ABB IRC5 Applications Manual page 52

2 Machine Synchronization
2.4.8. Programming considerations
Continued
Instructions that will deactivate the synchronization
The instructions
or
ClearPath
and the move instructions related to synchronized path or supervised path.
The correct order is:
Other RAPID limitations
50
,
ActUnit DeactUnit
instruction.So the instructions
SupSyncSensorOn
should not be used between
ActUnit SSYNC1;
WaitSensor SSYNC1;
SyncToSensor SSYNC1\On;
! move instructions
...
SyncToSensor SSYNC1\Off;
•
The commands,
StorePath
• No commands work during synchronization.
Search
•
, ,
EoffsSet EoffsOn
•
Power fail restart is not possible with the synchronization option.
and
ClearPath
ActUnit
SyncToSensor
, do not work during synchronization.
RestoPath
have an effect on the sensor taught position.
EoffsOff
will deactivate any
SyncToSensor
, and
DeactUnit
or instruction
SupSyncSensorOn
3HAC18154-1 Revision: F