ABB IRC5 Applications Manual page 77

Parameter
Stop press signal Name of the digital input signal telling that press is stopping. This signal
Sensor start
signal
Start ramp
Sync Alarm signal Name of the digital output signal to stop the synchronized machine.This
CAN Interface
These parameters belong to the topic Process and the type CAN Interface.
Parameter
Connected signal
Position signal
Velocity signal
Null speed signal
Data ready signal
Waitwobj signal
Dropwobj signal
PassStartW signal
Pos Update time
Motion Planner
These parameters belong to the topic Motion and the type Motion planner.
Parameter
Path resolution
Process update time
CPU load equalization
3HAC18154-1 Revision: F
Description
is needed for safe stop of robot.
Name of the digital input signal to synchronize recorded profile and new
machine movement. The signal must be set before start of machine
movement. The signal must be triggered 100 ms before the press moves.
Defines for how many calculation steps the position error may exceed
Max Advance Distance. During this ramping period, the position error
may be 5 times Max Advance Distance.
signal may be set during supervision of sync sensor.
Description
Name of the digital input signal for connection.
Not used for Analog Synchronization.
Name of the analog input signal for sensor position.
Name of the analog input signal for sensor speed.
Name of the digital input signal indicating zero speed on the sensor.
Not used for Analog Synchronization.
Name of the digital input signal indicating a poll of the encoder unit.
Not used for Analog Synchronization.
Name of the digital output signal to indicate that a connection is desired
to an object in the queue.
Not used for Analog Synchronization.
Name of the digital output signal to drop a connected object on the
encoder unit
Not used for Analog Synchronization.
Name of the digital output signal to indicate that an object has gone past
the start window without being connected.
Not used for Analog Synchronization.
Time (in ms) at which the synchronization process read the sensor
position.
Description
The period at which steps along the path are calculated.
The time (in seconds) at which the sensor process updates the
robot kinematics on the sensor position.
CPU load equalization needs to be lowered for the synchronization
option. The default value is 2 but for the synchronization option it
should be set equal to 1 to have a stable synchronization speed.
2 Machine Synchronization
2.9.2. System parameters
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