ABB IRC5 Applications Manual page 45

Analog Synchronization program
3HAC18154-1 Revision: F
VAR num startdist := 600;
MoveJ p0, vmax, fine, tool1;
!Activate sensor
ActUnit SSYNC1;
WaitSensor SSYNC1 \RelDist:=startdist;
!Start the Synchronized motion
SyncToSensor SSYNC1\On;
!Instructions with coordinated robot targets
MoveL p10, v1000, z20, tool1;
MoveL p20, v1000, z20, tool1;
MoveL p30, v1000, z20, tool1;
!Exit coordinated motion
MoveL p40, v1000, fine, tool1;
!Stop the synchronized motion
SyncToSensor SSYNC1\Off;
MoveL p0, v1000, fine;
!Deactivate sensor
DeactUnit SSYNC1;
2 Machine Synchronization
2.4.2. Programming examples
Continued
43