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Motion coordination and supervision
Controller software IRC5
Robotware 5.0

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  • Page 1 Application manual Motion coordination and supervision Controller software IRC5 Robotware 5.0...
  • Page 3 Application manual Motion coordination and supervision RobotWare 5.0 Document ID: 3HAC18154-1 Revision: F...
  • Page 4 Except as may be expressly stated anywhere in this manual, nothing herein shall be construed as any kind of guarantee or warranty by ABB for losses, damages to persons or property, fitness for a specific purpose or the like.

  • Page 5: Table Of Contents

    Table of Contents Overview ................5 Product documentation, M2004 .
  • Page 6 Table of Contents 2.5.5 Programming example for master robot ..........60 2.5.6 Programming example for slave robot .

  • Page 7: Overview

    Operating manual - IRC5 with FlexPendant 3HAC16590-1 Technical reference manual - System parameters 3HAC17076-1 Product manual - IRC5 3HAC021313-001 Application manual - DeviceNet 3HAC020676-001 Product Specification - Controller Software IRC5, RobotWare 5.0 3HAC022349-001 Continues on next page 3HAC18154-1 Revision: F...
  • Page 8 Overview Continued Revisions Revision Description First edition Sensor Synchronization added Corrected errors in Sensor Synchronization, section slave robot configuration parameters. Added RAPID reference for Sensor Synchronization. Minor corrections. The option Analog Synchronization has been added, which affects most parts of the Machine Synchronization chapter.

  • Page 9: Product Documentation, M2004

    This means that any given delivery of robot products will not contain all documents listed, only the ones pertaining to the equipment delivered. However, all documents listed may be ordered from ABB. The documents listed are valid for M2004 robot systems.
  • Page 10 This group of manuals is aimed at those having first hand operational contact with the robot, that is production cell operators, programmers and trouble shooters. The group of manuals includes: • Emergency safety information • General safety information • Getting started, IRC5 • IRC5 with FlexPendant • RobotStudio • Introduction to RAPID •...

  • Page 11: Safety

    Therefore, it is important that all safety regulations are followed when entering safeguarded space. Safety regulations Before beginning work with the robot, make sure you are familiar with the safety regulations described in Operating Manual - IRC5 With Flexpendant. 3HAC18154-1 Revision: F...
  • Page 12 Safety 3HAC18154-1 Revision: F...

  • Page 13: Collision Detection

    1 Collision Detection 1.1.1. Overview 1 Collision Detection 1.1 Introduction 1.1.1. Overview Purpose Collision Detection is a software option that reduces collision impact forces on the robot. This helps protecting the robot and external equipment from severe damage. WARNING! Collision Detection cannot protect equipment from damage at a full speed collision. Description The software option Collision Detection identifies a collision by high sensitivity, model based supervision of the robot.

  • Page 14: Limitations

    In order to detect collisions properly, the payload of the robot must be correctly defined. TIP! Use Load Identification to define the payload. For more information, see Operating manual - IRC5 with FlexPendant. Robot axes only Collision Detection is only available for the robot axes. It is not available for track motions, orbit stations, or any other external axes.

  • Page 15: What Happens At A Collision

    1 Collision Detection 1.1.3. What happens at a collision 1.1.3. What happens at a collision Overview When the collision detection is triggered, the robot will stop as quickly as possible. Then it will move in the reverse direction to remove residual forces. The program execution will stop with an error message.
  • Page 16 1 Collision Detection 1.1.3. What happens at a collision Continued Speed and torque diagram en0300000360 3HAC18154-1 Revision: F...

  • Page 17: Configuration And Programming Facilities

    1 Collision Detection 1.2.1. System parameters 1.2 Configuration and programming facilities 1.2.1. System parameters About system parameters The parameters for Collision Detection do not require a warm start to take effect. For more information about the parameters, see Technical reference manual - System parameters.

  • Page 18: Rapid Components

    1 Collision Detection 1.2.2. RAPID components 1.2.2. RAPID components Instructions This is a brief description of the instructions in Collision Detection. For more information, see respective instruction in Technical reference manual - RAPID Instructions, Functions and Data types. Instruction Description MotionSup MotionSup is used to: •...

  • Page 19: Signals

    1 Collision Detection 1.2.3. Signals 1.2.3. Signals Digital outputs This is a brief description of the digital outputs in Collision Detection. For more information, see respective digital output in Technical reference manual - System parameters. Digital output Description MotSupOn MotSupOn is high when Collision Detection is active and low when it is not active.

