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3.4 Motion Process Mode [included in 687-1]
3.4.1 About Motion Process Mode
Purpose
The purpose of Motion Process Mode is to simplify application specific tuning, i.e.
to optimize the performance of the robot for a specific application.
For most applications the default mode is the best choice.
Available motion process modes
A motion process mode consists of a specific set of tuning parameters for a robot.
Each tuning parameter set, that is each mode, optimizes the robot tuning for a
specific class of applications.
There following modes are predefined:
•
Optimal cycle time mode – this mode gives the shortest possible cycle time
and is normally the default mode.
•
Accuracy mode – this mode improves path accuracy. The cycle time will be
slightly increased compared to Optimal cycle time mode . This is the
recommended choice for improving path accuracy on small and medium size
robots, for example IRB 2400 and IRB 2600.
•
Low speed accuracy mode – this mode improves path accuracy. The cycle
time will be slightly increased compared to Accuracy mode . This is the
recommended choice for improving path accuracy on large size robots, for
example IRB 4600.
•
Low speed stiff mode - this mode is recommended for contact applications
where maximum servo stiffness is important. Could also be used in some
low speed applications, where a minimum of path vibrations is desired. The
cycle time will be increased compared to Low speed accuracy mode .
•
Press tending mode – Changes the Kv Factor , Kp Factor and Ti Factor in
order to mitigate tool vibrations. This mode is primarily intended for use in
press tending applications where flexible grippers with a large extension in
the y-direction are used.
There are also four modes available for application specific user tuning:
•
MPM User mode 1 – 4
Selection of mode
The default mode is automatically selected and can be changed by changing the
system parameter Use Motion Process Mode for type Robot .
Changing the Motion Process Mode from RAPID is only possible if the option
Advanced Robot Motion is installed. The mode can only be changed when the
robot is standing still, otherwise a fine point is enforced.
The following example shows a typical use of the RAPID instruction
MotionProcessModeSet .
MotionProcessModeSet OPTIMAL_CYCLE_TIME_MODE;
! Do cycle-time critical movement
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3 Motion performance
3.4.1 About Motion Process Mode
MoveL *, vmax , ...;
...
MotionProcessModeSet ACCURACY_MODE;
! Do cutting with high accuracy
MoveL *, v50 , ...;
...
Limitations
•
The Motion Process Mode concept is currently available for all six- and
seven-axes robots except paint robots with TrueMove1.
•
The Mounting Stiffness Factor parameters are only available for the following
robots:
IRB 120, IRB 140, IRB 1200, IRB 1520, IRB 1600, IRB 2600, IRB 4600, IRB
6620 (not LX), IRB 6640, IRB 6700.
•
For IRB 1410, only the Accset and the geometric accuracy parameters are
available.
•
The following robot models do not support the use of World Acc Factor (i.e.
only World Acc Factor = -1 is allowed):
IRB 340, IRB 360, IRB 540, IRB 1400, IRB 1410
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3 Motion performance
3.4.1 About Motion Process Mode
Continued
3.4.2 User-defined modes
Available tune parameters
If a more specific tuning is needed, some tuning parameters can be modified in
each motion process mode. The predefined modes and the user modes can all be
modified. In this way, the user can create a specific tuning for a specific application.
The following list contains a short description of the available tune parameters.
•
Use Motion Process Mode Type - selects predefined parameters for a user
mode.
•
Accset Acc Factor – changes acceleration
•
Accset Ramp Factor – changes acceleration ramp
•
Accset Fine Point Ramp Factor – changes deceleration ramp in fine points
•
Joint Acc Factor - changes acceleration for a specific joint.
•
World Acc Factor - activates dynamic world acceleration limitation if positive,
typical value is 1, deactivated if -1.
•
Geometric Accuracy Factor - improves geometric accuracy if reduced.
•
Dh Factor – changes path smoothness (effective system bandwidth)
•
Df Factor – changes the predicted resonance frequency for a particular axis
•
Kp Factor – changes the equivalent gain of the position controller for a
particular axis
•
Kv Factor – changes the equivalent gain of the speed controller for a particular
axis
•
Ti Factor – changes the integral time of the controller for a particular axis
•
Mounting Stiffness Factor X – describes the stiffness of the robot foundation
in x direction
•
Mounting Stiffness Factor Y – describes the stiffness of the robot foundation
in y direction
•
Mounting Stiffness Factor Z – describes the stiffness of the robot foundation
in z direction
For a detailed description, see Motion Process Mode in Technical reference
manual - System parameters .
Tuning parameters from RAPID
Most parameters can also be changed using the TuneServo and AccSet
instructions.
Note
All parameter settings are relative adjustments of the predefined parameter
values. Although it is possible to combine the use of motion process modes and
TuneServo/Accset instructions, it is recommended to choose either motion
process modes or TuneServo/AccSet .
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3 Motion performance
3.4.2 User-defined modes
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MoveL *, vmax , ...;
...
MotionProcessModeSet ACCURACY_MODE;
! Do cutting with high accuracy
MoveL *, v50 , ...;
...
Limitations
•
The Motion Process Mode concept is currently available for all six- and
seven-axes robots except paint robots with TrueMove1.
•
The Mounting Stiffness Factor parameters are only available for the following
robots:
IRB 120, IRB 140, IRB 1200, IRB 1520, IRB 1600, IRB 2600, IRB 4600, IRB
6620 (not LX), IRB 6640, IRB 6700.
•
For IRB 1410, only the Accset and the geometric accuracy parameters are
available.
•
The following robot models do not support the use of World Acc Factor (i.e.
only World Acc Factor = -1 is allowed):
IRB 340, IRB 360, IRB 540, IRB 1400, IRB 1410
Application manual - Controller software IRC5
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© Copyright 2014-2025 ABB. All rights reserved.
3 Motion performance
3.4.1 About Motion Process Mode
Continued
3.4.2 User-defined modes
Available tune parameters
If a more specific tuning is needed, some tuning parameters can be modified in
each motion process mode. The predefined modes and the user modes can all be
modified. In this way, the user can create a specific tuning for a specific application.
The following list contains a short description of the available tune parameters.
•
Use Motion Process Mode Type - selects predefined parameters for a user
mode.
•
Accset Acc Factor – changes acceleration
•
Accset Ramp Factor – changes acceleration ramp
•
Accset Fine Point Ramp Factor – changes deceleration ramp in fine points
•
Joint Acc Factor - changes acceleration for a specific joint.
•
World Acc Factor - activates dynamic world acceleration limitation if positive,
typical value is 1, deactivated if -1.
•
Geometric Accuracy Factor - improves geometric accuracy if reduced.
•
Dh Factor – changes path smoothness (effective system bandwidth)
•
Df Factor – changes the predicted resonance frequency for a particular axis
•
Kp Factor – changes the equivalent gain of the position controller for a
particular axis
•
Kv Factor – changes the equivalent gain of the speed controller for a particular
axis
•
Ti Factor – changes the integral time of the controller for a particular axis
•
Mounting Stiffness Factor X – describes the stiffness of the robot foundation
in x direction
•
Mounting Stiffness Factor Y – describes the stiffness of the robot foundation
in y direction
•
Mounting Stiffness Factor Z – describes the stiffness of the robot foundation
in z direction
For a detailed description, see Motion Process Mode in Technical reference
manual - System parameters .
Tuning parameters from RAPID
Most parameters can also be changed using the TuneServo and AccSet
instructions.
Note
All parameter settings are relative adjustments of the predefined parameter
values. Although it is possible to combine the use of motion process modes and
TuneServo/Accset instructions, it is recommended to choose either motion
process modes or TuneServo/AccSet .
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3 Motion performance
3.4.2 User-defined modes
Example 1
Relative adjustment of acceleration = [Predefined AccSet Acc Factor] * [AccSet
Acc Factor] * [ AccSet instruction acceleration factor / 100]
Example 2
Relative adjustment of Kv = [Predefined Kv Factor] * [Kv Factor] * [Tune value of
TuneServo(TYPE_KV) instruction / 100]
Predefined parameter values
The predefined parameter values for each mode varies for different robot types.
Generally, all predefined parameters are set to 1.0 for Optimal cycle time mode .
For Low speed accuracy mode and Low speed stiff mode , the AccSet and Dh
parameters are lowered for a smoother movement and a more accurate path, and
the Kv Factor , Kp Factor , and Ti Factor are changed for higher servo stiffness.
For some robots, it might not be possible to increase the Kv Factor in Low speed
accuracy mode and Low speed stiff mode . Always be careful and be observant for
increased motor noise level when adjusting Kv Factor and do not use higher values
than needed for fulfilling the application requirement. A Kp Factor which is too
high, or a Ti Factor which is too low, can also increase vibrations due to mechanical
resonances.
Accuracy Mode uses a dynamic world acceleration limitation ( World Acc Factor )
and increased geometric accuracy ( Geometric Accuracy Factor ) to improve the
path accuracy.
The Df Factor and the Mounting Stiffness Factors are always set to 1.0 in the
predefined modes, since the optimal values of these parameters depends the
specific installation, for example, the stiffness of the foundation on which the robot
is mounted. These parameters can be optimized using TuneMaster . More
information can be found in the TuneMaster application. Also note the limitations
of Mounting Stiffness Factor .
WARNING
Incorrect setting of the Motion Process Mode parameters can cause oscillating
movements or torques that can damage the robot.
Application manual - Controller software IRC5
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3 Motion performance
3.4.2 User-defined modes
Continued
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3.4.2 User-defined modes
Available tune parameters
If a more specific tuning is needed, some tuning parameters can be modified in
each motion process mode. The predefined modes and the user modes can all be
modified. In this way, the user can create a specific tuning for a specific application.
The following list contains a short description of the available tune parameters.
•
Use Motion Process Mode Type - selects predefined parameters for a user
mode.
•
Accset Acc Factor – changes acceleration
•
Accset Ramp Factor – changes acceleration ramp
•
Accset Fine Point Ramp Factor – changes deceleration ramp in fine points
•
Joint Acc Factor - changes acceleration for a specific joint.
•
World Acc Factor - activates dynamic world acceleration limitation if positive,
typical value is 1, deactivated if -1.
•
Geometric Accuracy Factor - improves geometric accuracy if reduced.
•
Dh Factor – changes path smoothness (effective system bandwidth)
•
Df Factor – changes the predicted resonance frequency for a particular axis
•
Kp Factor – changes the equivalent gain of the position controller for a
particular axis
•
Kv Factor – changes the equivalent gain of the speed controller for a particular
axis
•
Ti Factor – changes the integral time of the controller for a particular axis
•
Mounting Stiffness Factor X – describes the stiffness of the robot foundation
in x direction
•
Mounting Stiffness Factor Y – describes the stiffness of the robot foundation
in y direction
•
Mounting Stiffness Factor Z – describes the stiffness of the robot foundation
in z direction
For a detailed description, see Motion Process Mode in Technical reference
manual - System parameters .
Tuning parameters from RAPID
Most parameters can also be changed using the TuneServo and AccSet
instructions.
Note
All parameter settings are relative adjustments of the predefined parameter
values. Although it is possible to combine the use of motion process modes and
TuneServo/Accset instructions, it is recommended to choose either motion
process modes or TuneServo/AccSet .
Continues on next page
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3 Motion performance
3.4.2 User-defined modes
Example 1
Relative adjustment of acceleration = [Predefined AccSet Acc Factor] * [AccSet
Acc Factor] * [ AccSet instruction acceleration factor / 100]
Example 2
Relative adjustment of Kv = [Predefined Kv Factor] * [Kv Factor] * [Tune value of
TuneServo(TYPE_KV) instruction / 100]
Predefined parameter values
The predefined parameter values for each mode varies for different robot types.
Generally, all predefined parameters are set to 1.0 for Optimal cycle time mode .
For Low speed accuracy mode and Low speed stiff mode , the AccSet and Dh
parameters are lowered for a smoother movement and a more accurate path, and
the Kv Factor , Kp Factor , and Ti Factor are changed for higher servo stiffness.
For some robots, it might not be possible to increase the Kv Factor in Low speed
accuracy mode and Low speed stiff mode . Always be careful and be observant for
increased motor noise level when adjusting Kv Factor and do not use higher values
than needed for fulfilling the application requirement. A Kp Factor which is too
high, or a Ti Factor which is too low, can also increase vibrations due to mechanical
resonances.
Accuracy Mode uses a dynamic world acceleration limitation ( World Acc Factor )
and increased geometric accuracy ( Geometric Accuracy Factor ) to improve the
path accuracy.
The Df Factor and the Mounting Stiffness Factors are always set to 1.0 in the
predefined modes, since the optimal values of these parameters depends the
specific installation, for example, the stiffness of the foundation on which the robot
is mounted. These parameters can be optimized using TuneMaster . More
information can be found in the TuneMaster application. Also note the limitations
of Mounting Stiffness Factor .
WARNING
Incorrect setting of the Motion Process Mode parameters can cause oscillating
movements or torques that can damage the robot.
Application manual - Controller software IRC5
167
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© Copyright 2014-2025 ABB. All rights reserved.
3 Motion performance
3.4.2 User-defined modes
Continued
3.4.3 General information about robot tuning
Minimizing cycle time
For best possible cycle time, the motion process mode Optimal cycle time mode
should be used. This mode is normally the default mode. The user only needs to
define the tool load, payload, and arm loads if any. Once the robot path has been
programmed, the ABB QuickMove motion technology automatically computes the
optimal accelerations and speeds along the path. This results in a time-optimal
path with the shortest possible cycle time. Hence, no tuning of acceleration is
needed. The only way to improve the cycle time is to change the geometry of the
path or to work in another region of the work space. This type of optimization, if
needed, can be performed by simulation in RobotStudio.
Increasing path accuracy and reducing vibrations
For most applications, the Optimal cycle time mode will result in a satisfactory
behavior in terms of path accuracy and vibrations. This is due to the ABB TrueMove
motion technology. However, there are applications where the accuracy needs to
be improved by modifying the tuning of the robot. This tuning has previously been
performed by using the TuneServo and AccSet instructions in the RAPID program.
The concept of motion process modes will simplify this application specific tuning
and the four predefined modes should be useful in many cases with no further
adjustments needed.
Here follows some general advice for solving accuracy problems, assuming that
the default choice Optimal cycle time mode has been tested and that accuracy
problems have been noticed:
1
Verify that tool load, payload, and arm loads are properly defined.
2
Inspect tool and process equipment attached to the robot arms. Make sure
that everything is properly fastened and that rigidity of the tool is adequate.
3
Inspect the foundation on which the robot is mounted, see Compensating
for foundation flexibility on page 168 .
Compensating for foundation flexibility
If the foundation does not fulfill the stiffness requirement of the robot product
manual, then the foundation flexibility should be compensated for. See section
Requirements on foundation, Minimum resonance frequency in the robot product
manual.
This is performed by Df Factor for axis 1 and 2 or Mounting Stiffness Factor
depending on robot type, see Limitations on page 171 .
Continues on next page
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3 Motion performance
3.4.3 General information about robot tuning
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Example 1
Relative adjustment of acceleration = [Predefined AccSet Acc Factor] * [AccSet
Acc Factor] * [ AccSet instruction acceleration factor / 100]
Example 2
Relative adjustment of Kv = [Predefined Kv Factor] * [Kv Factor] * [Tune value of
TuneServo(TYPE_KV) instruction / 100]
Predefined parameter values
The predefined parameter values for each mode varies for different robot types.
Generally, all predefined parameters are set to 1.0 for Optimal cycle time mode .
For Low speed accuracy mode and Low speed stiff mode , the AccSet and Dh
parameters are lowered for a smoother movement and a more accurate path, and
the Kv Factor , Kp Factor , and Ti Factor are changed for higher servo stiffness.
For some robots, it might not be possible to increase the Kv Factor in Low speed
accuracy mode and Low speed stiff mode . Always be careful and be observant for
increased motor noise level when adjusting Kv Factor and do not use higher values
than needed for fulfilling the application requirement. A Kp Factor which is too
high, or a Ti Factor which is too low, can also increase vibrations due to mechanical
resonances.
Accuracy Mode uses a dynamic world acceleration limitation ( World Acc Factor )
and increased geometric accuracy ( Geometric Accuracy Factor ) to improve the
path accuracy.
The Df Factor and the Mounting Stiffness Factors are always set to 1.0 in the
predefined modes, since the optimal values of these parameters depends the
specific installation, for example, the stiffness of the foundation on which the robot
is mounted. These parameters can be optimized using TuneMaster . More
information can be found in the TuneMaster application. Also note the limitations
of Mounting Stiffness Factor .
WARNING
Incorrect setting of the Motion Process Mode parameters can cause oscillating
movements or torques that can damage the robot.
Application manual - Controller software IRC5
167
3HAC050798-001 Revision: V
© Copyright 2014-2025 ABB. All rights reserved.
3 Motion performance
3.4.2 User-defined modes
Continued
3.4.3 General information about robot tuning
Minimizing cycle time
For best possible cycle time, the motion process mode Optimal cycle time mode
should be used. This mode is normally the default mode. The user only needs to
define the tool load, payload, and arm loads if any. Once the robot path has been
programmed, the ABB QuickMove motion technology automatically computes the
optimal accelerations and speeds along the path. This results in a time-optimal
path with the shortest possible cycle time. Hence, no tuning of acceleration is
needed. The only way to improve the cycle time is to change the geometry of the
path or to work in another region of the work space. This type of optimization, if
needed, can be performed by simulation in RobotStudio.
Increasing path accuracy and reducing vibrations
For most applications, the Optimal cycle time mode will result in a satisfactory
behavior in terms of path accuracy and vibrations. This is due to the ABB TrueMove
motion technology. However, there are applications where the accuracy needs to
be improved by modifying the tuning of the robot. This tuning has previously been
performed by using the TuneServo and AccSet instructions in the RAPID program.
The concept of motion process modes will simplify this application specific tuning
and the four predefined modes should be useful in many cases with no further
adjustments needed.
Here follows some general advice for solving accuracy problems, assuming that
the default choice Optimal cycle time mode has been tested and that accuracy
problems have been noticed:
1
Verify that tool load, payload, and arm loads are properly defined.
2
Inspect tool and process equipment attached to the robot arms. Make sure
that everything is properly fastened and that rigidity of the tool is adequate.
3
Inspect the foundation on which the robot is mounted, see Compensating
for foundation flexibility on page 168 .
Compensating for foundation flexibility
If the foundation does not fulfill the stiffness requirement of the robot product
manual, then the foundation flexibility should be compensated for. See section
Requirements on foundation, Minimum resonance frequency in the robot product
manual.
This is performed by Df Factor for axis 1 and 2 or Mounting Stiffness Factor
depending on robot type, see Limitations on page 171 .
Continues on next page
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3 Motion performance
3.4.3 General information about robot tuning
TuneMaster is used for finding the optimal value of Df Factor / Mounting Stiffness
Factor . The obtained Df Factor / Mounting Stiffness Factor is then defined for the
Motion Process Modes used.
Note
A foundation that does not fulfill the requirements always impairs the accuracy
to some extent, even if the described compensation is used. If the foundation
rigidity is very low, there might not be possible to solve the problem using Df
Factor / Mounting Stiffness Factor .
In this case, the foundation must be improved or any of the solutions below used,
for example, Optimal cycle time mode with a low Dh Factor , Accset Acc Factor ,
or Accset Fine Point Ramp Factor depending on the application.
