ABB IRC5 Applications Manual

2 Machine Synchronization
2.10.1.18. WaitSensor - Wait for connection on sensor
Machine Synchronization
1013HAC18154-1 Revision: F
© Copyright 2004-2008 ABB. All rights reserved.
2.10.1.18. WaitSensor - Wait for connection on sensor
Usage
WaitSensor (Wait Sensor) connects to an object in the start window on the sensor
mechanical unit.
Basic examples
Basic examples of the instruction
WaitSensor are illustrated below.
See also More examples on page 102.
Example 1
WaitSensor Ssync1;
The program connects to the first object in the object queue that is within the start window on
the sensor. If there is no object in the start window then execution stops and waits for an
object.
Arguments
WaitSensor MechUnit[ \RelDist ][ \PredTime][\MaxTime][\TimeFlag]
MechUnit
Mechanical Unit
Data type:
mecunit
The moving mechanical unit to which the robot position in the instruction is related.
[ \RelDist ]
Relative Distance
Data type:
num
Waits for an object to enter the start window and go beyond the distance specified by the
argument. If the work object is already connected, then execution stops until the object passes
the given distance. If the object has already gone past the Relative Distance then execution
continues.
[ \PredTime ]
Prediction Time
Data type:
num
Waits for an object to enter the start window and go beyond the distance specified by the
argument. If the work object is already connected, then execution stops until the object passes
the given distance. If the object has already gone past the Prediction Time then execution
continues.
[\MaxTime]
Maximum Time
Data type:
num
The maximum period of waiting time permitted, expressed in seconds. If this time runs out
before the sensor connection or reldist reached, the error handler will be called, if there is one,
with the error code
ERR_WAIT_MAXTIME. If there is no error handler, the execution will be
stopped.
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ABB IRC5 Specifications

General

Brand	ABB
Model	IRC5
Category	Controller
Language	English