6 Programming
6.7.1. Corner zones
3HAC021272-001 Revision: H78
© Copyright 2004-2008 ABB. All rights reserved.
6.7 Program execution
6.7.1. Corner zones
Corner zones and WaitSyncTask
Corner zones can be used when synchronizing several task programs with
WaitSyncTask.
Corner zones and synchronized movements
Stop points must be used both before starting the synchronized movements with
SyncMoveOn and before ending it with SyncMoveOff. All other move instructions between
SyncMoveOn and SyncMoveOff can, on the other hand, use corner zones.
Dependences between synchronized instructions
In synchronized movements mode, all or none of the simultaneous move instructions must be
programmed with corner zones. This means that the move instructions with the same
ID must
either all have corner zones, or all have stop points. If a move instruction with a corner zone
and a move instruction with a stop point are synchronously executed in their respective task
program, an error will occur.
Synchronously executed move instructions can have corner zones of different sizes (e.g. one
use z10 and one use z50).
Corner zones converted to stop points
A corner zone will become a stop point if the task program has to wait for another task
program. This can happen if
WaitSyncTask is executed in a corner zone, but one task
program reaches this instruction later than the others.
Example with corner zones
Given the RAPID code below, the following will happen:
• If robot1 reaches p11 at approximately the same time as robot2 reaches p21, both
robots will be synchronized in corner zones (p11 and p21).
• If robot1 reaches p11 before robot2 reaches p21, p11 will become a stop point.
• If robot2 reaches p21 before robot1 reaches p11, p21 will become a stop point.
Note that both move instructions with corner zones and move instructions with stop points
can be used in each task. You just have to make sure that the instructions with the same
ID in
both task programs are of the same type. The instructions before
SyncMoveOn and
SyncMoveOff must have stop points.
Part of T_ROB1 task program:
MoveL p11, v500, z50, tool1;
WaitSyncTask sync1, all_tasks;
MoveL p12, v500, fine, tool1;
SyncMoveOn sync2, all_tasks;
MoveL p13\ID:=10, v500, z50, tool1 \WObj:=wobj_stn1;
MoveL p14\ID:=20, v500, fine, tool1 \WObj:=wobj_stn1;
SyncMoveOff sync3;
MoveL p15, v500, fine, tool1;
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