WARNING
Incorrect tuning for a very low mounting stiffness can cause oscillating
movements or torques that can damage the robot.
If accuracy still needs to be improved
•
For applications with high demands on path accuracy, for example cutting,
Advanced Shape Tuning and Accuracy mode/Low speed accuracy mode
should be used. The choice of motion mode depends both on the robot type
and the specific application. In general, Accuracy mode is recommended for
small and medium size robots (up to IRB 2400/2600 ) and Low speed accuracy
mode is recommended for larger robots.
•
If the path accuracy still needs improvement, the accuracy modes can be
adjusted with the tune parameters, some examples:
-
Tuning of Accuracy mode for improved accuracy:
1) Reduce World Acc Factor , for example from 1 to 0.5.
2) Reduce Dh Factor to 0.5 or lower. Note that a low value of Dh factor
can change the corner zones at high speed.
-
Tuning of Low speed accuracy mode for improved accuracy:
1) Set World Acc Factor to 1, and set Geometric Accuracy Factor to
0.1.
2) Reduce Dh Factor to 0.5 or lower.
•
The programmed speed must sometimes be reduced for best possible
accuracy, e.g. in cutting applications. For example, a circle with radius 1 mm
should not be programmed with a higher speed than 20 mm/s.
•
For contact applications, for example milling and pre-machining, Low speed
stiff mode is recommended. This mode can also be useful for large robots
in some low speed applications (up to 100 mm/s) where a minimum of path
vibrations is required, for example below 0.1 mm. Note that this mode has a
very stiff servo tuning and that there may be cases where the Kv Factor
needs to be reduced due to motor vibrations and noise.
Continues on next page
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3 Motion performance
3.4.3 General information about robot tuning
Continued
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|
3.4.3 General information about robot tuning
Minimizing cycle time
For best possible cycle time, the motion process mode Optimal cycle time mode
should be used. This mode is normally the default mode. The user only needs to
define the tool load, payload, and arm loads if any. Once the robot path has been
programmed, the ABB QuickMove motion technology automatically computes the
optimal accelerations and speeds along the path. This results in a time-optimal
path with the shortest possible cycle time. Hence, no tuning of acceleration is
needed. The only way to improve the cycle time is to change the geometry of the
path or to work in another region of the work space. This type of optimization, if
needed, can be performed by simulation in RobotStudio.
Increasing path accuracy and reducing vibrations
For most applications, the Optimal cycle time mode will result in a satisfactory
behavior in terms of path accuracy and vibrations. This is due to the ABB TrueMove
motion technology. However, there are applications where the accuracy needs to
be improved by modifying the tuning of the robot. This tuning has previously been
performed by using the TuneServo and AccSet instructions in the RAPID program.
The concept of motion process modes will simplify this application specific tuning
and the four predefined modes should be useful in many cases with no further
adjustments needed.
Here follows some general advice for solving accuracy problems, assuming that
the default choice Optimal cycle time mode has been tested and that accuracy
problems have been noticed:
1
Verify that tool load, payload, and arm loads are properly defined.
2
Inspect tool and process equipment attached to the robot arms. Make sure
that everything is properly fastened and that rigidity of the tool is adequate.
3
Inspect the foundation on which the robot is mounted, see Compensating
for foundation flexibility on page 168 .
Compensating for foundation flexibility
If the foundation does not fulfill the stiffness requirement of the robot product
manual, then the foundation flexibility should be compensated for. See section
Requirements on foundation, Minimum resonance frequency in the robot product
manual.
This is performed by Df Factor for axis 1 and 2 or Mounting Stiffness Factor
depending on robot type, see Limitations on page 171 .
Continues on next page
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© Copyright 2014-2025 ABB. All rights reserved.
3 Motion performance
3.4.3 General information about robot tuning
TuneMaster is used for finding the optimal value of Df Factor / Mounting Stiffness
Factor . The obtained Df Factor / Mounting Stiffness Factor is then defined for the
Motion Process Modes used.
Note
A foundation that does not fulfill the requirements always impairs the accuracy
to some extent, even if the described compensation is used. If the foundation
rigidity is very low, there might not be possible to solve the problem using Df
Factor / Mounting Stiffness Factor .
In this case, the foundation must be improved or any of the solutions below used,
for example, Optimal cycle time mode with a low Dh Factor , Accset Acc Factor ,
or Accset Fine Point Ramp Factor depending on the application.
WARNING
Incorrect tuning for a very low mounting stiffness can cause oscillating
movements or torques that can damage the robot.
If accuracy still needs to be improved
•
For applications with high demands on path accuracy, for example cutting,
Advanced Shape Tuning and Accuracy mode/Low speed accuracy mode
should be used. The choice of motion mode depends both on the robot type
and the specific application. In general, Accuracy mode is recommended for
small and medium size robots (up to IRB 2400/2600 ) and Low speed accuracy
mode is recommended for larger robots.
•
If the path accuracy still needs improvement, the accuracy modes can be
adjusted with the tune parameters, some examples:
-
Tuning of Accuracy mode for improved accuracy:
1) Reduce World Acc Factor , for example from 1 to 0.5.
2) Reduce Dh Factor to 0.5 or lower. Note that a low value of Dh factor
can change the corner zones at high speed.
-
Tuning of Low speed accuracy mode for improved accuracy:
1) Set World Acc Factor to 1, and set Geometric Accuracy Factor to
0.1.
2) Reduce Dh Factor to 0.5 or lower.
•
The programmed speed must sometimes be reduced for best possible
accuracy, e.g. in cutting applications. For example, a circle with radius 1 mm
should not be programmed with a higher speed than 20 mm/s.
•
For contact applications, for example milling and pre-machining, Low speed
stiff mode is recommended. This mode can also be useful for large robots
in some low speed applications (up to 100 mm/s) where a minimum of path
vibrations is required, for example below 0.1 mm. Note that this mode has a
very stiff servo tuning and that there may be cases where the Kv Factor
needs to be reduced due to motor vibrations and noise.
Continues on next page
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3 Motion performance
3.4.3 General information about robot tuning
Continued
•
If overshoots and vibrations in fine points needs to be reduced. Use Optimal
cycle time mode and decrease the value of Accset Fine Point Ramp Factor
or Dh Factor until the problem is solved.
•
If accuracy problems occur when starting or ending reorientation. Define a
new zone with increased pzone_ori and pzone_eax . These should always
have the same value, even if there are no external axes in the system. Also
increase zone_ori . Always strive for smooth reorientations when
programming.
•
Finally, if the cycle time needs to be reduced after the tuning for accuracy is
finished. Use different motion process modes in different sections of the
RAPID program.
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3.4.3 General information about robot tuning
Continued
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TuneMaster is used for finding the optimal value of Df Factor / Mounting Stiffness
Factor . The obtained Df Factor / Mounting Stiffness Factor is then defined for the
Motion Process Modes used.
Note
A foundation that does not fulfill the requirements always impairs the accuracy
to some extent, even if the described compensation is used. If the foundation
rigidity is very low, there might not be possible to solve the problem using Df
Factor / Mounting Stiffness Factor .
In this case, the foundation must be improved or any of the solutions below used,
for example, Optimal cycle time mode with a low Dh Factor , Accset Acc Factor ,
or Accset Fine Point Ramp Factor depending on the application.
WARNING
Incorrect tuning for a very low mounting stiffness can cause oscillating
movements or torques that can damage the robot.
If accuracy still needs to be improved
•
For applications with high demands on path accuracy, for example cutting,
Advanced Shape Tuning and Accuracy mode/Low speed accuracy mode
should be used. The choice of motion mode depends both on the robot type
and the specific application. In general, Accuracy mode is recommended for
small and medium size robots (up to IRB 2400/2600 ) and Low speed accuracy
mode is recommended for larger robots.
•
If the path accuracy still needs improvement, the accuracy modes can be
adjusted with the tune parameters, some examples:
-
Tuning of Accuracy mode for improved accuracy:
1) Reduce World Acc Factor , for example from 1 to 0.5.
2) Reduce Dh Factor to 0.5 or lower. Note that a low value of Dh factor
can change the corner zones at high speed.
-
Tuning of Low speed accuracy mode for improved accuracy:
1) Set World Acc Factor to 1, and set Geometric Accuracy Factor to
0.1.
2) Reduce Dh Factor to 0.5 or lower.
•
The programmed speed must sometimes be reduced for best possible
accuracy, e.g. in cutting applications. For example, a circle with radius 1 mm
should not be programmed with a higher speed than 20 mm/s.
•
For contact applications, for example milling and pre-machining, Low speed
stiff mode is recommended. This mode can also be useful for large robots
in some low speed applications (up to 100 mm/s) where a minimum of path
vibrations is required, for example below 0.1 mm. Note that this mode has a
very stiff servo tuning and that there may be cases where the Kv Factor
needs to be reduced due to motor vibrations and noise.
Continues on next page
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3 Motion performance
3.4.3 General information about robot tuning
Continued
•
If overshoots and vibrations in fine points needs to be reduced. Use Optimal
cycle time mode and decrease the value of Accset Fine Point Ramp Factor
or Dh Factor until the problem is solved.
•
If accuracy problems occur when starting or ending reorientation. Define a
new zone with increased pzone_ori and pzone_eax . These should always
have the same value, even if there are no external axes in the system. Also
increase zone_ori . Always strive for smooth reorientations when
programming.
•
Finally, if the cycle time needs to be reduced after the tuning for accuracy is
finished. Use different motion process modes in different sections of the
RAPID program.
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3 Motion performance
3.4.3 General information about robot tuning
Continued
3.4.4 Additional information
Motion Process Mode compared to TuneServo and AccSet
Motion process modes simplifies application specific tuning and makes it possible
to define the tuning by system parameters instead of the RAPID program.
In general, motion process modes should be the first choice for solving accuracy
problems. However, application specific tuning can still be performed using the
TuneServo and AccSet instructions in the RAPID program.
There are a few situations where TuneServo and AccSet might be a better choice.
One example of this is if an acceleration reduction in a section of the RAPID
program solves the accuracy problem and the cycle time is to be optimized. In this
case it might be better to use AccSet which can be changed without fine point
whereas change of motion process mode requires a fine point.
Limitations
•
The Motion Process Mode concept is currently available for all six- and
seven-axes robots except paint robots.
•
The Mounting Stiffness Factor parameters are only available for the following
robots:
IRB 120, IRB 140, IRB 1200, IRB 1520, IRB 1600, IRB 2600, IRB 4600, IRB
6620 (not LX), IRB 6640, IRB 6700.
•
For IRB 1410, only the Accset and the geometric accuracy parameters are
available.
•
The following robot models do not support the use of World Acc Factor (i.e.
only World Acc Factor = -1 is allowed):
IRB 340, IRB 360, IRB 540, IRB 1400, IRB 1410
Related information
See
For information about
Technical reference manual - System paramet-
ers
Configuration of Motion Process Mode
parameters.
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
RAPID instructions:
•
AccSet - Reduces the acceleration
•
MotionProcessModeSet - Set mo-
tion process mode
•
TuneServo - Tuning servos
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•
If overshoots and vibrations in fine points needs to be reduced. Use Optimal
cycle time mode and decrease the value of Accset Fine Point Ramp Factor
or Dh Factor until the problem is solved.
•
If accuracy problems occur when starting or ending reorientation. Define a
new zone with increased pzone_ori and pzone_eax . These should always
have the same value, even if there are no external axes in the system. Also
increase zone_ori . Always strive for smooth reorientations when
programming.
•
Finally, if the cycle time needs to be reduced after the tuning for accuracy is
finished. Use different motion process modes in different sections of the
RAPID program.
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3 Motion performance
3.4.3 General information about robot tuning
Continued
3.4.4 Additional information
Motion Process Mode compared to TuneServo and AccSet
Motion process modes simplifies application specific tuning and makes it possible
to define the tuning by system parameters instead of the RAPID program.
In general, motion process modes should be the first choice for solving accuracy
problems. However, application specific tuning can still be performed using the
TuneServo and AccSet instructions in the RAPID program.
There are a few situations where TuneServo and AccSet might be a better choice.
One example of this is if an acceleration reduction in a section of the RAPID
program solves the accuracy problem and the cycle time is to be optimized. In this
case it might be better to use AccSet which can be changed without fine point
whereas change of motion process mode requires a fine point.
Limitations
•
The Motion Process Mode concept is currently available for all six- and
seven-axes robots except paint robots.
•
The Mounting Stiffness Factor parameters are only available for the following
robots:
IRB 120, IRB 140, IRB 1200, IRB 1520, IRB 1600, IRB 2600, IRB 4600, IRB
6620 (not LX), IRB 6640, IRB 6700.
•
For IRB 1410, only the Accset and the geometric accuracy parameters are
available.
•
The following robot models do not support the use of World Acc Factor (i.e.
only World Acc Factor = -1 is allowed):
IRB 340, IRB 360, IRB 540, IRB 1400, IRB 1410
Related information
See
For information about
Technical reference manual - System paramet-
ers
Configuration of Motion Process Mode
parameters.
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
RAPID instructions:
•
AccSet - Reduces the acceleration
•
MotionProcessModeSet - Set mo-
tion process mode
•
TuneServo - Tuning servos
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3 Motion performance
3.4.4 Additional information
3.5 Wrist Move [included in 687-1]
3.5.1 Introduction to Wrist Move
Purpose
The purpose of Wrist Move is to improve the path accuracy when cutting geometries
with small dimensions. For geometrical shapes like small holes, friction effects
from the main axes (1-3) of the robot often degrade the visual appearance of the
shape. The key idea is that instead of controlling the robot's TCP, a wrist movement
controls the point of intersection between the laser beam (or water jet or routing
spindle, etc) and the cutting plane. For controlling the point of intersection, only
two wrist axes are needed. Instead of using all axes of the robot, only two wrist
axes are used, thereby minimizing the friction effects on the path. Which wrist axis
pair to be used is decided by the programmer.
Using Wrist Move
Wrist Move is included in the RobotWare option Advanced robot motion .
Wrist Move is used together with the RAPID instruction CirPathMode and
movement instructions for circular arcs, that is, MoveC , TrigC , CapC etc. The wrist
movement mode is activated by the instruction CirPathMode together with one
of the flags Wrist45 , Wrist46 , or Wrist56 . With this mode activated, all
subsequent MoveC instructions will result in a wrist movement. To go back to
normal MoveC behavior, then CirPathMode has to be set with a flag other than
Wrist45 , Wrist46 , and Wrist56 , for example, PathFrame .
Note
During a wrist movement, the TCP height above the surface will vary. This is an
unavoidable consequence of using only two axes. The height variation will depend
on the robot position, the tool definition, and the radius of the circular arc. The
larger the radius, the larger the height variation will be. Due to the height variation
it is recommended that the movement is run at a very low speed the first time to
verify that the height variation does not become too large. Otherwise it is possible
that the cutting tool collides with the surface being cut.
Limitations
The Wrist Move option cannot be used if:
•
The work object is moving
•
The robot is mounted on a track or another manipulator that is moving
The Wrist Move option is only supported for robots running QuickMove, second
generation.
The tool will not remain at right angle against the surface during the cutting. As a
consequence, the holes cut with this method will be slightly conical. Usually this
will not be a problem for thin plates, but for thick plates the conicity will become
apparent.
Continues on next page
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3.5.1 Introduction to Wrist Move
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3.4.4 Additional information
Motion Process Mode compared to TuneServo and AccSet
Motion process modes simplifies application specific tuning and makes it possible
to define the tuning by system parameters instead of the RAPID program.
In general, motion process modes should be the first choice for solving accuracy
problems. However, application specific tuning can still be performed using the
TuneServo and AccSet instructions in the RAPID program.
There are a few situations where TuneServo and AccSet might be a better choice.
One example of this is if an acceleration reduction in a section of the RAPID
program solves the accuracy problem and the cycle time is to be optimized. In this
case it might be better to use AccSet which can be changed without fine point
whereas change of motion process mode requires a fine point.
Limitations
•
The Motion Process Mode concept is currently available for all six- and
seven-axes robots except paint robots.
•
The Mounting Stiffness Factor parameters are only available for the following
robots:
IRB 120, IRB 140, IRB 1200, IRB 1520, IRB 1600, IRB 2600, IRB 4600, IRB
6620 (not LX), IRB 6640, IRB 6700.
•
For IRB 1410, only the Accset and the geometric accuracy parameters are
available.
•
The following robot models do not support the use of World Acc Factor (i.e.
only World Acc Factor = -1 is allowed):
IRB 340, IRB 360, IRB 540, IRB 1400, IRB 1410
Related information
See
For information about
Technical reference manual - System paramet-
ers
Configuration of Motion Process Mode
parameters.
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
RAPID instructions:
•
AccSet - Reduces the acceleration
•
MotionProcessModeSet - Set mo-
tion process mode
•
TuneServo - Tuning servos
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3 Motion performance
3.4.4 Additional information
3.5 Wrist Move [included in 687-1]
3.5.1 Introduction to Wrist Move
Purpose
The purpose of Wrist Move is to improve the path accuracy when cutting geometries
with small dimensions. For geometrical shapes like small holes, friction effects
from the main axes (1-3) of the robot often degrade the visual appearance of the
shape. The key idea is that instead of controlling the robot's TCP, a wrist movement
controls the point of intersection between the laser beam (or water jet or routing
spindle, etc) and the cutting plane. For controlling the point of intersection, only
two wrist axes are needed. Instead of using all axes of the robot, only two wrist
axes are used, thereby minimizing the friction effects on the path. Which wrist axis
pair to be used is decided by the programmer.
Using Wrist Move
Wrist Move is included in the RobotWare option Advanced robot motion .
Wrist Move is used together with the RAPID instruction CirPathMode and
movement instructions for circular arcs, that is, MoveC , TrigC , CapC etc. The wrist
movement mode is activated by the instruction CirPathMode together with one
of the flags Wrist45 , Wrist46 , or Wrist56 . With this mode activated, all
subsequent MoveC instructions will result in a wrist movement. To go back to
normal MoveC behavior, then CirPathMode has to be set with a flag other than
Wrist45 , Wrist46 , and Wrist56 , for example, PathFrame .
Note
During a wrist movement, the TCP height above the surface will vary. This is an
unavoidable consequence of using only two axes. The height variation will depend
on the robot position, the tool definition, and the radius of the circular arc. The
larger the radius, the larger the height variation will be. Due to the height variation
it is recommended that the movement is run at a very low speed the first time to
verify that the height variation does not become too large. Otherwise it is possible
that the cutting tool collides with the surface being cut.
Limitations
The Wrist Move option cannot be used if:
•
The work object is moving
•
The robot is mounted on a track or another manipulator that is moving
The Wrist Move option is only supported for robots running QuickMove, second
generation.
The tool will not remain at right angle against the surface during the cutting. As a
consequence, the holes cut with this method will be slightly conical. Usually this
will not be a problem for thin plates, but for thick plates the conicity will become
apparent.
Continues on next page
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3 Motion performance
3.5.1 Introduction to Wrist Move
The height of the TCP above the surface will vary during the cut. The height variation
will increase with the size of the shape being cut. What limits the possible size of
the shape are therefore, beside risk of collision, process characteristics like focal
length of the laser beam or the water jet.
