ABB IRC5 - Programming Examples

2 Machine Synchronization
2.4.2. Programming examples
3HAC18154-1 Revision: F42
© Copyright 2004-2008 ABB. All rights reserved.
2.4.2. Programming examples
Sensor Synchronization program
MoveJ p0, vmax, fine, tool1;
!Activate sensor
ActUnit SSYNC1;
!Connect to the object
WaitSensor SSYNC1;
!Start the Synchronized motion
SyncToSensor SSYNC1\On;
!Instructions with coordinated robot targets
MoveL p10, v1000, z20, tool1;
MoveL p20, v1000, z20, tool1;
MoveL p30, v1000, z20, tool1;
!Stop the synchronized motion
SyncToSensor SSYNC1\Off;
!Exit coordinated motion
MoveL p40, v1000, fine, tool1;
!Disconnect from current object
DropSensor SSYNC1;
MoveL p0, v1000, fine;
!Deactivate sensor
DeactUnit SSYNC1;
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