  • Page 20: How To Use Collision Detection

    1 Collision Detection 1.3.1. Set up system parameters 1.3 How to use Collision Detection 1.3.1. Set up system parameters Activate supervision To be able to use Collision Detection during program execution, the parameter Path Collision Detection must be set to On. To be able to use Collision Detection during jogging, the parameter Jog Collision Detection must be set to On.

  • Page 21: Adjust Supervision From Flexpendant

    System parameters on page Set jog supervision on FlexPendant On the FlexPendant, select Control Panel from the ABB menu and then tap Supervision. Supervision can be turned on or off and the sensitivity can be adjusted for both programmed paths and jogging. The sensitivity level is set in percentage. A large value makes the function less sensitive.

  • Page 22: Adjust Supervision From Rapid Program

    1 Collision Detection 1.3.3. Adjust supervision from RAPID program 1.3.3. Adjust supervision from RAPID program Default values If Collision Detection is activated with the system parameters, it is by default active during program execution with the tune value 100%. These values are set automatically: •...

  • Page 23: How To Avoid False Triggering

    If ... then ... the payload is incorrectly use Load Identification to define it. For more information, see defined Operating manual - IRC5 with FlexPendant. the payload has large mass increase supervision level or inertia the arm load (cables or...
  • Page 24 1 Collision Detection 1.3.4. How to avoid false triggering 3HAC18154-1 Revision: F...

  • Page 25: Machine Synchronization

    2 Machine Synchronization 2.1.1. Overview 2 Machine Synchronization 2.1 Introduction 2.1.1. Overview Two options Machine Synchronization consists of two options, Sensor Synchronization and Analog Synchronization. The functionality is very similar for both these options, it is the hardware and configuration that differs. The difference between the two options is that: •...
  • Page 26 2 Machine Synchronization 2.1.1. Overview Continued Basic Approach This is the general approach for setting up the synchronization option. For a more detailed description of how this is done, see the respective section. • Install and connect hardware. • Install the synchronization software. •...

  • Page 27: What Is Needed

    2 Machine Synchronization 2.1.2. What is needed 2.1.2. What is needed Sensor Synchronisation The Sensor Synchronization application consist of the following components: en0400000655 External device that dictates the robot speed, e.g. a press door Synchronization switch Encoder Encoder interface unit (DSQC 377) Controller Robot B+C+D...
  • Page 28 2 Machine Synchronization 2.1.2. What is needed Continued Analog Synchronization The Analog Synchronization application consist of the following components: xx0700000431 Mold press that dictates the robot speed Analog sensor for press position Controller Robot 3HAC18154-1 Revision: F...

  • Page 29: Synchronization Features

    2 Machine Synchronization 2.1.3. Synchronization features 2.1.3. Synchronization features Features The synchronization option provides the following features: Feature Description Accuracy In Auto operation at constant sensor speed, the Tool Center Point (TCP) of the robot will stay within the programmed position corresponding to the sensor, with an error margin of: •...

  • Page 30: General Description Of The Synchronization Process

    2 Machine Synchronization 2.1.4. General description of the synchronization process 2.1.4. General description of the synchronization process Example with a press This example shows the very basic steps when synchronization is used for material handling for a press. When... Then... the press is closed and a signal from the robot controller (or PLC) orders the press to ready to start...

  • Page 31: Limitations

    2 Machine Synchronization 2.1.5. Limitations 2.1.5. Limitations Limitations on additional axes Each sensor is considered an additional axis. Thus the system limitation of 6 active additional axes must be reduced by the number of active and installed sensors. The first installed sensor will use measurement node 6 and the second sensor will use measurement node 5.

  • Page 32: Hardware Configuration

    2 Machine Synchronization 2.2.1.1. Encoder specification 2.2 Hardware configuration 2.2.1. Sensor Synchronization 2.2.1.1. Encoder specification Two phase type The encoder must be of two phase type for quadrature pulses, to enable registration of reverse sensor motion, and to avoid false counts due to vibration etc. when the sensor is not moving. Technical data Output signal: Open collector PNP output...

  • Page 33: Encoder Description

    2 Machine Synchronization 2.2.1.2. Encoder Description 2.2.1.2. Encoder Description Overview The encoder provides a series of pulses indicating the motion detected by the sensor. This is used to synchronize the motion between the robot and the external device. Pulse channels The encoder has two pulse channels, A and B which differ in phase by 90°.

  • Page 34: Installation Recommendations

    2 Machine Synchronization 2.2.1.3. Installation recommendations 2.2.1.3. Installation recommendations Overview The encoder must be installed in such a way that it gives precise feedback of the sensor output (reflects the true motion of the external device). This means that the encoder should be installed as close to the robot as practically possible, no further away than 30 meters.

