ABB IRC5 Applications Manual

2 Machine Synchronization
2.4.1. General issues when programming with the synchronization option
413HAC18154-1 Revision: F
© Copyright 2004-2008 ABB. All rights reserved.
Synchronize the sensor
If it is not possible to move the external device to the desired position, modify the position
first and then edit the sensor value in the robtarget (as for any additional axis).
4. Stop the external device in the position that should
correspond to the robot target you are about to
program.
5. Start the synchronized motion with a SyncToSensor
SSYNC1\On instruction. See Programming examples
on page 42.
6. Program move instructions.
For every time you modify a position, run the external
device to the position that should correspond to the
robot target.
Use corner zones for the
move instructions, see
Finepoint programming on
page 46.
7. End the synchronized motion with a SyncToSensor
SSYNC1\Off instruction. See Programming examples
on page 42.
8. Only for Sensor Synchronization:
Program a DropSensor SSYNC1; instruction. See
Programming examples on page 42.
9. Program a DeactUnit SSYNC1; instruction if this is
the end of the program, or if the sensor is no longer
needed. See Programming examples on page 42.
Action Info
Continued

ABB IRC5 Specifications

General

Type	Industrial Robot Controller
Model	IRC5
Protection Class	IP54
Power Supply	200-600 VAC, 50/60 Hz
Communication Protocols	PROFIBUS, PROFINET, DeviceNet
Programming Language	RAPID
Number of axes	Up to 36
Storage Temperature	-25°C to +55°C
Relative Humidity	95% (non-condensing)