ABB IRC5 - Page 52

2 Machine Synchronization
2.4.8. Programming considerations
3HAC18154-1 Revision: F50
© Copyright 2004-2008 ABB. All rights reserved.
Instructions that will deactivate the synchronization
The instructions
ActUnit, DeactUnit and ClearPath will deactivate any SyncToSensor
or
SupSyncSensorOn instruction.So the instructions ActUnit, DeactUnit and
ClearPath should not be used between SyncToSensor or SupSyncSensorOn instruction
and the move instructions related to synchronized path or supervised path.
The correct order is:
ActUnit SSYNC1;
WaitSensor SSYNC1;
SyncToSensor SSYNC1\On;
! move instructions
...
SyncToSensor SSYNC1\Off;
Other RAPID limitations
• The commands,
StorePath, RestoPath do not work during synchronization.
• No
Search commands work during synchronization.
•
EoffsSet, EoffsOn, EoffsOff have an effect on the sensor taught position.
• Power fail restart is not possible with the synchronization option.
Continued