ABB MultiMove - Page 73

6 Programming
6.6.2. Example "SyncArc" with coordinated synchronized movement
713HAC021272-001 Revision: H
© Copyright 2004-2008 ABB. All rights reserved.
TASK PERS tooldata tool1 := ...
CONST robtarget p100 := ...
...
CONST robtarget p199 := ...
PROC main()
...
SyncMove;
...
ENDPROC
PROC SyncMove()
MoveJ p100, v1000, z50, tool1;
WaitSyncTask sync1, all_tasks;
MoveL p101, v500, fine, tool1 \WObj:=wobj_stn1;
SyncMoveOn sync2, all_tasks;
MoveL p102\ID:=10, v300, z10, tool1 \WObj:=wobj_stn1;
MoveC p103, p104\ID:=20, v300, z10, tool1 \WObj:=wobj_stn1;
MoveL p105\ID:=30, v300, z10, tool1 \WObj:=wobj_stn1;
MoveC p106, p101\ID:=40, v300, fine, tool1 \WObj:=wobj_stn1;
SyncMoveOff sync3;
MoveL p199, v1000, fine, tool1;
UNDO
SyncMoveUndo;
ENDPROC
ENDMODULE
T_ROB2 task program
MODULE module2
VAR syncident sync1;
VAR syncident sync2;
VAR syncident sync3;
PERS tasks all_tasks{3} :=
[["T_ROB1"],["T_ROB2"],["T_STN1"]];
PERS wobjdata wobj_stn1 :=
[ FALSE, FALSE, "STN_1",
[ [0, 0, 0], [1, 0, 0 ,0] ],
[ [0, 0, 250], [1, 0, 0, 0] ] ];
TASK PERS tooldata tool2 := ...
CONST robtarget p200 := ...
...
CONST robtarget p299 := ...
PROC main()
...
SyncMove;
...
ENDPROC
Continued
Continues on next page