  • Page 35: Connecting Encoder And Encoder Interface Unit

    This signal will over a period of time damage the opto couplers in the encoder interface unit. See Product manual - IRC5 for details on connecting to the encoder interface unit. Reduce noise To reduce noise, connect the encoder with a screened cable.
  • Page 36 2 Machine Synchronization 2.2.1.4. Connecting encoder and encoder interface unit Continued Action Illustration 2. Connect the synchronization switch to the encoder interface unit (DSQC 377) on the controller. Finding the Encoder rotating direction The following procedure describes how to find the encoder rotating direction. Action Illustration 1.

  • Page 37: Analog Synchronization

    2 Machine Synchronization 2.2.2.1. Required hardware 2.2.2. Analog Synchronization 2.2.2.1. Required hardware Analog input board An analog input board is required, for example DSQC355A. See Application manual - DeviceNet. Analog linear sensor An analog linear sensor is required, with analog signal input between 0 and 10 V. 3HAC18154-1 Revision: F...

  • Page 38: Software Installation

    2.3 Software installation 2.3.1. Sensor installation Overview Normally the synchronization option and the DeviceNet option are preloaded at ABB, and do not need to be re-installed. For more information on how to add options to the system, see Operating manual - RobotStudio.
  • Page 39 2 Machine Synchronization 2.3.1. Sensor installation Continued How to add a sensor manually for Sensor Synchronization Use the following procedure to add a sensor manually. Action 1. Connect the encoder interface unit to the CAN bus. Note the address on the CAN bus. 2.

  • Page 40: Reloading Saved Motion Parameters

    2 Machine Synchronization 2.3.2. Reloading saved Motion parameters 2.3.2. Reloading saved Motion parameters Overview During installation of the synchronization option, a specific sensor configuration for additional axes will be loaded into the Motion system parameters. NOTE! If these parameters were loaded before the synchronization option, then the mechanical unit SSYNC1 will not appear on the FlexPendant under the Jogging window.

  • Page 41: Installation Of Several Sensors

    2.3.3. Installation of several sensors About the installation Normally the synchronization option and the DeviceNet option are preloaded at ABB, and do not need to be re-installed. For more information how to add options to the system, see Operating manual - RobotStudio.

  • Page 42: Programming The Synchronization

    2 Machine Synchronization 2.4.1. General issues when programming with the synchronization option 2.4 Programming the synchronization 2.4.1. General issues when programming with the synchronization option Activate sensor The sensor must be activated before it may be used for work object coordination, just like any other mechanical unit.
  • Page 43 2 Machine Synchronization 2.4.1. General issues when programming with the synchronization option Continued Action Info 4. Stop the external device in the position that should correspond to the robot target you are about to program. 5. Start the synchronized motion with a SyncToSensor SSYNC1\On instruction.

  • Page 44: Programming Examples

    2 Machine Synchronization 2.4.2. Programming examples 2.4.2. Programming examples Sensor Synchronization program MoveJ p0, vmax, fine, tool1; !Activate sensor ActUnit SSYNC1; !Connect to the object WaitSensor SSYNC1; !Start the Synchronized motion SyncToSensor SSYNC1\On; !Instructions with coordinated robot targets MoveL p10, v1000, z20, tool1; MoveL p20, v1000, z20, tool1;...
  • Page 45 2 Machine Synchronization 2.4.2. Programming examples Continued Analog Synchronization program 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;...

  • Page 46: Entering And Exiting Coordinated Motion In Corner Zones

    2 Machine Synchronization 2.4.3. Entering and exiting coordinated motion in corner zones 2.4.3. Entering and exiting coordinated motion in corner zones Corner zones can be used Once a instruction is connected to an object it is possible to enter and exit WaitSensor synchronized motion with the sensor via corner zones.

  • Page 47: Use Several Sensors

    2 Machine Synchronization 2.4.4. Use several sensors 2.4.4. Use several sensors Overview When several sensors are used the program must have at least one move instruction without any synchronization between parts of the path that are synchronized with two different sensors.

  • Page 48: Finepoint Programming

    2 Machine Synchronization 2.4.5. Finepoint programming 2.4.5. Finepoint programming Overview Avoid the use of fine points when using synchronized motion. The robot will stop and lose the synchronization with the sensor for 100 ms. Then the RAPID execution will continue. Finepoint programming can be used on the last synchronized move instruction if the synchronization does not need to be accurate at the last target.

  • Page 49: Drop Sensor Object

    2 Machine Synchronization 2.4.6. Drop sensor object 2.4.6. Drop sensor object Overview For Sensor Synchronization, a connected object may be dropped, with a DropSensor instruction, once the synchronized motion has ended. Example: DropSensor SSYNC1; For Analog Synchronization, must not be used. DropSensor Considerations The following considerations must be considered when dropping an object:...

