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2 Machine Synchronization

2.4.5. Finepoint programming

3HAC18154-1 Revision: F46

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.

Program example

The following program example shows how synchronized motion may be stopped.

WaitSensor SSYNC1;

SyncToSensor SSYNC1 \On;

MoveL p1, v500, z20, tool1;

MoveL p2, v500, fine, tool1;

SyncToSensor SSYNC1 \Off;

MoveL p3, v500, z20, tool1;

MoveL p4, v500, fine, tool1;

DropSensor SSYNC1;

At p4 the robot is no longer synchronized with the external device, and there are no

restrictions for using fine points.

p2 the synchronization will end and a fine point can be used, but the accuracy of the

synchronization will be reduced.

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