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2 Machine Synchronization

2.5.5. Programming example for master robot

3HAC18154-1 Revision: F60

2.5.5. Programming example for master robot

Overview

The following program is an example of how to program a master robot.

Master robot programming

syncstart:=20;

Syncpos1:=300;

Syncpos2:=600;

Syncpos3:=900;

Syncpos4:=1200;

!Synchronized motion between master and slave

robpos1.extax.eax_e:=syncpos1;

robpos2.extax.eax_e:=syncpos2;

robpos3.extax.eax_e:=syncpos3;

robpos4.extax.eax_e:=syncpos4;

robpos5.extax.eax_e:=syncstart;

!Init of external axis

pOutsideNext.extax.eax_e:=syncstart;

!Activate sensor

ActUnit SSYNC1;

!Instruction with coordinated robot targets

MoveJ pOutsideNext, v1000, fine, tool1;

!Init of external axis

robposstart.extax.eax_e:=syncstart;

!Set digital output

SetDO Dosync 1,0

!Instructions with coordinated robot targets

MoveJ robposstart, v2000, z50, tool1;

!Set digital output

PulseDO\PLength:= 0.1, doSync1;

!Instructions with coordinated robot targets

MoveJ robpos1, v2000, z10, tool1;

MoveJ robpos2, v2000, z10, tool1;

MoveJ robpos3, v2000, z10, tool1;

MoveJ robpos4, v2000, z10, tool1;

MoveJ robpos5, v2000, z10, tool1;

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