  • Page 50: Information On The Flexpendant

    2 Machine Synchronization 2.4.7. Information on the FlexPendant 2.4.7. Information on the FlexPendant Overview The user has access to the sensor position and speed via the FlexPendant Jogging window The position (in millimeters) of the sensor object is shown in the Jogging window. This value will be negative if a Queue Tracking Distance is defined.

  • Page 51: Programming Considerations

    2 Machine Synchronization 2.4.8. Programming considerations 2.4.8. Programming considerations Performance limits The synchronization will be lost if joint speed limits are reached, particularly in singularities. It is the responsibility of the programmer to ensure that the path during synchronized movement does not exceed the speed and motion capabilities of the robot. Motion commands All motion commands are allowed during synchronization.
  • Page 52 2 Machine Synchronization 2.4.8. Programming considerations Continued Instructions that will deactivate the synchronization The instructions will deactivate any ActUnit DeactUnit ClearPath SyncToSensor instruction.So the instructions SupSyncSensorOn ActUnit DeactUnit should not be used between instruction ClearPath SyncToSensor SupSyncSensorOn and the move instructions related to synchronized path or supervised path. The correct order is: ActUnit SSYNC1;...

  • Page 53: Modes Of Operation

    2 Machine Synchronization 2.4.9. Modes of operation 2.4.9. Modes of operation Operation under manual reduced speed mode (< 250 mm/s) The FWD, BWD buttons may be used to step through the program. New instructions may be added and MODPOS may be used to modify programmed positions. The robot will recover as normal if the Enable switch is released during motion.

  • Page 54: Robot To Robot Synchronization

    2 Machine Synchronization 2.5.1. Introduction 2.5 Robot to robot synchronization 2.5.1. Introduction Overview It is possible to synchronize two robot systems in a synchronization application. This is done with a master and a slave robot setup. Requirements For cable connection and setup, see Application manual - DeviceNet. 3HAC18154-1 Revision: F...

  • Page 55: The Concept Of Robot To Robot Synchronization

    2 Machine Synchronization 2.5.2. The concept of robot to robot synchronization 2.5.2. The concept of robot to robot synchronization Description The basic idea of robot to robot synchronization is that two robot should use a common virtual sensor. The master robot controls the virtual motion of this sensor. The slave robot uses the sensor’s virtual position and speed to adjust its speed.

  • Page 56: Master Robot Configuration Parameters

    2 Machine Synchronization 2.5.3. Master robot configuration parameters 2.5.3. Master robot configuration parameters Overview Use the following parameters to set up the master robot. Use Robot Studio to change the parameters. Topic: Motion SINGLE_TYPE/Parameter Value Name SSYNC2 mechanics SS_LIN process_name SSYNC2 use_path PSSYNC...
  • Page 57 2 Machine Synchronization 2.5.3. Master robot configuration parameters Continued EIO_SIGNAL/Parameter Value MinLog -10.0 MinPhys MinPhysLimit MinBitVal -32767 EIO_SIGNAL/Parameters Value Name ao1Speed SignalType Unit MASTER1 UnitMap 16-31 MaxLog 10.0 MaxPhys MaxPhysLimit MaxBitVal 32767 MinLog -10.0 MinPhys MinPhysLimit MinBitVal -32767 EIO_SIGNAL/Parameters Value Name ao1PredTime SignalType...
  • Page 58 2 Machine Synchronization 2.5.3. Master robot configuration parameters Continued EIO_SIGNAL/Parameters Value Unit MASTER1 UnitMap 3HAC18154-1 Revision: F...

  • Page 59: Slave Robot Configuration Parameters

    2 Machine Synchronization 2.5.4. Slave robot configuration parameters 2.5.4. Slave robot configuration parameters Overview For default configuration, see System parameters on page Use RobotStudio to change the parameters and to set up the slave robot. Description To make the slave robot stop and restart synchronized with the master robot: •...
  • Page 60 2 Machine Synchronization 2.5.4. Slave robot configuration parameters Continued Topic: I/O EIO_UNIT EIO_UNIT/Parameters Value Name SLAVE1 UnitType DN_SLAVE DeviceNet2 DN_Address EIO_SIGNAL EIO_SIGNAL/Parameters Value Name ai1Position SignalType Unit SLAVE1 UnitMap 0-15 MaxLog 10.0 MaxPhys MaxPhysLimit MaxBitVal 32767 MinLog -10.0 MinPhys MinPhysLimit MinBitVal -32767 EIO_SIGNAL/Parameters...
  • Page 61 2 Machine Synchronization 2.5.4. Slave robot configuration parameters Continued EIO_SIGNAL/Parameters Value UnitMap 32-47 MaxLog 10.0 MaxPhys MaxPhysLimit MaxBitVal 32767 MinLog -10.0 MinPhys MinPhysLimit MinBitVal -32767 EIO_SIGNAL/Parameters Value Name di1Dready SignalType Unit SLAVE1 UnitMap EIO_SIGNAL/Parameters Value Name di1Sync2 SignalType Unit SLAVE1 UnitMap 3HAC18154-1 Revision: F...

