ABB IRC5

2 Machine Synchronization
2.5.6. Programming example for slave robot
3HAC18154-1 Revision: F62
© Copyright 2004-2008 ABB. All rights reserved.
2.5.6. Programming example for slave robot
Overview
The following program is an example of how to program a slave robot.
Slave robot programming
syncstart:=20;
Syncpos1:=300;
Syncpos2:=600;
Syncpos3:=900;
!Synchronized motion between master and slave
robpos1.extax.eax_e:=syncpos1;
robpos2.extax.eax_e:=syncpos2;
robpos3.extax.eax_e:=syncpos3;
!Instructions with coordinated robot targets
MoveJ posstart, v500, z50, tool1;
!Wait for digital input
WaitDI diSync1; 1;
!Connect to the object
WaitSensor SSYNC1;\RelDist:=100;
!Start the Synchronized motion
SyncToSensor SSYNC1\On;
!Instructions with coordinated robot targets
MoveJ robpos1, v2000, z10, tool1;
MoveJ robpos2, v2000, z10, tool1;
MoveJ robpos3, v2000, z10, tool1;
!Stop the synchronized motion
SyncToSensor SSYNC1\Off;
Considerations
The following is to be considered:
• Do not use
DropSensor.
• Do not use any corvecs.