WristMove cannot be used on robots with non-spherical wrist, for example, GoFa
or YuMi
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3 Motion performance
3.5.1 Introduction to Wrist Move
Continued
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3.5 Wrist Move [included in 687-1]
3.5.1 Introduction to Wrist Move
Purpose
The purpose of Wrist Move is to improve the path accuracy when cutting geometries
with small dimensions. For geometrical shapes like small holes, friction effects
from the main axes (1-3) of the robot often degrade the visual appearance of the
shape. The key idea is that instead of controlling the robot's TCP, a wrist movement
controls the point of intersection between the laser beam (or water jet or routing
spindle, etc) and the cutting plane. For controlling the point of intersection, only
two wrist axes are needed. Instead of using all axes of the robot, only two wrist
axes are used, thereby minimizing the friction effects on the path. Which wrist axis
pair to be used is decided by the programmer.
Using Wrist Move
Wrist Move is included in the RobotWare option Advanced robot motion .
Wrist Move is used together with the RAPID instruction CirPathMode and
movement instructions for circular arcs, that is, MoveC , TrigC , CapC etc. The wrist
movement mode is activated by the instruction CirPathMode together with one
of the flags Wrist45 , Wrist46 , or Wrist56 . With this mode activated, all
subsequent MoveC instructions will result in a wrist movement. To go back to
normal MoveC behavior, then CirPathMode has to be set with a flag other than
Wrist45 , Wrist46 , and Wrist56 , for example, PathFrame .
Note
During a wrist movement, the TCP height above the surface will vary. This is an
unavoidable consequence of using only two axes. The height variation will depend
on the robot position, the tool definition, and the radius of the circular arc. The
larger the radius, the larger the height variation will be. Due to the height variation
it is recommended that the movement is run at a very low speed the first time to
verify that the height variation does not become too large. Otherwise it is possible
that the cutting tool collides with the surface being cut.
Limitations
The Wrist Move option cannot be used if:
•
The work object is moving
•
The robot is mounted on a track or another manipulator that is moving
The Wrist Move option is only supported for robots running QuickMove, second
generation.
The tool will not remain at right angle against the surface during the cutting. As a
consequence, the holes cut with this method will be slightly conical. Usually this
will not be a problem for thin plates, but for thick plates the conicity will become
apparent.
Continues on next page
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3 Motion performance
3.5.1 Introduction to Wrist Move
The height of the TCP above the surface will vary during the cut. The height variation
will increase with the size of the shape being cut. What limits the possible size of
the shape are therefore, beside risk of collision, process characteristics like focal
length of the laser beam or the water jet.
WristMove cannot be used on robots with non-spherical wrist, for example, GoFa
or YuMi
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3 Motion performance
3.5.1 Introduction to Wrist Move
Continued
3.5.2 Cut plane frame
Defining the cut plane frame
Crucial to the wrist movement concept is the definition of the cut plane frame. This
frame provides information about position and orientation of the object surface.
The cut plane frame is defined by the robot's starting position when executing a
MoveC instruction. The frame is defined to be equal to the tool frame at the starting
position. Note that for a sequence of MoveC instructions, the cut plane frame stays
the same during the whole sequence.
Illustration, cut plane
The left illustration shows how the cut plane is defined, and the right illustration
shows the tool- and cut plane frames during cutting.
en0900000118
Prerequisites
Due to the way the cut plane frame is defined, the following must be fulfilled at the
starting position:
•
The tool must be at right angle to the surface
•
The z-axis of the tool must coincide with the laser beam or water jet
•
The TCP must be as close to the surface as possible
If the first two requirements are not fulfilled, then the shape of the cut contour will
be affected. For example, a circular hole would look more like an ellipse. The third
requirement is normally easy to fulfill as the TCP is often defined to be a few mm
in front of, for example, the nozzle of a water jet. However, if the third requirement
is not fulfilled, then it will only affect the radius of the resulting circle arc. That is,
the radius of the cut arc will not agree with the programmed radius. For a linear
segment, the length will be affected.
Tip
In the jog window of the FlexPendant there is a button for automatic alignment
of the tool against a chosen coordinate frame. This functionality can be used to
ensure that the tool is at a right angle against the surface when starting the wrist
movement.
Continues on next page
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3 Motion performance
3.5.2 Cut plane frame
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The height of the TCP above the surface will vary during the cut. The height variation
will increase with the size of the shape being cut. What limits the possible size of
the shape are therefore, beside risk of collision, process characteristics like focal
length of the laser beam or the water jet.
WristMove cannot be used on robots with non-spherical wrist, for example, GoFa
or YuMi
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3 Motion performance
3.5.1 Introduction to Wrist Move
Continued
3.5.2 Cut plane frame
Defining the cut plane frame
Crucial to the wrist movement concept is the definition of the cut plane frame. This
frame provides information about position and orientation of the object surface.
The cut plane frame is defined by the robot's starting position when executing a
MoveC instruction. The frame is defined to be equal to the tool frame at the starting
position. Note that for a sequence of MoveC instructions, the cut plane frame stays
the same during the whole sequence.
Illustration, cut plane
The left illustration shows how the cut plane is defined, and the right illustration
shows the tool- and cut plane frames during cutting.
en0900000118
Prerequisites
Due to the way the cut plane frame is defined, the following must be fulfilled at the
starting position:
•
The tool must be at right angle to the surface
•
The z-axis of the tool must coincide with the laser beam or water jet
•
The TCP must be as close to the surface as possible
If the first two requirements are not fulfilled, then the shape of the cut contour will
be affected. For example, a circular hole would look more like an ellipse. The third
requirement is normally easy to fulfill as the TCP is often defined to be a few mm
in front of, for example, the nozzle of a water jet. However, if the third requirement
is not fulfilled, then it will only affect the radius of the resulting circle arc. That is,
the radius of the cut arc will not agree with the programmed radius. For a linear
segment, the length will be affected.
Tip
In the jog window of the FlexPendant there is a button for automatic alignment
of the tool against a chosen coordinate frame. This functionality can be used to
ensure that the tool is at a right angle against the surface when starting the wrist
movement.
Continues on next page
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3 Motion performance
3.5.2 Cut plane frame
Tip
Wrist movement is not limited to circular arcs only: If the targets of MoveC are
collinear, then a straight line will be achieved.
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3 Motion performance
3.5.2 Cut plane frame
Continued
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3.5.2 Cut plane frame
Defining the cut plane frame
Crucial to the wrist movement concept is the definition of the cut plane frame. This
frame provides information about position and orientation of the object surface.
The cut plane frame is defined by the robot's starting position when executing a
MoveC instruction. The frame is defined to be equal to the tool frame at the starting
position. Note that for a sequence of MoveC instructions, the cut plane frame stays
the same during the whole sequence.
Illustration, cut plane
The left illustration shows how the cut plane is defined, and the right illustration
shows the tool- and cut plane frames during cutting.
en0900000118
Prerequisites
Due to the way the cut plane frame is defined, the following must be fulfilled at the
starting position:
•
The tool must be at right angle to the surface
•
The z-axis of the tool must coincide with the laser beam or water jet
•
The TCP must be as close to the surface as possible
If the first two requirements are not fulfilled, then the shape of the cut contour will
be affected. For example, a circular hole would look more like an ellipse. The third
requirement is normally easy to fulfill as the TCP is often defined to be a few mm
in front of, for example, the nozzle of a water jet. However, if the third requirement
is not fulfilled, then it will only affect the radius of the resulting circle arc. That is,
the radius of the cut arc will not agree with the programmed radius. For a linear
segment, the length will be affected.
Tip
In the jog window of the FlexPendant there is a button for automatic alignment
of the tool against a chosen coordinate frame. This functionality can be used to
ensure that the tool is at a right angle against the surface when starting the wrist
movement.
Continues on next page
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3 Motion performance
3.5.2 Cut plane frame
Tip
Wrist movement is not limited to circular arcs only: If the targets of MoveC are
collinear, then a straight line will be achieved.
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3 Motion performance
3.5.2 Cut plane frame
Continued
3.5.3 RAPID components
Instruction
This is a brief description of the instruction used in Wrist Move. For more
information, see the description of the instruction in Technical reference
manual - RAPID Instructions, Functions and Data types .
Descriptions
Instruction
CirPathMode makes it possible to select different modes to
reorientate the tool during circular movements.
CirPathMode
The arguments Wrist45 , Wrist46 , and Wrist56 are used
specifically for the Wrist Move option.
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Tip
Wrist movement is not limited to circular arcs only: If the targets of MoveC are
collinear, then a straight line will be achieved.
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3 Motion performance
3.5.2 Cut plane frame
Continued
3.5.3 RAPID components
Instruction
This is a brief description of the instruction used in Wrist Move. For more
information, see the description of the instruction in Technical reference
manual - RAPID Instructions, Functions and Data types .
Descriptions
Instruction
CirPathMode makes it possible to select different modes to
reorientate the tool during circular movements.
CirPathMode
The arguments Wrist45 , Wrist46 , and Wrist56 are used
specifically for the Wrist Move option.
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3.5.3 RAPID components
3.5.4 RAPID code, examples
Basic example
This example shows how to do two circular arcs, first using axes 4 and 5, and then
using axes 5 and 6. After the two arcs, wrist movement is deactivated by
CirPathMode .
! This position will define the cut plane frame
MoveJ p10, v100, fine, tWaterJet;
CirPathMode \Wrist45;
MoveC p20, p30, v50, z0, tWaterJet;
! The cut-plane frame remains the same in a sequence of MoveC
CirPathMode \Wrist56;
MoveC p40, p50, v50, fine, tWaterJet;
! Deactivate Wrist Movement, could use \ObjectFrame
! or \CirPointOri as well
CirPathMode \PathFrame;
Advanced example
This example shows how to cut a slot with end radius R and length L+2R , using
wrist movement. See Illustration, pSlot and wSlot on page 178 . The slot both
begins and ends at the position pSlot , which is the center of the left semi-circle.
To avoid introducing oscillations in the robot, the cut begins and ends with
semi-circular lead-in and lead-out paths that connect smoothly to the slot contour.
All coordinates are given relative the work object wSlot .
! Set the dimensions of the slot
R := 5;
L := 30;
! This position defines the cut plane frame, it must be normal
! to the surface
MoveJ pSlot, v100, z1, tLaser, \wobj := wSlot;
CirPathMode \Wrist45;
! Lead-in curve
MoveC Offs(pSlot, R/2, R/2, 0), Offs(pSlot, 0, R, 0), v50, z0,
tLaser, \wobj := wSlot;
! Left semi-circle
MoveC Offs(pSlot, -R, 0, 0), Offs(pSlot, 0, -R, 0), v50, z0, tLaser,
\wobj := wSlot;
! Lower straight line, circle point passes through the mid-point
! of the line
MoveC Offs(pSlot, L/2, -R, 0), Offs(pSlot, L, -R, 0), v50, z0,
tLaser, \wobj := wSlot;
Continues on next page
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3.5.4 RAPID code, examples
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3.5.3 RAPID components
Instruction
This is a brief description of the instruction used in Wrist Move. For more
information, see the description of the instruction in Technical reference
manual - RAPID Instructions, Functions and Data types .
Descriptions
Instruction
CirPathMode makes it possible to select different modes to
reorientate the tool during circular movements.
CirPathMode
The arguments Wrist45 , Wrist46 , and Wrist56 are used
specifically for the Wrist Move option.
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3.5.3 RAPID components
3.5.4 RAPID code, examples
Basic example
This example shows how to do two circular arcs, first using axes 4 and 5, and then
using axes 5 and 6. After the two arcs, wrist movement is deactivated by
CirPathMode .
! This position will define the cut plane frame
MoveJ p10, v100, fine, tWaterJet;
CirPathMode \Wrist45;
MoveC p20, p30, v50, z0, tWaterJet;
! The cut-plane frame remains the same in a sequence of MoveC
CirPathMode \Wrist56;
MoveC p40, p50, v50, fine, tWaterJet;
! Deactivate Wrist Movement, could use \ObjectFrame
! or \CirPointOri as well
CirPathMode \PathFrame;
Advanced example
This example shows how to cut a slot with end radius R and length L+2R , using
wrist movement. See Illustration, pSlot and wSlot on page 178 . The slot both
begins and ends at the position pSlot , which is the center of the left semi-circle.
To avoid introducing oscillations in the robot, the cut begins and ends with
semi-circular lead-in and lead-out paths that connect smoothly to the slot contour.
All coordinates are given relative the work object wSlot .
! Set the dimensions of the slot
R := 5;
L := 30;
! This position defines the cut plane frame, it must be normal
! to the surface
MoveJ pSlot, v100, z1, tLaser, \wobj := wSlot;
CirPathMode \Wrist45;
! Lead-in curve
MoveC Offs(pSlot, R/2, R/2, 0), Offs(pSlot, 0, R, 0), v50, z0,
tLaser, \wobj := wSlot;
! Left semi-circle
MoveC Offs(pSlot, -R, 0, 0), Offs(pSlot, 0, -R, 0), v50, z0, tLaser,
\wobj := wSlot;
! Lower straight line, circle point passes through the mid-point
! of the line
MoveC Offs(pSlot, L/2, -R, 0), Offs(pSlot, L, -R, 0), v50, z0,
tLaser, \wobj := wSlot;
Continues on next page
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3 Motion performance
3.5.4 RAPID code, examples
! Right semi-circle
MoveC Offs(pSlot, L+R, 0, 0), Offs(pSlot, L, R, 0), v50, z0, tLaser,
\wobj := wSlot;
! Upper straight line, circle point passes through the mid-point
! of the line
MoveC Offs(pSlot, L/2, R, 0), Offs(pSlot, 0, R, 0), v50, z0, tLaser,
\wobj := wSlot;
! Lead-out curve back to the starting point
MoveC Offs(pSlot, -R/2, R/2, 0), pSlot, v50, z1, tLaser, \wobj :=
wSlot;
Deactivate Wrist Movement
CirPathMode \ObjectFrame;
Illustration, pSlot and wSlot
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
wSlot
pSlot
xx0900000111
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3 Motion performance
3.5.4 RAPID code, examples
Continued
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3.5.4 RAPID code, examples
Basic example
This example shows how to do two circular arcs, first using axes 4 and 5, and then
using axes 5 and 6. After the two arcs, wrist movement is deactivated by
CirPathMode .
! This position will define the cut plane frame
MoveJ p10, v100, fine, tWaterJet;
CirPathMode \Wrist45;
MoveC p20, p30, v50, z0, tWaterJet;
! The cut-plane frame remains the same in a sequence of MoveC
CirPathMode \Wrist56;
MoveC p40, p50, v50, fine, tWaterJet;
! Deactivate Wrist Movement, could use \ObjectFrame
! or \CirPointOri as well
CirPathMode \PathFrame;
Advanced example
This example shows how to cut a slot with end radius R and length L+2R , using
wrist movement. See Illustration, pSlot and wSlot on page 178 . The slot both
begins and ends at the position pSlot , which is the center of the left semi-circle.
To avoid introducing oscillations in the robot, the cut begins and ends with
semi-circular lead-in and lead-out paths that connect smoothly to the slot contour.
All coordinates are given relative the work object wSlot .
! Set the dimensions of the slot
R := 5;
L := 30;
! This position defines the cut plane frame, it must be normal
! to the surface
MoveJ pSlot, v100, z1, tLaser, \wobj := wSlot;
CirPathMode \Wrist45;
! Lead-in curve
MoveC Offs(pSlot, R/2, R/2, 0), Offs(pSlot, 0, R, 0), v50, z0,
tLaser, \wobj := wSlot;
! Left semi-circle
MoveC Offs(pSlot, -R, 0, 0), Offs(pSlot, 0, -R, 0), v50, z0, tLaser,
\wobj := wSlot;
! Lower straight line, circle point passes through the mid-point
! of the line
MoveC Offs(pSlot, L/2, -R, 0), Offs(pSlot, L, -R, 0), v50, z0,
tLaser, \wobj := wSlot;
Continues on next page
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3 Motion performance
3.5.4 RAPID code, examples
! Right semi-circle
MoveC Offs(pSlot, L+R, 0, 0), Offs(pSlot, L, R, 0), v50, z0, tLaser,
\wobj := wSlot;
! Upper straight line, circle point passes through the mid-point
! of the line
MoveC Offs(pSlot, L/2, R, 0), Offs(pSlot, 0, R, 0), v50, z0, tLaser,
\wobj := wSlot;
! Lead-out curve back to the starting point
MoveC Offs(pSlot, -R/2, R/2, 0), pSlot, v50, z1, tLaser, \wobj :=
wSlot;
Deactivate Wrist Movement
CirPathMode \ObjectFrame;
Illustration, pSlot and wSlot
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
wSlot
pSlot
xx0900000111
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3 Motion performance
3.5.4 RAPID code, examples
Continued
3.5.5 Troubleshooting
Unexpected cut shape
If the cut shape is not the expected, then check the following:
•
The tool z-axis coincides with the laser beam or the water jet
•
The tool z-axis is at right angle to the surface at the starting position of the
first MoveC
•
If you have the option Advanced Shape Tuning, then try tuning the friction
for the involved wrist axes.
Mismatching radius
If the radius of the circular arc does not agree with the programmed radius, then
check that the TCP is as close to the surface as possible at the starting position.
Impossible movement with chosen axis pair
If the movement is not possible with the selected axis pair, then try activating
another pair by using one of the flags Wrist45 , Wrist46 , or Wrist56 . As a last
resort, try reaching the starting position with another robot configuration.
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! Right semi-circle
MoveC Offs(pSlot, L+R, 0, 0), Offs(pSlot, L, R, 0), v50, z0, tLaser,
\wobj := wSlot;
! Upper straight line, circle point passes through the mid-point
! of the line
MoveC Offs(pSlot, L/2, R, 0), Offs(pSlot, 0, R, 0), v50, z0, tLaser,
\wobj := wSlot;
! Lead-out curve back to the starting point
MoveC Offs(pSlot, -R/2, R/2, 0), pSlot, v50, z1, tLaser, \wobj :=
wSlot;
Deactivate Wrist Movement
CirPathMode \ObjectFrame;
Illustration, pSlot and wSlot
![Image]
![Image]
![Image]
![Image]
![Image]
![Image]
wSlot
pSlot
xx0900000111
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3 Motion performance
3.5.4 RAPID code, examples
Continued
3.5.5 Troubleshooting
Unexpected cut shape
If the cut shape is not the expected, then check the following:
•
The tool z-axis coincides with the laser beam or the water jet
•
The tool z-axis is at right angle to the surface at the starting position of the
first MoveC
•
If you have the option Advanced Shape Tuning, then try tuning the friction
for the involved wrist axes.
Mismatching radius
If the radius of the circular arc does not agree with the programmed radius, then
check that the TCP is as close to the surface as possible at the starting position.
Impossible movement with chosen axis pair
If the movement is not possible with the selected axis pair, then try activating
another pair by using one of the flags Wrist45 , Wrist46 , or Wrist56 . As a last
resort, try reaching the starting position with another robot configuration.
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3 Motion performance
3.5.5 Troubleshooting
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|
3.5.5 Troubleshooting
Unexpected cut shape
If the cut shape is not the expected, then check the following:
•
The tool z-axis coincides with the laser beam or the water jet
•
The tool z-axis is at right angle to the surface at the starting position of the
first MoveC
•
If you have the option Advanced Shape Tuning, then try tuning the friction
for the involved wrist axes.
Mismatching radius
If the radius of the circular arc does not agree with the programmed radius, then
check that the TCP is as close to the surface as possible at the starting position.