  • Page 62: Programming Example For Master Robot

    2 Machine Synchronization 2.5.5. Programming example for master robot 2.5.5. Programming example for master robot Overview The following program is an example of how to program a master robot. Master robot programming syncstart:=20; Syncpos1:=300; Syncpos2:=600; Syncpos3:=900; Syncpos4:=1200; !Synchronized motion between master and slave robpos1.extax.eax_e:=syncpos1;...
  • Page 63 2 Machine Synchronization 2.5.5. Programming example for master robot Continued Considerations The following is to be considered • The values of should increase for every robtarget during extax.eax_e synchronization. The first move instruction of the master robot, after the synchronization, should also have a higher value than the previous extax.eax_e instruction.

  • Page 64: Programming Example For Slave Robot

    2 Machine Synchronization 2.5.6. Programming example for slave robot 2.5.6. Programming example for slave robot Overview The following program is an example of how to program a slave robot. Slave robot programming syncstart:=20; Syncpos1:=300; Syncpos2:=600; Syncpos3:=900; !Synchronized motion between master and slave robpos1.extax.eax_e:=syncpos1;...

  • Page 65: Synchronize With Hydraulic Press Using Recorded Profile

    2 Machine Synchronization 2.6.1. Introduction 2.6 Synchronize with hydraulic press using recorded profile 2.6.1. Introduction Overview This section describes how to use a recorded machine profile to improve the accuracy of robot’s synchronization with a hydraulic press. This profile is used for modeling of press path. Not using a recorded profile will require a bigger distance between robot and press model when teaching the path.

  • Page 66: Configuration Of System Parameters

    2 Machine Synchronization 2.6.2. Configuration of system parameters 2.6.2. Configuration of system parameters Introduction This section describes how to configure the parameters to get the best result when using recorded sensor profiles with a hydraulic press. Start the tuning with the general settings. If the system is not using a DSQC377A encoder, see Settings for analog input with no DSQC377A encoder on page 64...
  • Page 67 2 Machine Synchronization 2.6.2. Configuration of system parameters Continued Settings for sensor using Group input The parameters belong to the configuration type Sensor systems in the topic Process. Parameter Value Pos Group IO scale Define the number of input data per meter, the default value is set to 10000.

  • Page 68: Program Example

    2 Machine Synchronization 2.6.3. Program example 2.6.3. Program example Overview This section describes the programming cycles that are typical for programming a hydraulic press. Program example First press cycle A pulse on sensor_start_signal will start storing position in a record array. During this cycle the robot is not synchronized with press.

  • Page 69: Synchronize With Molding Machine Using Recorded Profile

    2 Machine Synchronization 2.7.1. Introduction 2.7 Synchronize with molding machine using recorded profile 2.7.1. Introduction Overview This section describes how to use a recorded machine profile to improve the accuracy of a robot’s synchronization with a molding machine. This profile is used for modeling of mold path.

  • Page 70: Configuration Of System Parameters

    2 Machine Synchronization 2.7.2. Configuration of system parameters 2.7.2. Configuration of system parameters Introduction This section describes how to configure the parameters to get the best result when using recorded sensor profiles with a molding machine. Start the tuning with the general settings. If the system is not using a DSQC377A encoder, see Settings for analog input with no DSQC377A encoder on page 68...
  • Page 71 2 Machine Synchronization 2.7.2. Configuration of system parameters Continued Settings for sensor using Group input The parameters belong to the configuration type Sensor systems in the topic Process. Parameter Value Pos Group IO scale Define the number of increments per meter for the group input. The default value is set to 10000.

  • Page 72: Program Example

    2 Machine Synchronization 2.7.3. Program example 2.7.3. Program example Overview This section describes the programming cycles that are typical for programming a molding machine. Program example First press cycle A pulse on sensor_start_signal will start storing position in a record array. During this cycle the robot is not synchronized with press.

  • Page 73: Supervision

    2 Machine Synchronization 2.8.1. Supervise movement 2.8 Supervision 2.8.1. Supervise movement Introduction The supervision can be used to save cycle time when robot moves outside the mold or press. Instead of waiting to be outside the machine to enable close mold the robot enable close mold when it starts to move outside the mold after picking the part.

