ABB IRC5 Applications Manual

2 Machine Synchronization
2.10.1.1. DropSensor - Drop object on sensor
3HAC18154-1 Revision: F78
© Copyright 2004-2008 ABB. All rights reserved.
2.10 RAPID reference information
2.10.1. Instructions
2.10.1.1. DropSensor - Drop object on sensor
Usage
DropSensor is used to disconnect from the current object and the program is ready for the
next.
DropSensor is used for Sensor Synchronization, but not for Analog Synchronization.
Basic examples
Basic examples of the instruction
DropSensor are illustrated below.
Example 1
MoveL *, v1000, z10, tool, \WObj:=wobj0;
SyncToSensor Ssync1\Off;
MoveL *, v1000, fine, tool, \WObj:=wobj0;
DropSensor Ssync1;
MoveL *, v1000, z10, tool, \WObj:=wobj0;
Arguments
DropSensor MechUnit
MechUnit
Mechanical Unit
Data type:
mecunit
The moving mechanical unit to which the robot position in the instruction is related.
Program execution
Dropping the object means that the encoder unit no longer tracks the object. The object is
removed from the object queue and cannot be recovered.
Limitations
If the instruction is issued while the robot is actively using the sensor object then the motion
stops. The instruction must be issued after the robot has passed the last synchronized
robtarget.
The instruction may be issued only after a non synchronized movement has been used in the
preceding motion instructions with either a fine point or several (>1) corner zones.
Syntax
DropSensor
[ MechUnit’:=’] < variable (VAR) of mecunit>‘;´
Related information
For information about See
Wait for connection on sensor WaitSensor - Wait for connection on sensor on page 101
Continues on next page

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)