Impossible movement with chosen axis pair
If the movement is not possible with the selected axis pair, then try activating
another pair by using one of the flags Wrist45 , Wrist46 , or Wrist56 . As a last
resort, try reaching the starting position with another robot configuration.
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3 Motion performance
3.5.5 Troubleshooting
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4 Motion coordination
4.1 Machine Synchronization [607-1], [607-2]
4.1.1 Overview
Two options
Machine Synchronization consists of two options, Sensor Synchronization and
Analog Synchronization . The functionality is very similar for both these options, it
is the hardware and configuration that differs.
The difference between the two options is that:
•
Analog Synchronization is used together with a sensor that shows the position
of the external mechanical unit as an analog signal.
•
Sensor Synchronization requires an encoder that counts pulses as the
external mechanical unit move, and an encoder interface unit which
transforms the pulses into a sensor position.
All information in this chapter refers to both options, unless something else is
specified. The term synchronization option refers to both options. Information that
is only valid for one of the options is said to be specific for Sensor Synchronization
or Analog Synchronization .
Purpose
The synchronization option adjusts the robot speed to an external moving device
(for example a press or conveyor) with the help of a sensor. It can also be used to
synchronize two robots with each other.
Description
For the synchronization, a sensor is used to detect the movements of a press door,
conveyor, turn table or similar device. The speed of the robot TCP will be adjusted
in correlation to the sensor output, so that the robot will reach its programmed
target at the same time as the external device reaches its programmed position.
The synchronization with the external device does not affect the path of the robot
TCP, but it affects the speed at which the robot moves along this path.
Functionality
The external device connected to the sensor cannot be controlled by the robot
controller. However, in some ways it has similarities with a mechanical unit
controlled by the robot controller:
•
the sensor positions appears in the Jogging Window on the FlexPendant
•
the sensor positions appears in the robtarget when a MODPOS operation
is performed
•
the mechanical unit may be activated, and deactivated
Continues on next page
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4 Motion coordination
4.1.1 Overview
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4 Motion coordination
4.1 Machine Synchronization [607-1], [607-2]
4.1.1 Overview
Two options
Machine Synchronization consists of two options, Sensor Synchronization and
Analog Synchronization . The functionality is very similar for both these options, it
is the hardware and configuration that differs.
The difference between the two options is that:
•
Analog Synchronization is used together with a sensor that shows the position
of the external mechanical unit as an analog signal.
•
Sensor Synchronization requires an encoder that counts pulses as the
external mechanical unit move, and an encoder interface unit which
transforms the pulses into a sensor position.
All information in this chapter refers to both options, unless something else is
specified. The term synchronization option refers to both options. Information that
is only valid for one of the options is said to be specific for Sensor Synchronization
or Analog Synchronization .
Purpose
The synchronization option adjusts the robot speed to an external moving device
(for example a press or conveyor) with the help of a sensor. It can also be used to
synchronize two robots with each other.
Description
For the synchronization, a sensor is used to detect the movements of a press door,
conveyor, turn table or similar device. The speed of the robot TCP will be adjusted
in correlation to the sensor output, so that the robot will reach its programmed
target at the same time as the external device reaches its programmed position.
The synchronization with the external device does not affect the path of the robot
TCP, but it affects the speed at which the robot moves along this path.
Functionality
The external device connected to the sensor cannot be controlled by the robot
controller. However, in some ways it has similarities with a mechanical unit
controlled by the robot controller:
•
the sensor positions appears in the Jogging Window on the FlexPendant
•
the sensor positions appears in the robtarget when a MODPOS operation
is performed
•
the mechanical unit may be activated, and deactivated
Continues on next page
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4 Motion coordination
4.1.1 Overview
Basic approach
This is the general approach for setting up the synchronization option. For a more
detailed description of how this is done, see the respective section.
•
Install and connect hardware.
•
Install the synchronization software.
•
Configure the system parameters.
•
Write a program that connects to the sensor and uses synchronization for
robot movements (or a program for a master/slave robot application).
182
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4 Motion coordination
4.1.1 Overview
Continued
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4 Motion coordination
4.1 Machine Synchronization [607-1], [607-2]
4.1.1 Overview
Two options
Machine Synchronization consists of two options, Sensor Synchronization and
Analog Synchronization . The functionality is very similar for both these options, it
is the hardware and configuration that differs.
The difference between the two options is that:
•
Analog Synchronization is used together with a sensor that shows the position
of the external mechanical unit as an analog signal.
•
Sensor Synchronization requires an encoder that counts pulses as the
external mechanical unit move, and an encoder interface unit which
transforms the pulses into a sensor position.
All information in this chapter refers to both options, unless something else is
specified. The term synchronization option refers to both options. Information that
is only valid for one of the options is said to be specific for Sensor Synchronization
or Analog Synchronization .
Purpose
The synchronization option adjusts the robot speed to an external moving device
(for example a press or conveyor) with the help of a sensor. It can also be used to
synchronize two robots with each other.
Description
For the synchronization, a sensor is used to detect the movements of a press door,
conveyor, turn table or similar device. The speed of the robot TCP will be adjusted
in correlation to the sensor output, so that the robot will reach its programmed
target at the same time as the external device reaches its programmed position.
The synchronization with the external device does not affect the path of the robot
TCP, but it affects the speed at which the robot moves along this path.
Functionality
The external device connected to the sensor cannot be controlled by the robot
controller. However, in some ways it has similarities with a mechanical unit
controlled by the robot controller:
•
the sensor positions appears in the Jogging Window on the FlexPendant
•
the sensor positions appears in the robtarget when a MODPOS operation
is performed
•
the mechanical unit may be activated, and deactivated
Continues on next page
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4 Motion coordination
4.1.1 Overview
Basic approach
This is the general approach for setting up the synchronization option. For a more
detailed description of how this is done, see the respective section.
•
Install and connect hardware.
•
Install the synchronization software.
•
Configure the system parameters.
•
Write a program that connects to the sensor and uses synchronization for
robot movements (or a program for a master/slave robot application).
182
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4 Motion coordination
4.1.1 Overview
Continued
4.1.2 What is needed
Sensor Synchronisation
The Sensor Synchronization application consist of the following components:
A
B
C
D
E
F
en0400000655
External device that dictates the robot speed, e.g. a press door
A
Synchronization switch
B
Encoder
C
Encoder interface unit (DSQC 377)
D
Controller
E
Robot
F
Act as a sensor, giving input to the controller
B+C+D
Continues on next page
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4 Motion coordination
4.1.2 What is needed
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Basic approach
This is the general approach for setting up the synchronization option. For a more
detailed description of how this is done, see the respective section.
•
Install and connect hardware.
•
Install the synchronization software.
•
Configure the system parameters.
•
Write a program that connects to the sensor and uses synchronization for
robot movements (or a program for a master/slave robot application).
182
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4 Motion coordination
4.1.1 Overview
Continued
4.1.2 What is needed
Sensor Synchronisation
The Sensor Synchronization application consist of the following components:
A
B
C
D
E
F
en0400000655
External device that dictates the robot speed, e.g. a press door
A
Synchronization switch
B
Encoder
C
Encoder interface unit (DSQC 377)
D
Controller
E
Robot
F
Act as a sensor, giving input to the controller
B+C+D
Continues on next page
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4 Motion coordination
4.1.2 What is needed
Analog Synchronization
The Analog Synchronization application consist of the following components:
xx0700000431
Mold press that dictates the robot speed
A
Analog sensor for press position
B
Controller
C
Robot
D
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4 Motion coordination
4.1.2 What is needed
Continued
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4.1.2 What is needed
Sensor Synchronisation
The Sensor Synchronization application consist of the following components:
A
B
C
D
E
F
en0400000655
External device that dictates the robot speed, e.g. a press door
A
Synchronization switch
B
Encoder
C
Encoder interface unit (DSQC 377)
D
Controller
E
Robot
F
Act as a sensor, giving input to the controller
B+C+D
Continues on next page
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4 Motion coordination
4.1.2 What is needed
Analog Synchronization
The Analog Synchronization application consist of the following components:
xx0700000431
Mold press that dictates the robot speed
A
Analog sensor for press position
B
Controller
C
Robot
D
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4 Motion coordination
4.1.2 What is needed
Continued
4.1.3 Synchronization features
Features
The synchronization option provides the following features:
Description
Feature
In Auto operation at constant sensor speed, the Tool Center Point (TCP)
of the robot will stay within the programmed position corresponding to
the sensor, with an error margin of:
•
+/- 50 ms for Sensor Synchronization
•
+/- 100 ms for Analog Synchronization
This is valid as long as the robot is within its dynamic limits with the added
sensor motion. This figure depends on the calibration of the robot and
sensor and is applicable for linear synchronization only.
Accuracy
Only for Sensor Synchronization:
Object queue
Each time the external device trigger the synchronization switch, a sensor
object is created in the object queue. The encoder interface unit will
maintain the object queue, although for Sensor Synchronization the queue
normally does not contain more than one object.
A RAPID program has access to the current position and speed of the
external device, via the sensor.
RAPID access
to sensor data
Up to 2 sensors are supported.
Multiple
sensors
For Sensor Synchronization, each sensor must have a DSQC 377.
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4.1.3 Synchronization features
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Analog Synchronization
The Analog Synchronization application consist of the following components:
xx0700000431
Mold press that dictates the robot speed
A
Analog sensor for press position
B
Controller
C
Robot
D
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4 Motion coordination
4.1.2 What is needed
Continued
4.1.3 Synchronization features
Features
The synchronization option provides the following features:
Description
Feature
In Auto operation at constant sensor speed, the Tool Center Point (TCP)
of the robot will stay within the programmed position corresponding to
the sensor, with an error margin of:
•
+/- 50 ms for Sensor Synchronization
•
+/- 100 ms for Analog Synchronization
This is valid as long as the robot is within its dynamic limits with the added
sensor motion. This figure depends on the calibration of the robot and
sensor and is applicable for linear synchronization only.
Accuracy
Only for Sensor Synchronization:
Object queue
Each time the external device trigger the synchronization switch, a sensor
object is created in the object queue. The encoder interface unit will
maintain the object queue, although for Sensor Synchronization the queue
normally does not contain more than one object.
A RAPID program has access to the current position and speed of the
external device, via the sensor.
RAPID access
to sensor data
Up to 2 sensors are supported.
Multiple
sensors
For Sensor Synchronization, each sensor must have a DSQC 377.
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4 Motion coordination
4.1.3 Synchronization features
4.1.4 General description of the synchronization process
Example with a press
This example shows the very basic steps when synchronization is used for material
handling for a press.
Then...
When...
a signal from the robot controller (or PLC) orders the press to
start.
the press is closed and
ready to start
For Sensor Synchronization, the synchronization switch is
triggered and a sensor object is created in the object queue.
The robot connects to the object.
the press starts open
For both Sensor Synchronization and Analog Synchronization,
the robot moves, synchronized with the press, towards the
press and reaches it when the press is open enough.
the robot places (or removes) a work piece in the press. The
synchronization is ended.
the press is open enough
for the robot to enter
For Sensor Synchronization, the sensor object is then dropped
(removed from the object queue).
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4.1.3 Synchronization features
Features
The synchronization option provides the following features:
Description
Feature
In Auto operation at constant sensor speed, the Tool Center Point (TCP)
of the robot will stay within the programmed position corresponding to
the sensor, with an error margin of:
•
+/- 50 ms for Sensor Synchronization
•
+/- 100 ms for Analog Synchronization
This is valid as long as the robot is within its dynamic limits with the added
sensor motion. This figure depends on the calibration of the robot and
sensor and is applicable for linear synchronization only.
Accuracy
Only for Sensor Synchronization:
Object queue
Each time the external device trigger the synchronization switch, a sensor
object is created in the object queue. The encoder interface unit will
maintain the object queue, although for Sensor Synchronization the queue
normally does not contain more than one object.
A RAPID program has access to the current position and speed of the
external device, via the sensor.
RAPID access
to sensor data
Up to 2 sensors are supported.
Multiple
sensors
For Sensor Synchronization, each sensor must have a DSQC 377.
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4 Motion coordination
4.1.3 Synchronization features
4.1.4 General description of the synchronization process
Example with a press
This example shows the very basic steps when synchronization is used for material
handling for a press.
Then...
When...
a signal from the robot controller (or PLC) orders the press to
start.
the press is closed and
ready to start
For Sensor Synchronization, the synchronization switch is
triggered and a sensor object is created in the object queue.
The robot connects to the object.
the press starts open
For both Sensor Synchronization and Analog Synchronization,
the robot moves, synchronized with the press, towards the
press and reaches it when the press is open enough.
the robot places (or removes) a work piece in the press. The
synchronization is ended.
the press is open enough
for the robot to enter
For Sensor Synchronization, the sensor object is then dropped
(removed from the object queue).
186
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4 Motion coordination
4.1.4 General description of the synchronization process
4.1.5 Limitations
Limitations on additional axes
Each sensor is considered an additional axis. Thus the system limitation of 6 active
additional axes must be reduced by the number of active and installed sensors.
The first installed sensor will use measurement node 6 and the second sensor will
use measurement node 5. These measurement nodes are not available for additional
axes and no resolvers should be connected to these nodes on any additional axes
measurement boards.
Object queue lost on warm start or power failure
Only for Sensor Synchronization:
The object queue is kept on the encoder interface unit (DSQC 377). If the system
is restarted or if the power supply to either the controller or the encoder interface
unit fails, then the object queue will be lost.
Minimum speed
In order to maintain a smooth and accurate motion, there is a minimum speed of
the external device that is detected. The device is considered to be still if its
movement is slower than the minimum speed. This speed depends on the selection
of encoder. It can vary from 4mm/s - 8mm/s.
Maximum speed
There is no determined maximum speed for the external device. Accuracy will
decrease at speeds over those specified, and the robot will no longer be able to
follow the sensor at very high sensor speeds (>1000mm/s) or with robot dynamic
limitations.
Compatibility with the option Conveyor Tracking
If both Machine Synchronization and Conveyor Tracking options are installed, only
one of the mechanical units SSYNC1 and CNV2 should be active at the same time.
For Machine Synchronization (Sensor Synchronization or Analog Synchronization),
CNV2 must be deactivated.
For Conveyor Tracking, SSYNC1 must be deactivated.
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4.1.4 General description of the synchronization process
Example with a press
This example shows the very basic steps when synchronization is used for material
handling for a press.
Then...
When...
a signal from the robot controller (or PLC) orders the press to
start.
the press is closed and
ready to start
For Sensor Synchronization, the synchronization switch is
triggered and a sensor object is created in the object queue.
The robot connects to the object.
the press starts open
For both Sensor Synchronization and Analog Synchronization,
the robot moves, synchronized with the press, towards the
press and reaches it when the press is open enough.
the robot places (or removes) a work piece in the press. The
synchronization is ended.
the press is open enough
for the robot to enter
For Sensor Synchronization, the sensor object is then dropped
(removed from the object queue).
186
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4 Motion coordination
4.1.4 General description of the synchronization process
4.1.5 Limitations
Limitations on additional axes
Each sensor is considered an additional axis. Thus the system limitation of 6 active
additional axes must be reduced by the number of active and installed sensors.
The first installed sensor will use measurement node 6 and the second sensor will
use measurement node 5. These measurement nodes are not available for additional
axes and no resolvers should be connected to these nodes on any additional axes
measurement boards.
Object queue lost on warm start or power failure
Only for Sensor Synchronization:
The object queue is kept on the encoder interface unit (DSQC 377). If the system
is restarted or if the power supply to either the controller or the encoder interface
unit fails, then the object queue will be lost.
Minimum speed
In order to maintain a smooth and accurate motion, there is a minimum speed of
the external device that is detected. The device is considered to be still if its
movement is slower than the minimum speed. This speed depends on the selection
of encoder. It can vary from 4mm/s - 8mm/s.
Maximum speed
There is no determined maximum speed for the external device. Accuracy will
decrease at speeds over those specified, and the robot will no longer be able to
follow the sensor at very high sensor speeds (>1000mm/s) or with robot dynamic
limitations.
Compatibility with the option Conveyor Tracking
If both Machine Synchronization and Conveyor Tracking options are installed, only
one of the mechanical units SSYNC1 and CNV2 should be active at the same time.
For Machine Synchronization (Sensor Synchronization or Analog Synchronization),
CNV2 must be deactivated.
For Conveyor Tracking, SSYNC1 must be deactivated.
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4 Motion coordination
4.1.5 Limitations
4.1.6 Hardware installation for Sensor Synchronization
4.1.6.1 Encoder specification
Two phase type
The encoder must be of two phase type for quadrature pulses, to enable registration
of reverse sensor motion, and to avoid false counts due to vibration etc. when the
sensor is not moving.
Technical data
Open collector PNP output
Output signal:
10 - 30 V (normally supplied by 24 VDC from encoder interface unit)
Voltage:
50 - 100 mA
Current:
2 phase with 90 degree phase shift
Phase:
50%
Duty cycle:
20 kHz
Max. frequency:
Example encoder
An example of an encoder that fills these criteria, is the Lenord & Bauer GEL 262 .
188
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4 Motion coordination
4.1.6.1 Encoder specification
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4.1.5 Limitations
Limitations on additional axes
Each sensor is considered an additional axis. Thus the system limitation of 6 active
additional axes must be reduced by the number of active and installed sensors.
The first installed sensor will use measurement node 6 and the second sensor will
use measurement node 5. These measurement nodes are not available for additional
axes and no resolvers should be connected to these nodes on any additional axes
measurement boards.
Object queue lost on warm start or power failure
Only for Sensor Synchronization:
The object queue is kept on the encoder interface unit (DSQC 377). If the system
is restarted or if the power supply to either the controller or the encoder interface
unit fails, then the object queue will be lost.
Minimum speed
In order to maintain a smooth and accurate motion, there is a minimum speed of
the external device that is detected. The device is considered to be still if its
movement is slower than the minimum speed. This speed depends on the selection
of encoder. It can vary from 4mm/s - 8mm/s.
Maximum speed
There is no determined maximum speed for the external device. Accuracy will
decrease at speeds over those specified, and the robot will no longer be able to
follow the sensor at very high sensor speeds (>1000mm/s) or with robot dynamic
limitations.
Compatibility with the option Conveyor Tracking
If both Machine Synchronization and Conveyor Tracking options are installed, only
one of the mechanical units SSYNC1 and CNV2 should be active at the same time.
For Machine Synchronization (Sensor Synchronization or Analog Synchronization),
CNV2 must be deactivated.
For Conveyor Tracking, SSYNC1 must be deactivated.
Application manual - Controller software IRC5
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4 Motion coordination
4.1.5 Limitations
4.1.6 Hardware installation for Sensor Synchronization
4.1.6.1 Encoder specification
Two phase type
The encoder must be of two phase type for quadrature pulses, to enable registration
of reverse sensor motion, and to avoid false counts due to vibration etc. when the
sensor is not moving.
Technical data
Open collector PNP output
Output signal:
10 - 30 V (normally supplied by 24 VDC from encoder interface unit)
Voltage:
50 - 100 mA
Current:
2 phase with 90 degree phase shift
Phase:
50%
Duty cycle:
20 kHz
Max. frequency:
Example encoder
An example of an encoder that fills these criteria, is the Lenord & Bauer GEL 262 .
188
Application manual - Controller software IRC5
3HAC050798-001 Revision: V
© Copyright 2014-2025 ABB. All rights reserved.
