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2 Machine Synchronization

2.5.6. Programming example for slave robot

3HAC18154-1 Revision: F62

2.5.6. Programming example for slave robot

Overview

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

Slave robot programming

syncstart:=20;

Syncpos1:=300;

Syncpos2:=600;

Syncpos3:=900;

!Synchronized motion between master and slave

robpos1.extax.eax_e:=syncpos1;

robpos2.extax.eax_e:=syncpos2;

robpos3.extax.eax_e:=syncpos3;

!Instructions with coordinated robot targets

MoveJ posstart, v500, z50, tool1;

!Wait for digital input

WaitDI diSync1; 1;

!Connect to the object

WaitSensor SSYNC1;\RelDist:=100;

!Start the Synchronized motion

SyncToSensor SSYNC1\On;

!Instructions with coordinated robot targets

MoveJ robpos1, v2000, z10, tool1;

MoveJ robpos2, v2000, z10, tool1;

MoveJ robpos3, v2000, z10, tool1;

!Stop the synchronized motion

SyncToSensor SSYNC1\Off;

Considerations

The following is to be considered:

• Do not use

DropSensor.

• Do not use any corvecs.

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