2 Machine Synchronization
2.10.1.16. SupSyncSensorOn
973HAC18154-1 Revision: F
© Copyright 2004-2008 ABB. All rights reserved.
2.10.1.16. SupSyncSensorOn
Usage
SupSyncSensorOn is used to start the supervision between robot movement and a
synchronized sensor movement.
Basic example
Basic example of the instruction
SupSyncSensorOn is illustrated below.
Example
SupSyncSensorOn Ssync1, 150, 100, 50
The mechanical unit SSync1 is supervised when the sensor is positioned between 50 and 150.
The supervision is terminated if the distance between the robot and sensor is smaller than 100.
Arguments
SupSyncSensorOn MechUnit MaxSyncSup SafetyDist MinSyncSup
[\SafetyDelay]
MechUnit
Mechanical unit
Data type:
mecunit
The name of the mechanical unit.
MaxSyncSup
Maximal Synchronized supervised position
Data type:
num
The robot will supervise the sensor until the sensor passes the max sync position. When the
point is passed the supervision is stopped. The unit is mm.
SafetyDist
Safety distance
Data type:
num
Safetydist
is the limit of the difference between expected machine position and the real
machine position. It must be negative, i.e. the model should always be moving in advance of
the real machine. In the case of decreasing machine positions the limit must be negative
corresponding to maximum negative position difference (and minimum advance distance). In
the case of increasing machine positions the limit must be positive corresponding to
minimum positive position difference (and minimum advance distance).
The robot will trigger an alarm if the distance between robot and sensor is smaller then the
Safety distance. When the alarm is triggered supervision is stopped.
The unit is mm.
MinSyncSup
Minimal synchronized supervised position
Data type:
num
The robot will start the supervision when the sensor is in the window defined from
MinSyncSup position to MaxSyncSup position. The unit is mm.
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