4 Motion coordination
4.1.6.1 Encoder specification
4.1.6.2 Encoder description
Overview
The encoder provides a series of pulses indicating the motion detected by the
sensor. This is used to synchronize the motion between the robot and the external
device.
Pulse channels
The encoder has two pulse channels, A and B which differ in phase by 90°. Each
channel will send a fixed number of pulses per revolution depending on the
construction of the encoder.
•
The number of pulses per revolution for the encoder must be selected in
relation to the gear reduction between the moving devices.
•
The pulse ratio from the encoder should be in the range of 1250 - 2500 pulses
per meter of sensor motion.
•
The pulses from channel A and B are used in quadrature to multiply the pulse
ratio by four to get counts.
This means that the control software will measure 5000 - 10000 counts per meter
for an encoder with the pulse ratio 1250 - 2500.
en0300000556
Synchronization
To get an accurate synchronization, the movements of the external device must
remain within some limits relative to robot movements. For every meter the robot
moves, the external device movement must be between 0.2 and 5 meters (or
radians).
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4 Motion coordination
4.1.6.2 Encoder description
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4.1.6 Hardware installation for Sensor Synchronization
4.1.6.1 Encoder specification
Two phase type
The encoder must be of two phase type for quadrature pulses, to enable registration
of reverse sensor motion, and to avoid false counts due to vibration etc. when the
sensor is not moving.
Technical data
Open collector PNP output
Output signal:
10 - 30 V (normally supplied by 24 VDC from encoder interface unit)
Voltage:
50 - 100 mA
Current:
2 phase with 90 degree phase shift
Phase:
50%
Duty cycle:
20 kHz
Max. frequency:
Example encoder
An example of an encoder that fills these criteria, is the Lenord & Bauer GEL 262 .
188
Application manual - Controller software IRC5
3HAC050798-001 Revision: V
© Copyright 2014-2025 ABB. All rights reserved.
4 Motion coordination
4.1.6.1 Encoder specification
4.1.6.2 Encoder description
Overview
The encoder provides a series of pulses indicating the motion detected by the
sensor. This is used to synchronize the motion between the robot and the external
device.
Pulse channels
The encoder has two pulse channels, A and B which differ in phase by 90°. Each
channel will send a fixed number of pulses per revolution depending on the
construction of the encoder.
•
The number of pulses per revolution for the encoder must be selected in
relation to the gear reduction between the moving devices.
•
The pulse ratio from the encoder should be in the range of 1250 - 2500 pulses
per meter of sensor motion.
•
The pulses from channel A and B are used in quadrature to multiply the pulse
ratio by four to get counts.
This means that the control software will measure 5000 - 10000 counts per meter
for an encoder with the pulse ratio 1250 - 2500.
en0300000556
Synchronization
To get an accurate synchronization, the movements of the external device must
remain within some limits relative to robot movements. For every meter the robot
moves, the external device movement must be between 0.2 and 5 meters (or
radians).
Application manual - Controller software IRC5
189
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© Copyright 2014-2025 ABB. All rights reserved.
4 Motion coordination
4.1.6.2 Encoder description
4.1.6.3 Installation recommendations
Overview
The encoder must be installed in such a way that it gives precise feedback of the
sensor output (reflects the true motion of the external device). This means that the
encoder should be installed as close to the robot as practically possible, no further
away than 30 meters.
The encoder is normally installed on the drive unit of the external device. The
encoder may be connected to an output shaft on the drive unit, directly or via a
gear belt arrangement.
Note
The encoder is a sensitive measuring device and for that reason it is important
that no other forces than the shaft rotation are transferred from the sensor to the
encoder and that the encoder is mounted using shock absorbers etc. to prevent
damage from vibration.
Placement
The following is to be considered before start-up
Then...
If...
the encoder must be connected on the sensor side of the
clutch.
the drive unit includes a
clutch arrangement
it is important to install a specially designed flexible coupling
to prevent applying mechanical forces to the encoder rotor..
the encoder is connected
directly to a drive unit shaft
the moving device itself may be a source of inaccuracy as
the moving device will stretch or flex over the distance from
the drive unit to the encoder cell. In such a case it may be
better to mount the encoder closer to the drive unit with a
different coupling arrangement.
the drive unit of the external
device is located far away
from the encoder
190
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3HAC050798-001 Revision: V
© Copyright 2014-2025 ABB. All rights reserved.
4 Motion coordination
4.1.6.3 Installation recommendations
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| 190
|
4.1.6.2 Encoder description
Overview
The encoder provides a series of pulses indicating the motion detected by the
sensor. This is used to synchronize the motion between the robot and the external
device.
Pulse channels
The encoder has two pulse channels, A and B which differ in phase by 90°. Each
channel will send a fixed number of pulses per revolution depending on the
construction of the encoder.
•
The number of pulses per revolution for the encoder must be selected in
relation to the gear reduction between the moving devices.
•
The pulse ratio from the encoder should be in the range of 1250 - 2500 pulses
per meter of sensor motion.
•
The pulses from channel A and B are used in quadrature to multiply the pulse
ratio by four to get counts.
This means that the control software will measure 5000 - 10000 counts per meter
for an encoder with the pulse ratio 1250 - 2500.
en0300000556
Synchronization
To get an accurate synchronization, the movements of the external device must
remain within some limits relative to robot movements. For every meter the robot
moves, the external device movement must be between 0.2 and 5 meters (or
radians).
Application manual - Controller software IRC5
189
3HAC050798-001 Revision: V
© Copyright 2014-2025 ABB. All rights reserved.
4 Motion coordination
4.1.6.2 Encoder description
4.1.6.3 Installation recommendations
Overview
The encoder must be installed in such a way that it gives precise feedback of the
sensor output (reflects the true motion of the external device). This means that the
encoder should be installed as close to the robot as practically possible, no further
away than 30 meters.
The encoder is normally installed on the drive unit of the external device. The
encoder may be connected to an output shaft on the drive unit, directly or via a
gear belt arrangement.
Note
The encoder is a sensitive measuring device and for that reason it is important
that no other forces than the shaft rotation are transferred from the sensor to the
encoder and that the encoder is mounted using shock absorbers etc. to prevent
damage from vibration.
Placement
The following is to be considered before start-up
Then...
If...
the encoder must be connected on the sensor side of the
clutch.
the drive unit includes a
clutch arrangement
it is important to install a specially designed flexible coupling
to prevent applying mechanical forces to the encoder rotor..
the encoder is connected
directly to a drive unit shaft
the moving device itself may be a source of inaccuracy as
the moving device will stretch or flex over the distance from
the drive unit to the encoder cell. In such a case it may be
better to mount the encoder closer to the drive unit with a
different coupling arrangement.
the drive unit of the external
device is located far away
from the encoder
190
Application manual - Controller software IRC5
3HAC050798-001 Revision: V
© Copyright 2014-2025 ABB. All rights reserved.
4 Motion coordination
4.1.6.3 Installation recommendations
4.1.6.4 Connecting encoder and encoder interface unit
Overview
If the cable from the robot to the encoder is too long, the inductance in the cable
will produce spike pulses on the encoder signal. This signal will over a period of
time damage the opto couplers in the encoder interface unit.
See Product manual - IRC5 for details on connecting to the encoder interface unit.
Reduce noise
To reduce noise, connect the encoder with a screened cable.
Reduce spike pulses
To reduce spike pulses, install a capacitor between the signal wire and ground for
each of the two phases. The correct capacitance value can be determined by
viewing the encoder signal on an oscilloscope.
The capacitor:
•
should be connected on the terminal board where the encoder is connected.
•
values are 100 nF - 1 µF, depending on the length of the cable.
Encoder power supply
The encoder is normally supplied with 24 VDC from the encoder interface unit.
When connecting two encoder interface units to the same encoder, let only one of
the encoder interface units supply power to the encoder. If both encoder interface
units supply power, a diode must be installed on each of the 24 V DC connections
to make sure the power supplies do not interfere with each other.
Connecting encoder and the synchronization switch
The following procedure describes how to install the encoder and the
synchronization switch to the encoder interface unit.
•
One encoder can be connected to several encoder interface units.
•
each controller must have an encoder interface unit if more than one robot
is to use the sensor.
Illustration
Action
en0300000611
Connect the encoder to the encoder interface
unit (DSQC 377) on the controller.
1
Continues on next page
Application manual - Controller software IRC5
191
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© Copyright 2014-2025 ABB. All rights reserved.
4 Motion coordination
4.1.6.4 Connecting encoder and encoder interface unit
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| 191
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4.1.6.3 Installation recommendations
Overview
The encoder must be installed in such a way that it gives precise feedback of the
sensor output (reflects the true motion of the external device). This means that the
encoder should be installed as close to the robot as practically possible, no further
away than 30 meters.
The encoder is normally installed on the drive unit of the external device. The
encoder may be connected to an output shaft on the drive unit, directly or via a
gear belt arrangement.
Note
The encoder is a sensitive measuring device and for that reason it is important
that no other forces than the shaft rotation are transferred from the sensor to the
encoder and that the encoder is mounted using shock absorbers etc. to prevent
damage from vibration.
Placement
The following is to be considered before start-up
Then...
If...
the encoder must be connected on the sensor side of the
clutch.
the drive unit includes a
clutch arrangement
it is important to install a specially designed flexible coupling
to prevent applying mechanical forces to the encoder rotor..
the encoder is connected
directly to a drive unit shaft
the moving device itself may be a source of inaccuracy as
the moving device will stretch or flex over the distance from
the drive unit to the encoder cell. In such a case it may be
better to mount the encoder closer to the drive unit with a
different coupling arrangement.
the drive unit of the external
device is located far away
from the encoder
190
Application manual - Controller software IRC5
3HAC050798-001 Revision: V
© Copyright 2014-2025 ABB. All rights reserved.
4 Motion coordination
4.1.6.3 Installation recommendations
4.1.6.4 Connecting encoder and encoder interface unit
Overview
If the cable from the robot to the encoder is too long, the inductance in the cable
will produce spike pulses on the encoder signal. This signal will over a period of
time damage the opto couplers in the encoder interface unit.
See Product manual - IRC5 for details on connecting to the encoder interface unit.
Reduce noise
To reduce noise, connect the encoder with a screened cable.
Reduce spike pulses
To reduce spike pulses, install a capacitor between the signal wire and ground for
each of the two phases. The correct capacitance value can be determined by
viewing the encoder signal on an oscilloscope.
The capacitor:
•
should be connected on the terminal board where the encoder is connected.
•
values are 100 nF - 1 µF, depending on the length of the cable.
Encoder power supply
The encoder is normally supplied with 24 VDC from the encoder interface unit.
When connecting two encoder interface units to the same encoder, let only one of
the encoder interface units supply power to the encoder. If both encoder interface
units supply power, a diode must be installed on each of the 24 V DC connections
to make sure the power supplies do not interfere with each other.
Connecting encoder and the synchronization switch
The following procedure describes how to install the encoder and the
synchronization switch to the encoder interface unit.
•
One encoder can be connected to several encoder interface units.
•
each controller must have an encoder interface unit if more than one robot
is to use the sensor.
Illustration
Action
en0300000611
Connect the encoder to the encoder interface
unit (DSQC 377) on the controller.
1
Continues on next page
Application manual - Controller software IRC5
191
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© Copyright 2014-2025 ABB. All rights reserved.
4 Motion coordination
4.1.6.4 Connecting encoder and encoder interface unit
Illustration
Action
Connect the synchronization switch to the en-
coder interface unit (DSQC 377) on the control-
ler.
2
Finding the Encoder rotating direction
The following procedure describes how to find the encoder rotating direction.
Illustration
Action
On the FlexPendant, tap Inputs and Outputs .
1
Tap View and select I/O Units
2
Scroll down and selected Qtrack - d377
3
Scroll down to c1position
4
Encoder 1
+2-AX12
29
17
19
20
21
22
P_ENC1_A+
P_ENC1_A–
P_ENC1_B+
P_ENC1_B–
0 Volt
+24 VDC
30
18
23
24
25
26
Connection for PNP encoder
B (90°)
A (0°)
0V
24VDC
Encoder 2
P_ENC2_A+
P_ENC2_A–
P_ENC2_B+
P_ENC2_B–
0 Volt
+24 VDC
B (90°)
A (0°)
0V
24VDC
en0300000584
Run the encoder in forward direction while
checking the value for C1Position.
If the number counts up:
•
No action is required.
If the number counts down:
•
the connection of the two encoder faces
(0° and 90°) must be interchanged.
5
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4 Motion coordination
4.1.6.4 Connecting encoder and encoder interface unit
Continued
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4.1.6.4 Connecting encoder and encoder interface unit
Overview
If the cable from the robot to the encoder is too long, the inductance in the cable
will produce spike pulses on the encoder signal. This signal will over a period of
time damage the opto couplers in the encoder interface unit.
See Product manual - IRC5 for details on connecting to the encoder interface unit.
Reduce noise
To reduce noise, connect the encoder with a screened cable.
Reduce spike pulses
To reduce spike pulses, install a capacitor between the signal wire and ground for
each of the two phases. The correct capacitance value can be determined by
viewing the encoder signal on an oscilloscope.
The capacitor:
•
should be connected on the terminal board where the encoder is connected.
•
values are 100 nF - 1 µF, depending on the length of the cable.
Encoder power supply
The encoder is normally supplied with 24 VDC from the encoder interface unit.
When connecting two encoder interface units to the same encoder, let only one of
the encoder interface units supply power to the encoder. If both encoder interface
units supply power, a diode must be installed on each of the 24 V DC connections
to make sure the power supplies do not interfere with each other.
Connecting encoder and the synchronization switch
The following procedure describes how to install the encoder and the
synchronization switch to the encoder interface unit.
•
One encoder can be connected to several encoder interface units.
•
each controller must have an encoder interface unit if more than one robot
is to use the sensor.
Illustration
Action
en0300000611
Connect the encoder to the encoder interface
unit (DSQC 377) on the controller.
1
Continues on next page
Application manual - Controller software IRC5
191
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© Copyright 2014-2025 ABB. All rights reserved.
4 Motion coordination
4.1.6.4 Connecting encoder and encoder interface unit
Illustration
Action
Connect the synchronization switch to the en-
coder interface unit (DSQC 377) on the control-
ler.
2
Finding the Encoder rotating direction
The following procedure describes how to find the encoder rotating direction.
Illustration
Action
On the FlexPendant, tap Inputs and Outputs .
1
Tap View and select I/O Units
2
Scroll down and selected Qtrack - d377
3
Scroll down to c1position
4
Encoder 1
+2-AX12
29
17
19
20
21
22
P_ENC1_A+
P_ENC1_A–
P_ENC1_B+
P_ENC1_B–
0 Volt
+24 VDC
30
18
23
24
25
26
Connection for PNP encoder
B (90°)
A (0°)
0V
24VDC
Encoder 2
P_ENC2_A+
P_ENC2_A–
P_ENC2_B+
P_ENC2_B–
0 Volt
+24 VDC
B (90°)
A (0°)
0V
24VDC
en0300000584
Run the encoder in forward direction while
checking the value for C1Position.
If the number counts up:
•
No action is required.
If the number counts down:
•
the connection of the two encoder faces
(0° and 90°) must be interchanged.
5
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4 Motion coordination
4.1.6.4 Connecting encoder and encoder interface unit
Continued
4.1.7 Hardware installation for Analog Synchronization
4.1.7.1 Required hardware
Analog input board
An analog input board is required, for example DSQC355A. See Application
manual - DeviceNet Master/Slave .
Analog linear sensor
An analog linear sensor is required, with analog signal input between 0 and 10 V.
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Illustration
Action
Connect the synchronization switch to the en-
coder interface unit (DSQC 377) on the control-
ler.
2
Finding the Encoder rotating direction
The following procedure describes how to find the encoder rotating direction.
Illustration
Action
On the FlexPendant, tap Inputs and Outputs .
1
Tap View and select I/O Units
2
Scroll down and selected Qtrack - d377
3
Scroll down to c1position
4
Encoder 1
+2-AX12
29
17
19
20
21
22
P_ENC1_A+
P_ENC1_A–
P_ENC1_B+
P_ENC1_B–
0 Volt
+24 VDC
30
18
23
24
25
26
Connection for PNP encoder
B (90°)
A (0°)
0V
24VDC
Encoder 2
P_ENC2_A+
P_ENC2_A–
P_ENC2_B+
P_ENC2_B–
0 Volt
+24 VDC
B (90°)
A (0°)
0V
24VDC
en0300000584
Run the encoder in forward direction while
checking the value for C1Position.
If the number counts up:
•
No action is required.
If the number counts down:
•
the connection of the two encoder faces
(0° and 90°) must be interchanged.
5
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4 Motion coordination
4.1.6.4 Connecting encoder and encoder interface unit
Continued
4.1.7 Hardware installation for Analog Synchronization
4.1.7.1 Required hardware
Analog input board
An analog input board is required, for example DSQC355A. See Application
manual - DeviceNet Master/Slave .
Analog linear sensor
An analog linear sensor is required, with analog signal input between 0 and 10 V.
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4 Motion coordination
4.1.7.1 Required hardware
4.1.8 Software installation
4.1.8.1 Sensor installation
Overview
Normally the synchronization option and the DeviceNet option are preloaded at
ABB, and do not need to be re-installed. For more information on how to add options
to the system, see Operating manual - RobotStudio .
The synchronization option automatically installs one sensor into the system
parameters. To add more than one sensor, see Installation of several sensors on
page 197 .
About the installation
The options will install three additional configurations:
•
I/O for the encoder interface unit (only for Sensor Synchronization)
•
Sensor process description
•
Motion mechanical description
Configuration of the default installation for Sensor Synchronization
This procedure describes how to configure system parameters for Sensor
Synchronization in the configuration editor in RobotStudio.
Action
Change the parameter Connected to Bus for the unit from "Virtual1" to the correct
bus, for example "DeviceNet1".
1
Specify the correct address for the unit, parameter DeviceNet Address .
2
If the parameter DeviceNet Master Address (in topic I/O , type Bus ) is changed, then
the parameter Default Value (in topic I/O , type Fieldbus Command Type ) for the instance
TimeKeeperInit must be changed to the same value.
3
Configuration of the default installation for Analog Synchronization
This procedure describes how to configure system parameters for Analog
Synchronization in the configuration editor in RobotStudio.
Action
Change the unit type, parameter Type of Unit , for the unit from "Virtual" to the correct
unit type, for example "d355A".
1
Change the parameter Connected to Bus for the unit from "Virtual1" to the correct
bus, for example "DeviceNet1".
2
Specify the correct address for the unit, parameter DeviceNet Address .
3
Change the communication interval for the unit type (e.g d355A) from 50 to 20 ms,
parameter Connection 1 Interval .
4
For more information about this parameter, see Application manual - DeviceNet Mas-
ter/Slave .
Continues on next page
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4.1.7 Hardware installation for Analog Synchronization
4.1.7.1 Required hardware
Analog input board
An analog input board is required, for example DSQC355A. See Application
manual - DeviceNet Master/Slave .
Analog linear sensor
An analog linear sensor is required, with analog signal input between 0 and 10 V.
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4 Motion coordination
4.1.7.1 Required hardware
4.1.8 Software installation
4.1.8.1 Sensor installation
Overview
Normally the synchronization option and the DeviceNet option are preloaded at
ABB, and do not need to be re-installed. For more information on how to add options
to the system, see Operating manual - RobotStudio .