  • Page 74: Programming And Configuration Data

    2 Machine Synchronization 2.9.1. RAPID components 2.9 Programming and configuration data 2.9.1. RAPID components About the RAPID components This is an overview of all the instructions and functions in Machine Synchronization. For more information, see respective instruction in RAPID reference information on page General synchronization instructions Instruction Description...
  • Page 75 2 Machine Synchronization 2.9.1. RAPID components Continued Instructions for supervision Instruction Description SupSyncSensorOn Start the supervision between robot movement and a synchro- nized sensor movement. SupSyncSensorOff Stop the supervision of the robot movement and synchronized sensor movement. 3HAC18154-1 Revision: F...

  • Page 76: System Parameters

    2 Machine Synchronization 2.9.2. System parameters 2.9.2. System parameters About system parameters This section describes the system parameters in a general way. For more information about the parameters, see Technical reference manual - System parameters. Fieldbus Command Only for Sensor Synchronization. These are different instances of the type Fieldbus Command in the topic I/O.
  • Page 77 2 Machine Synchronization 2.9.2. System parameters Continued Parameter Description Stop press signal Name of the digital input signal telling that press is stopping. This signal is needed for safe stop of robot. Sensor start Name of the digital input signal to synchronize recorded profile and new signal machine movement.
  • Page 78 2 Machine Synchronization 2.9.2. System parameters Continued Mechanical unit These parameters belong to the topic Motion and the type Mechanical unit. Parameter Description Name The name of the unit (max. 7 characters). Activate at start up The sensor is to be activated automatically at start up. Deactivate Forbidden The sensor cannot be deactivated.

  • Page 79: I/O Signals

    2 Machine Synchronization 2.9.3. I/O signals 2.9.3. I/O signals Overview Sensor Synchronization provides several I/O signals which allow a user or RAPID program to monitor and control the object queue on the encoder interface unit. The object queue is designed for the option Conveyor Tracking and has more functionality than required by Sensor Synchronization.

  • Page 80: Rapid Reference Information

    2 Machine Synchronization 2.10.1.1. DropSensor - Drop object on sensor 2.10 RAPID reference information 2.10.1. Instructions 2.10.1.1. DropSensor - Drop object on sensor Usage is used to disconnect from the current object and the program is ready for the DropSensor next.
  • Page 81 Continued For information about Sync to sensor SyncToSensor - Sync to sensor on page 99 RobotWare options Product specification - Controller software IRC5 Sensor Synchronization Product specification - Controller software IRC5, section Motion Coordination - Sensor Synchronization 3HAC18154-1 Revision: F...

  • Page 82: Prxactivandstorerecord

    2 Machine Synchronization 2.10.1.2. PrxActivAndStoreRecord 2.10.1.2. PrxActivAndStoreRecord Usage Activate the recorded profile data and store it in a file. Can be used instead of calling both PrxActivRecord PrxStoreRecord Basic example PrxActivAndStoreRecord SSYNC1, 1, "profile.log"; Profile of sensor movement activated and is stored in the file profile.log. Arguments PrxActivAndStoreRecord MechUnit Delay File_name MechUnit...
  • Page 83 2 Machine Synchronization 2.10.1.2. PrxActivAndStoreRecord Continued Related information For information Recording sensor Synchronize with hydraulic press using recorded profile on page 63 profile Synchronize with molding machine using recorded profile on page 3HAC18154-1 Revision: F...

  • Page 84: Prxactivrecord

    2 Machine Synchronization 2.10.1.3. PrxActivRecord 2.10.1.3. PrxActivRecord Usage Activates the record that was just recorded in order to use it without having to save it before. Basic example PrxActivRecord SSYNC1, 0; WaitTime 0.2; SetDO do_startstop_machine, 1; !Work synchronized with sensor SetDO do_startstop_machine, 0;...

  • Page 85: Prxdbgstorerecord

    2 Machine Synchronization 2.10.1.4. PrxDbgStoreRecord 2.10.1.4. PrxDbgStoreRecord Usage Store a non activated record for debug. Can be used to compare recordings and check the repeatability. Basic example PrxDbgStoreRecord SSYNC1, "debug_profile.log"; Saves the recording in the file debug_profile.log. Arguments PrxDbgStoreRecord MechUnit Filename MechUnit Data type: mechunit...

  • Page 86: Prxdeactrecord

    2 Machine Synchronization 2.10.1.5. PrxDeactRecord 2.10.1.5. PrxDeactRecord Usage Deactivates a record. Basic example PrxDeactRecord SSYNC1; Record of sensor movement is deactivated and no longer used for prediction of sensor movement. The record can be activated again. Arguments PrxDeactRecord MechUnit MechUnit Data type: mechunit The moving mechanical unit object to which the robot movement is synchronized.

