ABB MultiMove - Page 77

6 Programming
6.6.3. Example "SyncSpot" with coordinated synchronized movement
753HAC021272-001 Revision: H
© Copyright 2004-2008 ABB. All rights reserved.
T_PROCROB task program
MODULE module1
VAR syncident sync1;
VAR syncident sync2;
PERS tasks motion_tasks{2} :=
[["T_PROCROB"],["T_HANDLEROB"]];
PERS wobjdata wobj_handlerob :=
[ FALSE, FALSE, "ROB_2",
[ [0, 0, 0], [1, 0, 0 ,0] ],
[ [-10, 0.5, 7], [1, 0, 0, 0] ] ];
PERS tooldata gun1 := ...
CONST robtarget p11 := ...
...
CONST robtarget p13 := ...
PROC main()
...
SyncMove;
...
ENDPROC
PROC SyncMove()
MoveJ p11, v1000, fine, gun1;
SyncMoveOn sync1, motion_tasks;
MoveL p12\ID:=10, v300, fine, gun1 \WObj:=wobj_handlerob;
MoveL p13\ID:=20, v300, fine, gun1 \WObj:=wobj_handlerob;
SyncMoveOff sync2;
UNDO
SyncMoveUndo;
ENDPROC
ENDMODULE
T_HANDLEROB task program
MODULE module2
VAR syncident sync1;
VAR syncident sync2;
PERS tasks motion_tasks{2} :=
[["T_PROCROB"],["T_HANDLEROB"]];
PERS tooldata grip1 := ...
CONST robtarget p21 := ...
...
CONST robtarget p23 := ...
PROC main()
...
SyncMove;
...
Continued
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