The synchronization option automatically installs one sensor into the system
parameters. To add more than one sensor, see Installation of several sensors on
page 197 .
About the installation
The options will install three additional configurations:
•
I/O for the encoder interface unit (only for Sensor Synchronization)
•
Sensor process description
•
Motion mechanical description
Configuration of the default installation for Sensor Synchronization
This procedure describes how to configure system parameters for Sensor
Synchronization in the configuration editor in RobotStudio.
Action
Change the parameter Connected to Bus for the unit from "Virtual1" to the correct
bus, for example "DeviceNet1".
1
Specify the correct address for the unit, parameter DeviceNet Address .
2
If the parameter DeviceNet Master Address (in topic I/O , type Bus ) is changed, then
the parameter Default Value (in topic I/O , type Fieldbus Command Type ) for the instance
TimeKeeperInit must be changed to the same value.
3
Configuration of the default installation for Analog Synchronization
This procedure describes how to configure system parameters for Analog
Synchronization in the configuration editor in RobotStudio.
Action
Change the unit type, parameter Type of Unit , for the unit from "Virtual" to the correct
unit type, for example "d355A".
1
Change the parameter Connected to Bus for the unit from "Virtual1" to the correct
bus, for example "DeviceNet1".
2
Specify the correct address for the unit, parameter DeviceNet Address .
3
Change the communication interval for the unit type (e.g d355A) from 50 to 20 ms,
parameter Connection 1 Interval .
4
For more information about this parameter, see Application manual - DeviceNet Mas-
ter/Slave .
Continues on next page
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4 Motion coordination
4.1.8.1 Sensor installation
How to add a sensor manually for Sensor Synchronization
Use the following procedure to add a sensor manually.
Action
Connect the encoder interface unit to the CAN bus. Note the address on the CAN bus.
1
In RobotStudio, click Load Parameters .
2
Select: Load Parameters if no duplicates and click Open .
3
Installation of a master sensor , connected to DeviceNet1 (first board).
4
Load the following files one by one from the OPTIONS/CNV directory:
•
syvm1_eio.cfg
•
syvm1_prc.cfg
•
syvm1_moc.cfg
Installation of a slave sensor , connected to DeviceNet2 (second board).
5
Load the following files one by one from the OPTIONS/CNV directory:
•
syvs1_eio.cfg
•
syvs1_prc.cfg
•
syvs1_moc.cfg
Restart the system.
6
If necessary, correct the address for the new encoder interface units. The default ad-
dresses in the file syvxx_eio.cfg should be replaced by the actual address of the
board.
7
How to add a sensor manually for Analog Synchronization
There are no prepared files for adding a sensor for Analog Synchronization. It can
be accomplished by copying the following files and edit them for the second sensor:
•
synvaileio.cfg
•
synvailprc.cfg
•
syim1.moc
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4 Motion coordination
4.1.8.1 Sensor installation
Continued
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4.1.8 Software installation
4.1.8.1 Sensor installation
Overview
Normally the synchronization option and the DeviceNet option are preloaded at
ABB, and do not need to be re-installed. For more information on how to add options
to the system, see Operating manual - RobotStudio .
The synchronization option automatically installs one sensor into the system
parameters. To add more than one sensor, see Installation of several sensors on
page 197 .
About the installation
The options will install three additional configurations:
•
I/O for the encoder interface unit (only for Sensor Synchronization)
•
Sensor process description
•
Motion mechanical description
Configuration of the default installation for Sensor Synchronization
This procedure describes how to configure system parameters for Sensor
Synchronization in the configuration editor in RobotStudio.
Action
Change the parameter Connected to Bus for the unit from "Virtual1" to the correct
bus, for example "DeviceNet1".
1
Specify the correct address for the unit, parameter DeviceNet Address .
2
If the parameter DeviceNet Master Address (in topic I/O , type Bus ) is changed, then
the parameter Default Value (in topic I/O , type Fieldbus Command Type ) for the instance
TimeKeeperInit must be changed to the same value.
3
Configuration of the default installation for Analog Synchronization
This procedure describes how to configure system parameters for Analog
Synchronization in the configuration editor in RobotStudio.
Action
Change the unit type, parameter Type of Unit , for the unit from "Virtual" to the correct
unit type, for example "d355A".
1
Change the parameter Connected to Bus for the unit from "Virtual1" to the correct
bus, for example "DeviceNet1".
2
Specify the correct address for the unit, parameter DeviceNet Address .
3
Change the communication interval for the unit type (e.g d355A) from 50 to 20 ms,
parameter Connection 1 Interval .
4
For more information about this parameter, see Application manual - DeviceNet Mas-
ter/Slave .
Continues on next page
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4 Motion coordination
4.1.8.1 Sensor installation
How to add a sensor manually for Sensor Synchronization
Use the following procedure to add a sensor manually.
Action
Connect the encoder interface unit to the CAN bus. Note the address on the CAN bus.
1
In RobotStudio, click Load Parameters .
2
Select: Load Parameters if no duplicates and click Open .
3
Installation of a master sensor , connected to DeviceNet1 (first board).
4
Load the following files one by one from the OPTIONS/CNV directory:
•
syvm1_eio.cfg
•
syvm1_prc.cfg
•
syvm1_moc.cfg
Installation of a slave sensor , connected to DeviceNet2 (second board).
5
Load the following files one by one from the OPTIONS/CNV directory:
•
syvs1_eio.cfg
•
syvs1_prc.cfg
•
syvs1_moc.cfg
Restart the system.
6
If necessary, correct the address for the new encoder interface units. The default ad-
dresses in the file syvxx_eio.cfg should be replaced by the actual address of the
board.
7
How to add a sensor manually for Analog Synchronization
There are no prepared files for adding a sensor for Analog Synchronization. It can
be accomplished by copying the following files and edit them for the second sensor:
•
synvaileio.cfg
•
synvailprc.cfg
•
syim1.moc
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4 Motion coordination
4.1.8.1 Sensor installation
Continued
4.1.8.2 Reloading saved Motion parameters
Overview
During installation of the synchronization option, a specific sensor configuration
for additional axes will be loaded into the Motion system parameters.
Note
If these parameters were loaded before the synchronization option, then the
mechanical unit SSYNC1 will not appear on the FlexPendant under the Jogging
window .
Reloading the SSYNC1 parameter
Use RobotStudio and follow these steps (see Operating manual - RobotStudio for
more information):
Action
Open the Configuration Editor and select the topic Motion .
1
Select the type File .
2
Click Load parameters and select mode.
3
Click Open and select the file syn1_moc from the RobotWare installation.
4
Restart the controller for the changes to take effect.
5
Result
The mechanical unit SSYNC1 should now be available on the FlexPendant under
the Jogging window .
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How to add a sensor manually for Sensor Synchronization
Use the following procedure to add a sensor manually.
Action
Connect the encoder interface unit to the CAN bus. Note the address on the CAN bus.
1
In RobotStudio, click Load Parameters .
2
Select: Load Parameters if no duplicates and click Open .
3
Installation of a master sensor , connected to DeviceNet1 (first board).
4
Load the following files one by one from the OPTIONS/CNV directory:
•
syvm1_eio.cfg
•
syvm1_prc.cfg
•
syvm1_moc.cfg
Installation of a slave sensor , connected to DeviceNet2 (second board).
5
Load the following files one by one from the OPTIONS/CNV directory:
•
syvs1_eio.cfg
•
syvs1_prc.cfg
•
syvs1_moc.cfg
Restart the system.
6
If necessary, correct the address for the new encoder interface units. The default ad-
dresses in the file syvxx_eio.cfg should be replaced by the actual address of the
board.
7
How to add a sensor manually for Analog Synchronization
There are no prepared files for adding a sensor for Analog Synchronization. It can
be accomplished by copying the following files and edit them for the second sensor:
•
synvaileio.cfg
•
synvailprc.cfg
•
syim1.moc
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4 Motion coordination
4.1.8.1 Sensor installation
Continued
4.1.8.2 Reloading saved Motion parameters
Overview
During installation of the synchronization option, a specific sensor configuration
for additional axes will be loaded into the Motion system parameters.
Note
If these parameters were loaded before the synchronization option, then the
mechanical unit SSYNC1 will not appear on the FlexPendant under the Jogging
window .
Reloading the SSYNC1 parameter
Use RobotStudio and follow these steps (see Operating manual - RobotStudio for
more information):
Action
Open the Configuration Editor and select the topic Motion .
1
Select the type File .
2
Click Load parameters and select mode.
3
Click Open and select the file syn1_moc from the RobotWare installation.
4
Restart the controller for the changes to take effect.
5
Result
The mechanical unit SSYNC1 should now be available on the FlexPendant under
the Jogging window .
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4 Motion coordination
4.1.8.2 Reloading saved Motion parameters
4.1.8.3 Installation of several sensors
About the installation
Normally the synchronization option and the DeviceNet option are preloaded at
ABB, and do not need to be re-installed. For more information how to add options
to the system, see Operating manual - RobotStudio .
The synchronization option automatically installs one sensor into the system
parameters.
DeviceNet Dual option
When DeviceNet Dual is included, the following three sensors will be installed in
the system:
•
One sensor with "Robot to press syncro type": SSYNC1
•
One virtual master sensor: SSYNM1
•
One virtual slave sensor: SSYNCS1
Adding sensors manually
Up to four sensors can be used with the same controller, but the parameters for
the three extra sensors must be loaded manually.
Use the following procedure to load the sensors manually.
Action
For Sensor Synchronization, connect the encoder interface unit to the CAN bus. Note
the address on the CAN bus.
1
Use RobotStudio to add new parameters.
2
Click Load Parameters .
3
Select: Load Parameters if no duplicates and click Open .
4
Installation of a master sensor , connected to DeviceNet1 (first board).
5
Load the following files one by one from the OPTION/CNV directory:
•
for second sensor: syvm2_eio.cfg , syvm2_prc and syvm2_moc.cfg
•
for third sensor: syvm3_eio.cfg , syvm3_prc.cfg and syvm3_moc.cfg
•
for fourth sensor: syvm4_eio .cfg, syvm4_prc.cfg and syvm4_moc.cfg
Installation of a slave sensor , connected to DeviceNet2 (second board).
6
Load the following files one by one from the OPTION/CNV directory:
•
for second sensor: syvs2_eio.cfg , syvs2_prc.cfg and syvs2_moc.cfg
•
for third sensor: syvs3_eio.cfg , syvs3_prc.cfg and syvs3_moc.cfg
•
for fourth sensor: syvs4_eio.cfg , syvs4_prc.cfg and syvs4_moc.cfg
Restart the system.
7
For Sensor Synchronization: If necessary, correct the address for the new encoder
interface units. Find the respective encoder interface unit in the system parameters
under the topic I/O . The default addresses in the file syvxx_eio.cfg should be replaced
by the actual address of the board.
8
Available sensors
The second and third sensor (SSYNC2, SSYNC3) should now appear in
Motion/mechanical unit and in the Jogging window on the FlexPendant.
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4.1.8.2 Reloading saved Motion parameters
Overview
During installation of the synchronization option, a specific sensor configuration
for additional axes will be loaded into the Motion system parameters.
Note
If these parameters were loaded before the synchronization option, then the
mechanical unit SSYNC1 will not appear on the FlexPendant under the Jogging
window .
Reloading the SSYNC1 parameter
Use RobotStudio and follow these steps (see Operating manual - RobotStudio for
more information):
Action
Open the Configuration Editor and select the topic Motion .
1
Select the type File .
2
Click Load parameters and select mode.
3
Click Open and select the file syn1_moc from the RobotWare installation.
4
Restart the controller for the changes to take effect.
5
Result
The mechanical unit SSYNC1 should now be available on the FlexPendant under
the Jogging window .
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4 Motion coordination
4.1.8.2 Reloading saved Motion parameters
4.1.8.3 Installation of several sensors
About the installation
Normally the synchronization option and the DeviceNet option are preloaded at
ABB, and do not need to be re-installed. For more information how to add options
to the system, see Operating manual - RobotStudio .
The synchronization option automatically installs one sensor into the system
parameters.
DeviceNet Dual option
When DeviceNet Dual is included, the following three sensors will be installed in
the system:
•
One sensor with "Robot to press syncro type": SSYNC1
•
One virtual master sensor: SSYNM1
•
One virtual slave sensor: SSYNCS1
Adding sensors manually
Up to four sensors can be used with the same controller, but the parameters for
the three extra sensors must be loaded manually.
Use the following procedure to load the sensors manually.
Action
For Sensor Synchronization, connect the encoder interface unit to the CAN bus. Note
the address on the CAN bus.
1
Use RobotStudio to add new parameters.
2
Click Load Parameters .
3
Select: Load Parameters if no duplicates and click Open .
4
Installation of a master sensor , connected to DeviceNet1 (first board).
5
Load the following files one by one from the OPTION/CNV directory:
•
for second sensor: syvm2_eio.cfg , syvm2_prc and syvm2_moc.cfg
•
for third sensor: syvm3_eio.cfg , syvm3_prc.cfg and syvm3_moc.cfg
•
for fourth sensor: syvm4_eio .cfg, syvm4_prc.cfg and syvm4_moc.cfg
Installation of a slave sensor , connected to DeviceNet2 (second board).
6
Load the following files one by one from the OPTION/CNV directory:
•
for second sensor: syvs2_eio.cfg , syvs2_prc.cfg and syvs2_moc.cfg
•
for third sensor: syvs3_eio.cfg , syvs3_prc.cfg and syvs3_moc.cfg
•
for fourth sensor: syvs4_eio.cfg , syvs4_prc.cfg and syvs4_moc.cfg
Restart the system.
7
For Sensor Synchronization: If necessary, correct the address for the new encoder
interface units. Find the respective encoder interface unit in the system parameters
under the topic I/O . The default addresses in the file syvxx_eio.cfg should be replaced
by the actual address of the board.
8
Available sensors
The second and third sensor (SSYNC2, SSYNC3) should now appear in
Motion/mechanical unit and in the Jogging window on the FlexPendant.
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4 Motion coordination
4.1.8.3 Installation of several sensors
4.1.9 Programming the synchronization
4.1.9.1 General issues when programming with the synchronization option
Activate sensor
The sensor must be activated before it may be used for work object coordination,
just like any other mechanical unit. The usual ActUnit instruction is used to
activate the sensor and DeactUnit is used to deactivate the sensor.
By default, the sensor is installed inactive on start. If desired, the sensor may be
configured to always be active upon start. See Mechanical unit on page 233 .
Automatic connection
Only for Sensor Synchronization:
When a sensor mechanical unit is activated, it first checks the state of the encoder
interface unit to see whether the sensor was previously connected. If the encoder
interface unit, via the I/O signal c1Connected , indicates connection, then the sensor
will automatically be connected upon activation. The purpose of this feature is to
automatically reconnect in case of a power failure with power backup on the encoder
interface unit.
Connection via WaitSensor instruction
Motions that are to be synchronized with the external device cannot be programmed
until an object has been connected to the sensor with a WaitSensor instruction.
If the object is already connected with a previous WaitSensor instruction, or if
connection was established during activation, then execution of a second
WaitSensor instruction will cause an error.
After connection to an object with a WaitSensor instruction the synchronized
motion is started using SyncToSensor\On instruction.
For details about the instructions WaitSensor and SyncToSensor\On , see
Technical reference manual - RAPID Instructions, Functions and Data types .
Programming Sensor Synchronization
In the following instructions, there are references to programming examples.
Information
Action
Create a program with the following instructions:
ActUnit SSYNC1;
1
MoveL waitp, v1000, fine, tool;
WaitSensor SSYNC1;
The instruction will return if
there is an object in the object
queue. If the is no object, the
execution will stop while wait-
ing for an object (i.e. a sync
signal).
Single-step the program past the WaitSensor instruc-
tion.
2
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4.1.8.3 Installation of several sensors
About the installation
Normally the synchronization option and the DeviceNet option are preloaded at
ABB, and do not need to be re-installed. For more information how to add options
to the system, see Operating manual - RobotStudio .
The synchronization option automatically installs one sensor into the system
parameters.
DeviceNet Dual option
When DeviceNet Dual is included, the following three sensors will be installed in
the system:
•
One sensor with "Robot to press syncro type": SSYNC1
•
One virtual master sensor: SSYNM1
•
One virtual slave sensor: SSYNCS1
Adding sensors manually
Up to four sensors can be used with the same controller, but the parameters for
the three extra sensors must be loaded manually.
Use the following procedure to load the sensors manually.
Action
For Sensor Synchronization, connect the encoder interface unit to the CAN bus. Note
the address on the CAN bus.
1
Use RobotStudio to add new parameters.
2
Click Load Parameters .
3
Select: Load Parameters if no duplicates and click Open .
4
Installation of a master sensor , connected to DeviceNet1 (first board).
5
Load the following files one by one from the OPTION/CNV directory:
•
for second sensor: syvm2_eio.cfg , syvm2_prc and syvm2_moc.cfg
•
for third sensor: syvm3_eio.cfg , syvm3_prc.cfg and syvm3_moc.cfg
•
for fourth sensor: syvm4_eio .cfg, syvm4_prc.cfg and syvm4_moc.cfg
Installation of a slave sensor , connected to DeviceNet2 (second board).
6
Load the following files one by one from the OPTION/CNV directory:
•
for second sensor: syvs2_eio.cfg , syvs2_prc.cfg and syvs2_moc.cfg
•
for third sensor: syvs3_eio.cfg , syvs3_prc.cfg and syvs3_moc.cfg
•
for fourth sensor: syvs4_eio.cfg , syvs4_prc.cfg and syvs4_moc.cfg
Restart the system.
7
For Sensor Synchronization: If necessary, correct the address for the new encoder
interface units. Find the respective encoder interface unit in the system parameters
under the topic I/O . The default addresses in the file syvxx_eio.cfg should be replaced
by the actual address of the board.
8
Available sensors
The second and third sensor (SSYNC2, SSYNC3) should now appear in
Motion/mechanical unit and in the Jogging window on the FlexPendant.
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4 Motion coordination
4.1.8.3 Installation of several sensors
4.1.9 Programming the synchronization
4.1.9.1 General issues when programming with the synchronization option
Activate sensor
The sensor must be activated before it may be used for work object coordination,
just like any other mechanical unit. The usual ActUnit instruction is used to
activate the sensor and DeactUnit is used to deactivate the sensor.
By default, the sensor is installed inactive on start. If desired, the sensor may be
configured to always be active upon start. See Mechanical unit on page 233 .
Automatic connection
Only for Sensor Synchronization:
When a sensor mechanical unit is activated, it first checks the state of the encoder
interface unit to see whether the sensor was previously connected. If the encoder
interface unit, via the I/O signal c1Connected , indicates connection, then the sensor
will automatically be connected upon activation. The purpose of this feature is to
automatically reconnect in case of a power failure with power backup on the encoder
interface unit.
Connection via WaitSensor instruction
Motions that are to be synchronized with the external device cannot be programmed
until an object has been connected to the sensor with a WaitSensor instruction.
If the object is already connected with a previous WaitSensor instruction, or if
connection was established during activation, then execution of a second
WaitSensor instruction will cause an error.
After connection to an object with a WaitSensor instruction the synchronized
motion is started using SyncToSensor\On instruction.
For details about the instructions WaitSensor and SyncToSensor\On , see
Technical reference manual - RAPID Instructions, Functions and Data types .