  • Page 87: Prxresetpos

    2 Machine Synchronization 2.10.1.6. PrxResetPos 2.10.1.6. PrxResetPos Usage Reset the zero position of the sensor. The sensor position is reset for synchronization functionality and recorded file but IO signal value is not reset. This instruction is used for software reset of sensor input where no sync switch is available to reset IO signal.

  • Page 88: Prxresetrecords

    2 Machine Synchronization 2.10.1.7. PrxResetRecords 2.10.1.7. PrxResetRecords Usage Resets and deactivates all records. Basic example PrxResetRecords SSYNC1; Record of sensor movement is deactivated and no longer used for prediction of sensor movement and the record data is removed. Arguments PrxResetRecords MechUnit MechUnit Data type: mechunit...

  • Page 89: Prxsetposoffset

    2 Machine Synchronization 2.10.1.8. PrxSetPosOffset 2.10.1.8. PrxSetPosOffset Usage Set a reference position for the sensor. The sensor position is set to reference for synchronization functionality and recorded file. This function is used for software set of sensor reference where no sync switch is available to reset IO signal.

  • Page 90: Prxsetrecordsampletime

    2 Machine Synchronization 2.10.1.9. PrxSetRecordSampleTime 2.10.1.9. PrxSetRecordSampleTime Usage Set the sample time for recording a profile, in seconds. The default sample time is taken from the system parameter Pos Update time, belonging to type CAN interface in the topic Process. Note that Pos Update time specifies the sample time in milliseconds, while specifies the sample time in seconds.

  • Page 91: Prxsetsyncalarm

    2 Machine Synchronization 2.10.1.10. PrxSetSyncalarm 2.10.1.10. PrxSetSyncalarm Usage Set sync_alarm_signal behavior to a pulse during specified time. If sync alarm is triggered, the Sync_alarm_signal is pulsed during the time specified by the instruction . It can also be set to no pulse, i.e. the signal continues to be PrxSetSyncalarm high.

  • Page 92: Prxstartrecord

    2 Machine Synchronization 2.10.1.11. PrxStartRecord 2.10.1.11. PrxStartRecord Usage Resets all profile data and records a new profile of the sensor movement as soon as sensor_start_signal is set. To be able to make a recording it is important to first make a connection to a sensor (mechanical unit whose speed affects the speed of the robot).
  • Page 93 2 Machine Synchronization 2.10.1.11. PrxStartRecord Continued Program execution must be executed at least 0.2 seconds before start of sensor movement. PrxStartRecord Syntax PrxStartRecord [ MechUnit ‘:=’ ] < expression (IN) of mechunit>’ ,’ [ Record_duration‘ :=’ ] < expression (IN) of num > ’,’ [ Profile_type‘...

  • Page 94: Prxstoprecord

    2 Machine Synchronization 2.10.1.12. PrxStopRecord 2.10.1.12. PrxStopRecord Usage Stops recording a profile. Should always be used when set to 0. PrxStartRecord Record_duration Basic example ActUnit SSYNC1; WaitSensor SSYNC1; PrxStartRecord SSYNC1, 0, PRX_PROFILE_T1; WaitTime 0.2; SetDo do_startstop_machine 1; WaitTime 2; PrxStopRecord SSYNC1; Signal do_startstop_machine, in this example, starts the sensor movement.

  • Page 95: Prxstorerecord

    2 Machine Synchronization 2.10.1.13. PrxStoreRecord 2.10.1.13. PrxStoreRecord Usage Saves an activated record in a file. Basic example ActUnit SSYNC1; WaitSensor SSYNC1; PrxStartRecord SSYNC1, 0, PRX_PROFILE_T1; WaitTime 0.2; SetDo do_startstop_machine 1; WaitTime 2; PrxStopRecord SSYNC1; PrxActivRecord SSYNC1; SetDo do_startstop_machine 0; PrxStoreRecord SSYNC1, 0, "Profile.log"; Profile of sensor movement is recorded as soon as sensor_start_signal is set and is stored in the file profile.log.
  • Page 96 2 Machine Synchronization 2.10.1.13. PrxStoreRecord Continued Related information For information about Recording sensor profile Synchronize with hydraulic press using recorded profile on page 63 Synchronize with molding machine using recorded profile on page 3HAC18154-1 Revision: F...

