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2 Machine Synchronization

2.4.2. Programming examples

3HAC18154-1 Revision: F42

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;

MoveL p30, v1000, z20, tool1;

!Stop the synchronized motion

SyncToSensor SSYNC1\Off;

!Exit coordinated motion

MoveL p40, v1000, fine, tool1;

!Disconnect from current object

DropSensor SSYNC1;

MoveL p0, v1000, fine;

!Deactivate sensor

DeactUnit SSYNC1;

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