Programming Sensor Synchronization
In the following instructions, there are references to programming examples.
Information
Action
Create a program with the following instructions:
ActUnit SSYNC1;
1
MoveL waitp, v1000, fine, tool;
WaitSensor SSYNC1;
The instruction will return if
there is an object in the object
queue. If the is no object, the
execution will stop while wait-
ing for an object (i.e. a sync
signal).
Single-step the program past the WaitSensor instruc-
tion.
2
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4 Motion coordination
4.1.9.1 General issues when programming with the synchronization option
Information
Action
The program should exit the
WaitSensor and is now
“connected” to the object.
Run the external device until a sync signal is generated
by the synchronization switch.
3
Stop the external device in the position that should
correspond to the robot target you are about to pro-
gram.
4
Start the synchronized motion with a SyncToSensor
SSYNC1\On instruction. See Programming examples
on page 200 .
5
Use corner zones for the
move instructions, see
Finepoint programming on
page 204 .
Program move instructions.
For every time you modify a position, run the external
device to the position that should correspond to the
robot target.
6
End the synchronized motion with a SyncToSensor
SSYNC1\Off instruction. See Programming examples
on page 200 .
7
Only for Sensor Synchronization:
8
Program a DropSensor SSYNC1; instruction. See
Programming examples on page 200 .
Program a DeactUnit SSYNC1; instruction if this is
the end of the program, or if the sensor is no longer
needed. See Programming examples on page 200 .
9
Synchronize the sensor
If it is not possible to move the external device to the desired position, modify the
position first and then edit the sensor value in the robtarget (as for any additional
axis).
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4 Motion coordination
4.1.9.1 General issues when programming with the synchronization option
Continued
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4.1.9 Programming the synchronization
4.1.9.1 General issues when programming with the synchronization option
Activate sensor
The sensor must be activated before it may be used for work object coordination,
just like any other mechanical unit. The usual ActUnit instruction is used to
activate the sensor and DeactUnit is used to deactivate the sensor.
By default, the sensor is installed inactive on start. If desired, the sensor may be
configured to always be active upon start. See Mechanical unit on page 233 .
Automatic connection
Only for Sensor Synchronization:
When a sensor mechanical unit is activated, it first checks the state of the encoder
interface unit to see whether the sensor was previously connected. If the encoder
interface unit, via the I/O signal c1Connected , indicates connection, then the sensor
will automatically be connected upon activation. The purpose of this feature is to
automatically reconnect in case of a power failure with power backup on the encoder
interface unit.
Connection via WaitSensor instruction
Motions that are to be synchronized with the external device cannot be programmed
until an object has been connected to the sensor with a WaitSensor instruction.
If the object is already connected with a previous WaitSensor instruction, or if
connection was established during activation, then execution of a second
WaitSensor instruction will cause an error.
After connection to an object with a WaitSensor instruction the synchronized
motion is started using SyncToSensor\On instruction.
For details about the instructions WaitSensor and SyncToSensor\On , see
Technical reference manual - RAPID Instructions, Functions and Data types .
Programming Sensor Synchronization
In the following instructions, there are references to programming examples.
Information
Action
Create a program with the following instructions:
ActUnit SSYNC1;
1
MoveL waitp, v1000, fine, tool;
WaitSensor SSYNC1;
The instruction will return if
there is an object in the object
queue. If the is no object, the
execution will stop while wait-
ing for an object (i.e. a sync
signal).
Single-step the program past the WaitSensor instruc-
tion.
2
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4 Motion coordination
4.1.9.1 General issues when programming with the synchronization option
Information
Action
The program should exit the
WaitSensor and is now
“connected” to the object.
Run the external device until a sync signal is generated
by the synchronization switch.
3
Stop the external device in the position that should
correspond to the robot target you are about to pro-
gram.
4
Start the synchronized motion with a SyncToSensor
SSYNC1\On instruction. See Programming examples
on page 200 .
5
Use corner zones for the
move instructions, see
Finepoint programming on
page 204 .
Program move instructions.
For every time you modify a position, run the external
device to the position that should correspond to the
robot target.
6
End the synchronized motion with a SyncToSensor
SSYNC1\Off instruction. See Programming examples
on page 200 .
7
Only for Sensor Synchronization:
8
Program a DropSensor SSYNC1; instruction. See
Programming examples on page 200 .
Program a DeactUnit SSYNC1; instruction if this is
the end of the program, or if the sensor is no longer
needed. See Programming examples on page 200 .
9
Synchronize the sensor
If it is not possible to move the external device to the desired position, modify the
position first and then edit the sensor value in the robtarget (as for any additional
axis).
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4 Motion coordination
4.1.9.1 General issues when programming with the synchronization option
Continued
4.1.9.2 Programming examples
Sensor Synchronization program
MoveJ p0, vmax, fine, tool1;
!Activate sensor
ActUnit SSYNC1;
!Connect to the object
WaitSensor SSYNC1;
!Start the Synchronized motion
SyncToSensor SSYNC1\On;
!Instructions with coordinated robot targets
MoveL p10, v1000, z20, tool1;
MoveL p20, v1000, z20, tool1;
MoveL p30, v1000, z20, tool1;
!Stop the synchronized motion
SyncToSensor SSYNC1\Off;
!Exit coordinated motion
MoveL p40, v1000, fine, tool1;
!Disconnect from current object
DropSensor SSYNC1;
MoveL p0, v1000, fine;
!Deactivate sensor
DeactUnit SSYNC1;
Analog Synchronization program
VAR num startdist := 600;
MoveJ p0, vmax, fine, tool1;
!Activate sensor
ActUnit SSYNC1;
WaitSensor SSYNC1 \RelDist:=startdist;
!Start the Synchronized motion
SyncToSensor SSYNC1\On;
!Instructions with coordinated robot targets
MoveL p10, v1000, z20, tool1;
MoveL p20, v1000, z20, tool1;
MoveL p30, v1000, z20, tool1;
Continues on next page
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4 Motion coordination
4.1.9.2 Programming examples
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Information
Action
The program should exit the
WaitSensor and is now
“connected” to the object.
Run the external device until a sync signal is generated
by the synchronization switch.
3
Stop the external device in the position that should
correspond to the robot target you are about to pro-
gram.
4
Start the synchronized motion with a SyncToSensor
SSYNC1\On instruction. See Programming examples
on page 200 .
5
Use corner zones for the
move instructions, see
Finepoint programming on
page 204 .
Program move instructions.
For every time you modify a position, run the external
device to the position that should correspond to the
robot target.
6
End the synchronized motion with a SyncToSensor
SSYNC1\Off instruction. See Programming examples
on page 200 .
7
Only for Sensor Synchronization:
8
Program a DropSensor SSYNC1; instruction. See
Programming examples on page 200 .
Program a DeactUnit SSYNC1; instruction if this is
the end of the program, or if the sensor is no longer
needed. See Programming examples on page 200 .
9
Synchronize the sensor
If it is not possible to move the external device to the desired position, modify the
position first and then edit the sensor value in the robtarget (as for any additional
axis).
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4 Motion coordination
4.1.9.1 General issues when programming with the synchronization option
Continued
4.1.9.2 Programming examples
Sensor Synchronization program
MoveJ p0, vmax, fine, tool1;
!Activate sensor
ActUnit SSYNC1;
!Connect to the object
WaitSensor SSYNC1;
!Start the Synchronized motion
SyncToSensor SSYNC1\On;
!Instructions with coordinated robot targets
MoveL p10, v1000, z20, tool1;
MoveL p20, v1000, z20, tool1;
MoveL p30, v1000, z20, tool1;
!Stop the synchronized motion
SyncToSensor SSYNC1\Off;
!Exit coordinated motion
MoveL p40, v1000, fine, tool1;
!Disconnect from current object
DropSensor SSYNC1;
MoveL p0, v1000, fine;
!Deactivate sensor
DeactUnit SSYNC1;
Analog Synchronization program
VAR num startdist := 600;
MoveJ p0, vmax, fine, tool1;
!Activate sensor
ActUnit SSYNC1;
WaitSensor SSYNC1 \RelDist:=startdist;
!Start the Synchronized motion
SyncToSensor SSYNC1\On;
!Instructions with coordinated robot targets
MoveL p10, v1000, z20, tool1;
MoveL p20, v1000, z20, tool1;
MoveL p30, v1000, z20, tool1;
Continues on next page
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4 Motion coordination
4.1.9.2 Programming examples
!Exit coordinated motion
MoveL p40, v1000, fine, tool1;
!Stop the synchronized motion
SyncToSensor SSYNC1\Off;
MoveL p0, v1000, fine;
!Deactivate sensor
DeactUnit SSYNC1;
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4 Motion coordination
4.1.9.2 Programming examples
Continued
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4.1.9.2 Programming examples
Sensor Synchronization program
MoveJ p0, vmax, fine, tool1;
!Activate sensor
ActUnit SSYNC1;
!Connect to the object
WaitSensor SSYNC1;
!Start the Synchronized motion
SyncToSensor SSYNC1\On;
!Instructions with coordinated robot targets
MoveL p10, v1000, z20, tool1;
MoveL p20, v1000, z20, tool1;
MoveL p30, v1000, z20, tool1;
!Stop the synchronized motion
SyncToSensor SSYNC1\Off;
!Exit coordinated motion
MoveL p40, v1000, fine, tool1;
!Disconnect from current object
DropSensor SSYNC1;
MoveL p0, v1000, fine;
!Deactivate sensor
DeactUnit SSYNC1;
Analog Synchronization program
VAR num startdist := 600;
MoveJ p0, vmax, fine, tool1;
!Activate sensor
ActUnit SSYNC1;
WaitSensor SSYNC1 \RelDist:=startdist;
!Start the Synchronized motion
SyncToSensor SSYNC1\On;
!Instructions with coordinated robot targets
MoveL p10, v1000, z20, tool1;
MoveL p20, v1000, z20, tool1;
MoveL p30, v1000, z20, tool1;
Continues on next page
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4 Motion coordination
4.1.9.2 Programming examples
!Exit coordinated motion
MoveL p40, v1000, fine, tool1;
!Stop the synchronized motion
SyncToSensor SSYNC1\Off;
MoveL p0, v1000, fine;
!Deactivate sensor
DeactUnit SSYNC1;
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4 Motion coordination
4.1.9.2 Programming examples
Continued
4.1.9.3 Entering and exiting coordinated motion in corner zones
Corner zones can be used
Once a WaitSensor instruction is connected to an object it is possible to enter
and exit synchronized motion with the sensor via corner zones.
Dropping object after corner zone
If an instruction using a corner zone is used to exit coordinated motion, it cannot
be followed directly by the DropSensor instruction. This would cause the object
to be dropped before the robot has left the corner zone, when the motion still
requires the conveyor coordinated work object.
If the work object is dropped when motion still requires its position, then a stop
will occur.
To avoid this, either call a finepoint instruction or at least two corner zone
instructions before dropping the work object.
Correct example
This is an example of how to enter and exit coordinated motion via corner zones.
MoveL p10, v1000, fine, tool1;
WaitSensor SSYNC1;
MoveL p20, v500, z50, tool1;
!start synchronization after zone around p20
SyncToSensor SSYNC1\On
MoveL p30, v500, z20, tool1;
MoveL p40, v500, z20, tool1;
MoveL p50, v500, z20, tool1;
MoveL p60, v500, z50, tool1;
!Exit synchronization after zone around p60
SyncToSensor SSYNC1\Off;
MoveL p70, v500, fine, tool1;
DropSensor SSYNC1;
MoveL p10, v500, fine, tool1;
Incorrect example
This is an incorrect example of exiting coordination in corner zones. This will cause
the program to stop with an error.
MoveL p50, v500, z20, tool1;
MoveL p60, v500, z50, tool1;
!Exit coordination in zone
SyncToSensor SSYNC1\Off;
DropSensor SSYNC1;
If coordinated motion is ended in a corner zone, another move instruction must be
executed before the sensor is dropped.
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4.1.9.3 Entering and exiting coordinated motion in corner zones
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!Exit coordinated motion
MoveL p40, v1000, fine, tool1;
!Stop the synchronized motion
SyncToSensor SSYNC1\Off;
MoveL p0, v1000, fine;
!Deactivate sensor
DeactUnit SSYNC1;
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4 Motion coordination
4.1.9.2 Programming examples
Continued
4.1.9.3 Entering and exiting coordinated motion in corner zones
Corner zones can be used
Once a WaitSensor instruction is connected to an object it is possible to enter
and exit synchronized motion with the sensor via corner zones.
Dropping object after corner zone
If an instruction using a corner zone is used to exit coordinated motion, it cannot
be followed directly by the DropSensor instruction. This would cause the object
to be dropped before the robot has left the corner zone, when the motion still
requires the conveyor coordinated work object.
If the work object is dropped when motion still requires its position, then a stop
will occur.
To avoid this, either call a finepoint instruction or at least two corner zone
instructions before dropping the work object.
Correct example
This is an example of how to enter and exit coordinated motion via corner zones.
MoveL p10, v1000, fine, tool1;
WaitSensor SSYNC1;
MoveL p20, v500, z50, tool1;
!start synchronization after zone around p20
SyncToSensor SSYNC1\On
MoveL p30, v500, z20, tool1;
MoveL p40, v500, z20, tool1;
MoveL p50, v500, z20, tool1;
MoveL p60, v500, z50, tool1;
!Exit synchronization after zone around p60
SyncToSensor SSYNC1\Off;
MoveL p70, v500, fine, tool1;
DropSensor SSYNC1;
MoveL p10, v500, fine, tool1;
Incorrect example
This is an incorrect example of exiting coordination in corner zones. This will cause
the program to stop with an error.
MoveL p50, v500, z20, tool1;
MoveL p60, v500, z50, tool1;
!Exit coordination in zone
SyncToSensor SSYNC1\Off;
DropSensor SSYNC1;
If coordinated motion is ended in a corner zone, another move instruction must be
executed before the sensor is dropped.
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4 Motion coordination
4.1.9.3 Entering and exiting coordinated motion in corner zones
4.1.9.4 Use several sensors
Overview
When several sensors are used the program must have at least one move
instruction without any synchronization between parts of the path that are
synchronized with two different sensors.
Program example
!Connect to the object
WaitSensor SSYNC1\RelDist:=Pickdist;
!Start the Synchronized motion
SyncToSensor SSYNC1\MaxSync:=1653\On;
!Instructions with coordinated robot targets
MoveL p30, v400, z20, currtool;
!Stop the synchronized motion
SyncToSensor SSYNC1\Off;
!Instructions with coordinated robot targets
MoveL p31, v400, z20, currtool;
!Connect to the object
WaitSensor SSYNC2\RelDist:=1720;
!Instructions with coordinated robot targets
MoveL p32, v400, z50, currtool;
!Start the Synchronized motion
SyncToSensor SSYNC2\MaxSync:=2090\On;
!Instructions with coordinated robot targets
MoveL p33, v400, z20, currtool;
!Stop the synchronized motion
SyncToSensor SSYNC2\Off;
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4.1.9.4 Use several sensors
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4.1.9.3 Entering and exiting coordinated motion in corner zones
Corner zones can be used
Once a WaitSensor instruction is connected to an object it is possible to enter
and exit synchronized motion with the sensor via corner zones.
Dropping object after corner zone
If an instruction using a corner zone is used to exit coordinated motion, it cannot
be followed directly by the DropSensor instruction. This would cause the object
to be dropped before the robot has left the corner zone, when the motion still
requires the conveyor coordinated work object.
If the work object is dropped when motion still requires its position, then a stop
will occur.
To avoid this, either call a finepoint instruction or at least two corner zone
instructions before dropping the work object.
Correct example
This is an example of how to enter and exit coordinated motion via corner zones.
MoveL p10, v1000, fine, tool1;
WaitSensor SSYNC1;
MoveL p20, v500, z50, tool1;
!start synchronization after zone around p20
SyncToSensor SSYNC1\On
MoveL p30, v500, z20, tool1;
MoveL p40, v500, z20, tool1;
MoveL p50, v500, z20, tool1;
MoveL p60, v500, z50, tool1;
!Exit synchronization after zone around p60
SyncToSensor SSYNC1\Off;
MoveL p70, v500, fine, tool1;
DropSensor SSYNC1;
MoveL p10, v500, fine, tool1;
Incorrect example
This is an incorrect example of exiting coordination in corner zones. This will cause
the program to stop with an error.
MoveL p50, v500, z20, tool1;
MoveL p60, v500, z50, tool1;
!Exit coordination in zone
SyncToSensor SSYNC1\Off;
DropSensor SSYNC1;
If coordinated motion is ended in a corner zone, another move instruction must be
executed before the sensor is dropped.
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4 Motion coordination
4.1.9.3 Entering and exiting coordinated motion in corner zones
4.1.9.4 Use several sensors
Overview
When several sensors are used the program must have at least one move
instruction without any synchronization between parts of the path that are
synchronized with two different sensors.
Program example
!Connect to the object
WaitSensor SSYNC1\RelDist:=Pickdist;
!Start the Synchronized motion
SyncToSensor SSYNC1\MaxSync:=1653\On;
!Instructions with coordinated robot targets
MoveL p30, v400, z20, currtool;
!Stop the synchronized motion
SyncToSensor SSYNC1\Off;
!Instructions with coordinated robot targets
MoveL p31, v400, z20, currtool;
!Connect to the object
WaitSensor SSYNC2\RelDist:=1720;
!Instructions with coordinated robot targets
MoveL p32, v400, z50, currtool;
!Start the Synchronized motion
SyncToSensor SSYNC2\MaxSync:=2090\On;
!Instructions with coordinated robot targets
MoveL p33, v400, z20, currtool;
!Stop the synchronized motion
SyncToSensor SSYNC2\Off;
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4 Motion coordination
4.1.9.4 Use several sensors
4.1.9.5 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.
At 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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4.1.9.4 Use several sensors
Overview
When several sensors are used the program must have at least one move
instruction without any synchronization between parts of the path that are
synchronized with two different sensors.
Program example
!Connect to the object
WaitSensor SSYNC1\RelDist:=Pickdist;
!Start the Synchronized motion
SyncToSensor SSYNC1\MaxSync:=1653\On;
!Instructions with coordinated robot targets
MoveL p30, v400, z20, currtool;
!Stop the synchronized motion
SyncToSensor SSYNC1\Off;
!Instructions with coordinated robot targets
MoveL p31, v400, z20, currtool;
!Connect to the object
WaitSensor SSYNC2\RelDist:=1720;
!Instructions with coordinated robot targets
MoveL p32, v400, z50, currtool;
!Start the Synchronized motion
SyncToSensor SSYNC2\MaxSync:=2090\On;
!Instructions with coordinated robot targets
MoveL p33, v400, z20, currtool;
!Stop the synchronized motion
SyncToSensor SSYNC2\Off;
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4 Motion coordination
4.1.9.4 Use several sensors
4.1.9.5 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.
At 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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4 Motion coordination
4.1.9.5 Finepoint programming
4.1.9.6 Drop sensor object
Overview
For Sensor Synchronization, a connected object may be dropped, with a
DropSensor instruction, once the synchronized motion has ended.
Example: DropSensor SSYNC1;
For Analog Synchronization, the instruction DropSensor must not be used.
Considerations
The following considerations must be considered when dropping an object:
•
It is important to make sure that the robot motion is no longer using the
sensor position when the object is dropped. If robot motion still requires the
sensor position then a stop will occur when the object is dropped.
