ABB IRC5

2 Machine Synchronization
2.5.5. Programming example for master robot
613HAC18154-1 Revision: F
© Copyright 2004-2008 ABB. All rights reserved.
Considerations
The following is to be considered
• The values of
extax.eax_e should increase for every robtarget during
synchronization. The first move instruction of the master robot, after the
synchronization, should also have a higher
extax.eax_e value than the previous
instruction. Otherwise the value of
extax.eax_e may decrease, and the
synchronization end, before the slave robot has reached its target.
• The movement back to
syncstart (move instruction to robpos5 in the example)
may be slower than the ordered speed (
v2000). If this robot movement is short and the
value of
extax.eax_e is large, the maximum speed will be limited by the virtual
sensor speed.
• Do not use
WaitSensor or DropSensor.
• Verify that the virtual sensor max speed (speed_out) is less than 1m/s.
Continued