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ABB IRC5 Applications Manual
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2 Machine Synchronization
2.5.1. In
troduct
ion
3HAC18154
-1 Revi
sion: F
52
© Copyright 2004-2008 ABB. All rights reserved.
2.5 Robot to rob
ot synchronization
2.5.1. Introduction
Overview
It is possible to sy
nchronize two
robot systems i
n a synchronizat
ion applica
tion. This is
done
with a master and a slave robot setup.
Requirement
s
For cable connection
and setup, see
Applicatio
n manual
- DeviceNet
.
53
55
Table of Contents
Default Chapter
5
Table of Contents
5
Overview
7
Product Documentation, M2004
9
Safety
11
1 Collision Detection
13
Introduction
13
Overview
13
Limitations
14
What Happens at a Collision
15
Configuration and Programming Facilities
17
System Parameters
17
RAPID Components
18
Signals
19
How to Use Collision Detection
20
Set up System Parameters
20
Adjust Supervision from Flexpendant
21
Adjust Supervision from RAPID Program
22
How to Avoid False Triggering
23
2 Machine Synchronization
25
Introduction
25
Overview
25
What Is Needed
27
Synchronization Features
29
General Description of the Synchronization Process
30
Limitations
31
Hardware Configuration
32
Sensor Synchronization
32
Encoder Specification
32
Encoder Description
33
Installation Recommendations
34
Connecting Encoder and Encoder Interface Unit
35
Analog Synchronization
37
Required Hardware
37
Software Installation
38
Sensor Installation
38
Reloading Saved Motion Parameters
40
Installation of Several Sensors
41
Programming the Synchronization
42
General Issues When Programming with the Synchronization Option
42
Programming Examples
44
Entering and Exiting Coordinated Motion in Corner Zones
46
Use Several Sensors
47
Finepoint Programming
48
Drop Sensor Object
49
Information on the Flexpendant
50
Programming Considerations
51
Modes of Operation
53
Robot to Robot Synchronization
54
Introduction
54
The Concept of Robot to Robot Synchronization
55
Master Robot Configuration Parameters
56
Slave Robot Configuration Parameters
59
Programming Example for Master Robot
62
Programming Example for Slave Robot
64
Synchronize with Hydraulic Press Using Recorded Profile
65
Introduction
65
Configuration of System Parameters
66
Program Example
68
Synchronize with Molding Machine Using Recorded Profile
69
Introduction
69
Configuration of System Parameters
70
Program Example
72
Supervision
73
Supervise Movement
73
Programming and Configuration Data
74
RAPID Components
74
System Parameters
76
I/O Signals
79
RAPID Reference Information
80
Instructions
80
Dropsensor - Drop Object on Sensor
80
Prxactivandstorerecord
82
Prxactivrecord
84
Prxdbgstorerecord
85
Prxdeactrecord
86
Prxresetpos
87
Prxresetrecords
88
Prxsetposoffset
89
Prxsetrecordsampletime
90
Prxsetsyncalarm
91
Prxstartrecord
92
Prxstoprecord
94
Prxstorerecord
95
Prxusefilerecord
97
Supsyncsensoroff
98
Supsyncsensoron
99
Synctosensor - Sync to Sensor
101
Waitsensor - Wait for Connection on Sensor
103
Functions
106
Prxgetmaxrecordpos
106
Index
107
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ABB IRC5 Specifications
General
Brand
ABB
Model
IRC5
Category
Controller
Language
English
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