ABB IRC5

2 Machine Synchronization
2.7.3. Program example
3HAC18154-1 Revision: F70
© Copyright 2004-2008 ABB. All rights reserved.
2.7.3. Program example
Overview
This section describes the programming cycles that are typical for programming a molding
machine.
Program example
First press cycle
A pulse on sensor_start_signal will start storing position in a record array.
During this cycle the robot is not synchronized with press.
ActUnit SSYNC1;
WaitSensor SSYNC1;
! Set up a recording for 2 seconds
PrxStartRecord SSYNC1, 2, PRX_PROFILE_T1;
! Process waiting for sensor_start_signal
! then waiting for press movement and record it during 2 sec.
Second press cycle
A pulse on sensor_start_signal is needed to synchronize readings of record and actual
positions for each cycle.
During press opening the robot moves synchronized with press.
PrxActivAndStoreRecord SSYNC1, 0, "profile.log";
WaitSensor Ssync1;
MoveL p10, v1000, z10, tool, \WObj:=wobj0;
SyncToSensor Ssync1\On;
MoveL p20, v1000, z20, tool, \WObj:=wobj0;
MoveL p30, v1000, z20, tool, \WObj:=wobj0;
SyncToSensor Ssync1\Off;
Third press cycle
No special instruction is needed, but a pulse on sensor_start_signal is needed to synchronize
readings of record and actual positions for each cycle. A new record can also be started.
During press opening the robot moves synchronized with press.
WaitSensor Ssync1;
MoveL p10, v1000, z10, tool, \WObj:=wobj0;
SyncToSensor Ssync1\On;
MoveL p20, v1000, z20, tool, \WObj:=wobj0;
MoveL p30, v1000, z20, tool, \WObj:=wobj0;
SyncToSensor Ssync1\Off;