6 Programming
6.5.2. Example "SyncArc" with semi coordinated movements
3HAC021272-001 Revision: H64
© Copyright 2004-2008 ABB. All rights reserved.
6.5.2. Example "SyncArc" with semi coordinated movements
Program description
In this example, we want to accomplish the welding of a small square and a long line on one
side of the object. On another side of the object we want to make a square and a circle.
The positioner will first position the work object with the first side up, while the robots wait.
Robot 1 will then weld a line at the same time as robot 2 welds a square.
When the robots are done with the first welding operations, they wait while the positioner
turns the work object so the second side is upwards. Robot 1 will then weld a circle at the
same time as robot 2 welds a square.
WARNING!
If the movement of the work object and the robot is not separated with
WaitSyncTask and
stop points the following can occur:
• the mechanical units controlled by the different tasks can collide
• the robot is stepping backwards in the wrong direction
• the movement or restart instruction can be blocked.
NOTE!
To make the example simple and general, ordinary move instructions (e.g.
MoveL) are used
instead of weld instructions (e.g.
ArcL). For more information about arc welding, see
Application manual - Arc and Arc Sensor.
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