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2 Machine Synchronization

2.1.3. Synchronization features

273HAC18154-1 Revision: F

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:

• +/- 50 ms for Sensor Synchronization

• +/- 100 ms for Analog Synchronization

This is valid as long as the robot is within its dynamic limits with the added

sensor motion. This figure depends on the calibration of the robot and

sensor and is applicable for linear synchronization only.

Object queue Only for Sensor Synchronization:

Each time the external device trigger the synchronization switch, a sensor

object is created in the object queue. The encoder interface unit will

maintain the object queue, although for Sensor Synchronization the queue

normally does not contain more than one object.

RAPID access

to sensor data

A RAPID program has access to the current position and speed of the

external device, via the sensor.

Multiple

sensors

Up to 2 sensors are supported.

For Sensor Synchronization, each sensor must have a DSQC 377.

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