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2 Machine Synchronization

2.4.4. Use several sensors

453HAC18154-1 Revision: F

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.

Program example

!Connect to the object

WaitSensor SSYNC1\RelDist:=Pickdist;

!Start the Synchronized motion

SyncToSensor SSYNC1\MaxSync:=1653\On;

!Instructions with coordinated robot targets

MoveL p30, v400, z20, currtool;

!Stop the synchronized motion

SyncToSensor SSYNC1\Off;

!Instructions with coordinated robot targets

MoveL p31, v400, z20, currtool;

!Connect to the object

WaitSensor SSYNC2\RelDist:=1720;

!Instructions with coordinated robot targets

MoveL p32, v400, z50, currtool;

!Start the Synchronized motion

SyncToSensor SSYNC2\MaxSync:=2090\On;

!Instructions with coordinated robot targets

MoveL p33, v400, z20, currtool;

!Stop the synchronized motion

SyncToSensor SSYNC2\Off;

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