  • Page 97: Prxusefilerecord

    2 Machine Synchronization 2.10.1.14. PrxUseFileRecord 2.10.1.14. PrxUseFileRecord Usage Load and activate a record from a file for sensor synchronization. Basic example PrxUseFileRecord SSYNC1, 0, "profile.log"; WaitTime 0.2; SetDo do_startstop_machine 1; !Work synchronized with sensorWork synchronized with sensor SetDo do_startstop_machine 0;; Arguments PrxUseFileRecord MechUnit Delay Filename MechUnit...

  • Page 98: Supsyncsensoroff

    2 Machine Synchronization 2.10.1.15. SupSyncSensorOff 2.10.1.15. SupSyncSensorOff Usage is used to stop supervision of the robot movement and synchronized SupSyncSensorOff sensor movement. Basic example Basic example of the instruction is illustrated below. SupSyncSensorOff Example SupSyncSensorOff SSYNC1 The sensor is no longer supervised. Arguments SupSyncSensorOff MechUnit MechUnit...

  • Page 99: Supsyncsensoron

    2 Machine Synchronization 2.10.1.16. SupSyncSensorOn 2.10.1.16. SupSyncSensorOn Usage is used to start the supervision between robot movement and a SupSyncSensorOn synchronized sensor movement. Basic example Basic example of the instruction is illustrated below. SupSyncSensorOn Example SupSyncSensorOn Ssync1, 150, 100, 50 The mechanical unit is supervised when the sensor is positioned between 50 and 150.
  • Page 100 2 Machine Synchronization 2.10.1.16. SupSyncSensorOn Continued [\SafetyDelay] Safety delay Data type: is used to adjust the delay between the programmed position of the robot and SafetyDelay the sensor supervised position. The unit is in seconds. Limitations If the is used before the instruction is finished the robot will SupSynSensorOn WaitSensor...

  • Page 101: Synctosensor - Sync To Sensor

    2 Machine Synchronization 2.10.1.17. SyncToSensor - Sync to sensor 2.10.1.17. SyncToSensor - Sync to sensor Usage (Sync To Sensor) is used to start or stop synchronization of robot movement SyncToSensor to sensor movement. Basic examples Basic examples of the instruction are illustrated below.
  • Page 102 WaitSensor - Wait for connection on sensor on page 101 Drop object on sensor DropSensor - Drop object on sensor on page 78 RobotWare options Product specification - Controller software IRC5 Sensor Synchronization Product specification - Controller software IRC5, section Motion Coordination - Sensor Synchronization...

  • Page 103: Waitsensor - Wait For Connection On Sensor

    2 Machine Synchronization 2.10.1.18. WaitSensor - Wait for connection on sensor Machine Synchronization 2.10.1.18. WaitSensor - Wait for connection on sensor Usage (Wait Sensor) connects to an object in the start window on the sensor WaitSensor mechanical unit. Basic examples Basic examples of the instruction are illustrated below.
  • Page 104 2 Machine Synchronization 2.10.1.18. WaitSensor - Wait for connection on sensor Machine Synchronization Continued [\TimeFlag] Timeout Flag Data type: bool The output parameter that contains the value if the maximum permitted waiting time TRUE runs out before the sensor connection or reldist reached. If this parameter is included in the instruction, it is not considered to be an error if the max.
  • Page 105 DropSensor - Drop object on sensor on page 78 Sync to sensor SyncToSensor - Sync to sensor on page 99 RobotWare options Product Specification - Controller Software IRC5, RobotWare 5.0 Sensor Synchronization SyncToSensor - Sync to sensor on page 99 Product Specification - Controller Software IRC5, RobotWare 5.0, section Motion Coordination - Sensor...

  • Page 106: Functions

    2 Machine Synchronization 2.10.2.1. PrxGetMaxRecordpos 2.10.2. Functions 2.10.2.1. PrxGetMaxRecordpos Usage Returns the max position in mm of the active record. The maximum sensor position can be used for scaling or limiting argument in the max_sync instruction. SyncToSensor Basic example maxpos:=PrxGetMaxRecordpos SSYNC1; Gets the maximum position for the active profile for the mechanical unit SSYNC1 Return value...

  • Page 107: Index

    Index MotSupTrigg 17 Activate at start up 76 activate supervision 20 Name 76 Add or replace parameters 38 Nominal Speed 74 Adjustment Speed 74 Null speed signal 75 Analog Synchronization 23 auto mode 51 object queue 28 Change of tool 49 collision 13 Path Collision Detection 15 Collision Detection Memory 15...
  • Page 108 Index 3HAC18154-1 Revision: F...
  • Page 110 ABB AB Robotics Products S-721 68 VÄSTERÅS SWEDEN Telephone: +46 (0) 21 344000 Telefax: +46 (0) 21 132592...

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