ABB IRC5 Applications Manual

2 Machine Synchronization
2.9.2. System parameters
753HAC18154-1 Revision: F
© Copyright 2004-2008 ABB. All rights reserved.
CAN Interface
These parameters belong to the topic Process and the type CAN Interface.
Motion Planner
These parameters belong to the topic Motion and the type Motion planner.
Stop press signal Name of the digital input signal telling that press is stopping. This signal
is needed for safe stop of robot.
Sensor start
signal
Name of the digital input signal to synchronize recorded profile and new
machine movement. The signal must be set before start of machine
movement. The signal must be triggered 100 ms before the press moves.
Start ramp Defines for how many calculation steps the position error may exceed
Max Advance Distance. During this ramping period, the position error
may be 5 times Max Advance Distance.
Sync Alarm signal Name of the digital output signal to stop the synchronized machine.This
signal may be set during supervision of sync sensor.
Parameter Description
Parameter Description
Connected signal Name of the digital input signal for connection.
Not used for Analog Synchronization.
Position signal Name of the analog input signal for sensor position.
Velocity signal Name of the analog input signal for sensor speed.
Null speed signal Name of the digital input signal indicating zero speed on the sensor.
Not used for Analog Synchronization.
Data ready signal Name of the digital input signal indicating a poll of the encoder unit.
Not used for Analog Synchronization.
Waitwobj signal Name of the digital output signal to indicate that a connection is desired
to an object in the queue.
Not used for Analog Synchronization.
Dropwobj signal Name of the digital output signal to drop a connected object on the
encoder unit
Not used for Analog Synchronization.
PassStartW signal Name of the digital output signal to indicate that an object has gone past
the start window without being connected.
Not used for Analog Synchronization.
Pos Update time Time (in ms) at which the synchronization process read the sensor
position.
Parameter Description
Path resolution The period at which steps along the path are calculated.
Process update time The time (in seconds) at which the sensor process updates the
robot kinematics on the sensor position.
CPU load equalization CPU load equalization needs to be lowered for the synchronization
option. The default value is 2 but for the synchronization option it
should be set equal to 1 to have a stable synchronization speed.
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ABB IRC5 Specifications

General

Type	Industrial Robot Controller
Model	IRC5
Protection Class	IP54
Power Supply	200-600 VAC, 50/60 Hz
Communication Protocols	PROFIBUS, PROFINET, DeviceNet
Programming Language	RAPID
Number of axes	Up to 36
Storage Temperature	-25°C to +55°C
Relative Humidity	95% (non-condensing)