•
As long as the SyncToSensor \Off instruction has not been issued, the
robot motion will be synchronized with the sensor.
•
It is not necessary to be connected in order to execute a DropSensor
instruction. No error will be returned if there was no connected object.
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4.1.9.5 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.
At 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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4 Motion coordination
4.1.9.5 Finepoint programming
4.1.9.6 Drop sensor object
Overview
For Sensor Synchronization, a connected object may be dropped, with a
DropSensor instruction, once the synchronized motion has ended.
Example: DropSensor SSYNC1;
For Analog Synchronization, the instruction DropSensor must not be used.
Considerations
The following considerations must be considered when dropping an object:
•
It is important to make sure that the robot motion is no longer using the
sensor position when the object is dropped. If robot motion still requires the
sensor position then a stop will occur when the object is dropped.
•
As long as the SyncToSensor \Off instruction has not been issued, the
robot motion will be synchronized with the sensor.
•
It is not necessary to be connected in order to execute a DropSensor
instruction. No error will be returned if there was no connected object.
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4 Motion coordination
4.1.9.6 Drop sensor object
4.1.9.7 Information on the FlexPendant
Overview
The user has access to the sensor position and speed via the FlexPendant
Jogging window
The position (in millimeters) of the sensor object is shown in the Jogging window.
This value will be negative if a Queue Tracking Distance is defined. When the
synchronization switch is triggered, the position will automatically be updated in
the Jogging window.
I/O window
Sensor Synchronization
From the I/O window the user has access to all the signals that are defined on the
encoder interface unit. From this window it is possible to view the sensor object
position (in meters) and the sensor object speed (in m/s). The speed will be 0 m/s
until the synchronization switch registers a sensor object.
Analog Synchronization
For Analog Synchronization, only the sensor position is shown in the I/O window.
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4.1.9.6 Drop sensor object
Overview
For Sensor Synchronization, a connected object may be dropped, with a
DropSensor instruction, once the synchronized motion has ended.
Example: DropSensor SSYNC1;
For Analog Synchronization, the instruction DropSensor must not be used.
Considerations
The following considerations must be considered when dropping an object:
•
It is important to make sure that the robot motion is no longer using the
sensor position when the object is dropped. If robot motion still requires the
sensor position then a stop will occur when the object is dropped.
•
As long as the SyncToSensor \Off instruction has not been issued, the
robot motion will be synchronized with the sensor.
•
It is not necessary to be connected in order to execute a DropSensor
instruction. No error will be returned if there was no connected object.
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4 Motion coordination
4.1.9.6 Drop sensor object
4.1.9.7 Information on the FlexPendant
Overview
The user has access to the sensor position and speed via the FlexPendant
Jogging window
The position (in millimeters) of the sensor object is shown in the Jogging window.
This value will be negative if a Queue Tracking Distance is defined. When the
synchronization switch is triggered, the position will automatically be updated in
the Jogging window.
I/O window
Sensor Synchronization
From the I/O window the user has access to all the signals that are defined on the
encoder interface unit. From this window it is possible to view the sensor object
position (in meters) and the sensor object speed (in m/s). The speed will be 0 m/s
until the synchronization switch registers a sensor object.
Analog Synchronization
For Analog Synchronization, only the sensor position is shown in the I/O window.
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4 Motion coordination
4.1.9.7 Information on the FlexPendant
4.1.9.8 Programming considerations
Performance limits
The synchronization will be lost if joint speed limits are reached, particularly in
singularities. It is the responsibility of the programmer to ensure that the path
during synchronized movement does not exceed the speed and motion capabilities
of the robot.
Motion commands
All motion commands are allowed during synchronization.
Manual mode
The synchronization is not active in manual mode.
Speed reduction % button
The synchronization works only with 100% speed. As the robot speed is adjusted
to sensor movements the defined robot speed percentage will be overridden.
Programmed speed
The best performance of the synchronization will be obtained if the programmed
speed is near the real execution speed. The programmed speed should be chosen
as the most probable execution speed. Large changes in speed between two move
instructions should be avoided.
Finepoints
Finepoints are allowed during synchronization motion, but the robot will stop at
the fine point and the synchronization will be lost if the external device is still
moving. See Finepoint programming on page 204 .
Position warnings
If robot_to_sensor position ratio is higher than 10 or lower than 0.1 a warning
will appear. The user should modify the robtarget position or the sensor value
in the robtarget according to the warning text.
Speed warnings
If programmed sensor_speed is higher than:
•
(max_sync_speed*sensor_nominal_speed)/robot_tcp_speed
then a speed warning will appear and the user should modify robot speed or
sensor_nominal_speed or max_sync_speed according to the warning text.
If the programmed sensor_speed is lower than:
•
(min_sync_speed*sensor_nominal_speed)/robot_tcp_speed
a similar warning will appear:
•
Programmed_sensor_speed equals sensor_distance/robot_interpolation_time.
Continues on next page
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4.1.9.8 Programming considerations
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4.1.9.7 Information on the FlexPendant
Overview
The user has access to the sensor position and speed via the FlexPendant
Jogging window
The position (in millimeters) of the sensor object is shown in the Jogging window.
This value will be negative if a Queue Tracking Distance is defined. When the
synchronization switch is triggered, the position will automatically be updated in
the Jogging window.
I/O window
Sensor Synchronization
From the I/O window the user has access to all the signals that are defined on the
encoder interface unit. From this window it is possible to view the sensor object
position (in meters) and the sensor object speed (in m/s). The speed will be 0 m/s
until the synchronization switch registers a sensor object.
Analog Synchronization
For Analog Synchronization, only the sensor position is shown in the I/O window.
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4 Motion coordination
4.1.9.7 Information on the FlexPendant
4.1.9.8 Programming considerations
Performance limits
The synchronization will be lost if joint speed limits are reached, particularly in
singularities. It is the responsibility of the programmer to ensure that the path
during synchronized movement does not exceed the speed and motion capabilities
of the robot.
Motion commands
All motion commands are allowed during synchronization.
Manual mode
The synchronization is not active in manual mode.
Speed reduction % button
The synchronization works only with 100% speed. As the robot speed is adjusted
to sensor movements the defined robot speed percentage will be overridden.
Programmed speed
The best performance of the synchronization will be obtained if the programmed
speed is near the real execution speed. The programmed speed should be chosen
as the most probable execution speed. Large changes in speed between two move
instructions should be avoided.
Finepoints
Finepoints are allowed during synchronization motion, but the robot will stop at
the fine point and the synchronization will be lost if the external device is still
moving. See Finepoint programming on page 204 .
Position warnings
If robot_to_sensor position ratio is higher than 10 or lower than 0.1 a warning
will appear. The user should modify the robtarget position or the sensor value
in the robtarget according to the warning text.
Speed warnings
If programmed sensor_speed is higher than:
•
(max_sync_speed*sensor_nominal_speed)/robot_tcp_speed
then a speed warning will appear and the user should modify robot speed or
sensor_nominal_speed or max_sync_speed according to the warning text.
If the programmed sensor_speed is lower than:
•
(min_sync_speed*sensor_nominal_speed)/robot_tcp_speed
a similar warning will appear:
•
Programmed_sensor_speed equals sensor_distance/robot_interpolation_time.
Continues on next page
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4 Motion coordination
4.1.9.8 Programming considerations
Change of tools
Changing the tool is not allowed during synchronization if corvec is used.
Instructions that will deactivate the synchronization
The instructions ActUnit , DeactUnit , and ClearPath will deactivate any
SyncToSensor or SupSyncSensorOn instruction. So the instructions ActUnit ,
DeactUnit , and ClearPath should not be used between SyncToSensor or
SupSyncSensorOn instruction and the move instructions related to synchronized
path or supervised path.
The correct order is:
ActUnit SSYNC1;
WaitSensor SSYNC1;
SyncToSensor SSYNC1\On;
! move instructions
...
SyncToSensor SSYNC1\Off;
Other RAPID limitations
•
The commands, StorePath , RestoPath do not work during synchronization.
•
EoffsSet , EoffsOn , EoffsOff have an effect on the sensor taught position.
•
Power fail restart is not possible with the synchronization option.
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4 Motion coordination
4.1.9.8 Programming considerations
Continued
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4.1.9.8 Programming considerations
Performance limits
The synchronization will be lost if joint speed limits are reached, particularly in
singularities. It is the responsibility of the programmer to ensure that the path
during synchronized movement does not exceed the speed and motion capabilities
of the robot.
Motion commands
All motion commands are allowed during synchronization.
Manual mode
The synchronization is not active in manual mode.
Speed reduction % button
The synchronization works only with 100% speed. As the robot speed is adjusted
to sensor movements the defined robot speed percentage will be overridden.
Programmed speed
The best performance of the synchronization will be obtained if the programmed
speed is near the real execution speed. The programmed speed should be chosen
as the most probable execution speed. Large changes in speed between two move
instructions should be avoided.
Finepoints
Finepoints are allowed during synchronization motion, but the robot will stop at
the fine point and the synchronization will be lost if the external device is still
moving. See Finepoint programming on page 204 .
Position warnings
If robot_to_sensor position ratio is higher than 10 or lower than 0.1 a warning
will appear. The user should modify the robtarget position or the sensor value
in the robtarget according to the warning text.
Speed warnings
If programmed sensor_speed is higher than:
•
(max_sync_speed*sensor_nominal_speed)/robot_tcp_speed
then a speed warning will appear and the user should modify robot speed or
sensor_nominal_speed or max_sync_speed according to the warning text.
If the programmed sensor_speed is lower than:
•
(min_sync_speed*sensor_nominal_speed)/robot_tcp_speed
a similar warning will appear:
•
Programmed_sensor_speed equals sensor_distance/robot_interpolation_time.
Continues on next page
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4 Motion coordination
4.1.9.8 Programming considerations
Change of tools
Changing the tool is not allowed during synchronization if corvec is used.
Instructions that will deactivate the synchronization
The instructions ActUnit , DeactUnit , and ClearPath will deactivate any
SyncToSensor or SupSyncSensorOn instruction. So the instructions ActUnit ,
DeactUnit , and ClearPath should not be used between SyncToSensor or
SupSyncSensorOn instruction and the move instructions related to synchronized
path or supervised path.
The correct order is:
ActUnit SSYNC1;
WaitSensor SSYNC1;
SyncToSensor SSYNC1\On;
! move instructions
...
SyncToSensor SSYNC1\Off;
Other RAPID limitations
•
The commands, StorePath , RestoPath do not work during synchronization.
•
EoffsSet , EoffsOn , EoffsOff have an effect on the sensor taught position.
•
Power fail restart is not possible with the synchronization option.
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4 Motion coordination
4.1.9.8 Programming considerations
Continued
4.1.9.9 Modes of operation
Operation in manual reduced speed mode (< 250 mm/s)
The forward and backward hard buttons can be used to step through the program.
New instructions may be added and MODPOS may be used to modify programmed
positions.
The robot will recover as normal if the three-position enabling device is released
during motion.
The robot will not perform synchronized motions to the sensor while in Manual
Reduced Speed mode.
Operation in automatic mode
Once a SyncToSensor instruction has been executed, then it is no longer possible
to step through the program with the forward and backward buttons while the
sensor is moving.
Start/Stop
The robot will stop and loose synchronization with the sensor if the STOP button
is pressed or if RAPID instruction Stop or StopMove is executed between the
SyncToSensor and DropSensor instructions.
The sensor object will not be lost but if the sensor is moving then the object will
quickly move out of the max dist. Restart synchronization from the current
instruction is not allowed if sensor is moving. The program must be restarted from
MAIN . If a restart is forced the robot will stop with max_dist error where the sensor
has stopped.
Emergency Stop/Restart
When the emergency stop is pressed the robot will stop immediately. If the program
was stopped after a SyncToSensor then the sensor object will not be lost but if
the sensor is moving then the object will quickly move out of the max distance.
Restart synchronization from the current instruction is not possible and the program
must be restarted from MAIN . If a restart is forced after the question “Do you want
to regain“, the robot will move unsynchronized to the sensor at programmed speed.
Operation under manual full speed mode (100%)
Operation in manual full speed mode is similar to operation in automatic mode.
The program may be run by pressing and holding the start button, but once a
SyncToSensor instruction has been executed then it is no longer possible to step
through the program with the forward or backward buttons while the sensor is
moving.
Hold to run button
Pressing and releasing the hold to run button will make the robot stop and restart.
The synchronization is lost at robot stop. At restart the robot will try to regain
synchronization at max_adjustment_speed.
Continues on next page
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4 Motion coordination
4.1.9.9 Modes of operation
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Change of tools
Changing the tool is not allowed during synchronization if corvec is used.
Instructions that will deactivate the synchronization
The instructions ActUnit , DeactUnit , and ClearPath will deactivate any
SyncToSensor or SupSyncSensorOn instruction. So the instructions ActUnit ,
DeactUnit , and ClearPath should not be used between SyncToSensor or
SupSyncSensorOn instruction and the move instructions related to synchronized
path or supervised path.
The correct order is:
ActUnit SSYNC1;
WaitSensor SSYNC1;
SyncToSensor SSYNC1\On;
! move instructions
...
SyncToSensor SSYNC1\Off;
Other RAPID limitations
•
The commands, StorePath , RestoPath do not work during synchronization.
•
EoffsSet , EoffsOn , EoffsOff have an effect on the sensor taught position.
•
Power fail restart is not possible with the synchronization option.
208
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4 Motion coordination
4.1.9.8 Programming considerations
Continued
4.1.9.9 Modes of operation
Operation in manual reduced speed mode (< 250 mm/s)
The forward and backward hard buttons can be used to step through the program.
New instructions may be added and MODPOS may be used to modify programmed
positions.
The robot will recover as normal if the three-position enabling device is released
during motion.
The robot will not perform synchronized motions to the sensor while in Manual
Reduced Speed mode.
Operation in automatic mode
Once a SyncToSensor instruction has been executed, then it is no longer possible
to step through the program with the forward and backward buttons while the
sensor is moving.
Start/Stop
The robot will stop and loose synchronization with the sensor if the STOP button
is pressed or if RAPID instruction Stop or StopMove is executed between the
SyncToSensor and DropSensor instructions.
The sensor object will not be lost but if the sensor is moving then the object will
quickly move out of the max dist. Restart synchronization from the current
instruction is not allowed if sensor is moving. The program must be restarted from
MAIN . If a restart is forced the robot will stop with max_dist error where the sensor
has stopped.
Emergency Stop/Restart
When the emergency stop is pressed the robot will stop immediately. If the program
was stopped after a SyncToSensor then the sensor object will not be lost but if
the sensor is moving then the object will quickly move out of the max distance.
Restart synchronization from the current instruction is not possible and the program
must be restarted from MAIN . If a restart is forced after the question “Do you want
to regain“, the robot will move unsynchronized to the sensor at programmed speed.
Operation under manual full speed mode (100%)
Operation in manual full speed mode is similar to operation in automatic mode.
The program may be run by pressing and holding the start button, but once a
SyncToSensor instruction has been executed then it is no longer possible to step
through the program with the forward or backward buttons while the sensor is
moving.
Hold to run button
Pressing and releasing the hold to run button will make the robot stop and restart.
The synchronization is lost at robot stop. At restart the robot will try to regain
synchronization at max_adjustment_speed.
Continues on next page
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4 Motion coordination
4.1.9.9 Modes of operation
Stop/Restart
When the stop button is pressed, or emergency stop is pressed, the robot will stop
immediately. If the program was stopped after a SyncToSensor then the
synchronized object will not be lost but if the sensor is moving then the object will
quickly move out of the max distance. Restart from the current instruction is not
possible and the program must be restarted from MAIN .
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4 Motion coordination
4.1.9.9 Modes of operation
Continued
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4.1.9.9 Modes of operation
Operation in manual reduced speed mode (< 250 mm/s)
The forward and backward hard buttons can be used to step through the program.
New instructions may be added and MODPOS may be used to modify programmed
positions.
The robot will recover as normal if the three-position enabling device is released
during motion.
The robot will not perform synchronized motions to the sensor while in Manual
Reduced Speed mode.
Operation in automatic mode
Once a SyncToSensor instruction has been executed, then it is no longer possible
to step through the program with the forward and backward buttons while the
sensor is moving.
Start/Stop
The robot will stop and loose synchronization with the sensor if the STOP button
is pressed or if RAPID instruction Stop or StopMove is executed between the
SyncToSensor and DropSensor instructions.
The sensor object will not be lost but if the sensor is moving then the object will
quickly move out of the max dist. Restart synchronization from the current
instruction is not allowed if sensor is moving. The program must be restarted from
MAIN . If a restart is forced the robot will stop with max_dist error where the sensor
has stopped.
Emergency Stop/Restart
When the emergency stop is pressed the robot will stop immediately. If the program
was stopped after a SyncToSensor then the sensor object will not be lost but if
the sensor is moving then the object will quickly move out of the max distance.
Restart synchronization from the current instruction is not possible and the program
must be restarted from MAIN . If a restart is forced after the question “Do you want
to regain“, the robot will move unsynchronized to the sensor at programmed speed.
Operation under manual full speed mode (100%)
Operation in manual full speed mode is similar to operation in automatic mode.
The program may be run by pressing and holding the start button, but once a
SyncToSensor instruction has been executed then it is no longer possible to step
through the program with the forward or backward buttons while the sensor is
moving.
Hold to run button
Pressing and releasing the hold to run button will make the robot stop and restart.
The synchronization is lost at robot stop. At restart the robot will try to regain
synchronization at max_adjustment_speed.
Continues on next page
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4 Motion coordination
4.1.9.9 Modes of operation
Stop/Restart
When the stop button is pressed, or emergency stop is pressed, the robot will stop
immediately. If the program was stopped after a SyncToSensor then the
synchronized object will not be lost but if the sensor is moving then the object will
quickly move out of the max distance. Restart from the current instruction is not
possible and the program must be restarted from MAIN .
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4 Motion coordination
4.1.9.9 Modes of operation
Continued
4.1.10 Robot to robot synchronization
4.1.10.1 Introduction
Overview
It is possible to synchronize two robot systems in a synchronization application.
This is done with a master and a slave robot setup.
Requirements
For cable connection and setup, see Application manual - DeviceNet Master/Slave .
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4 Motion coordination
4.1.10.1 Introduction
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Stop/Restart
When the stop button is pressed, or emergency stop is pressed, the robot will stop
immediately. If the program was stopped after a SyncToSensor then the
synchronized object will not be lost but if the sensor is moving then the object will
quickly move out of the max distance. Restart from the current instruction is not
possible and the program must be restarted from MAIN .
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4 Motion coordination
4.1.9.9 Modes of operation
Continued
4.1.10 Robot to robot synchronization
4.1.10.1 Introduction
Overview
It is possible to synchronize two robot systems in a synchronization application.
This is done with a master and a slave robot setup.
Requirements
For cable connection and setup, see Application manual - DeviceNet Master/Slave .
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4 Motion coordination
4.1.10.1 Introduction
4.1.10.2 The concept of robot to robot synchronization
Description
The basic idea of robot to robot synchronization is that two robot should use a
common virtual sensor. The master robot controls the virtual motion of this sensor.
The slave robot uses the sensor’s virtual position and speed to adjust its speed.
The synchronization is achieved by defining positions where the two robots should
be at the same time, and assigning a sensor value for each of these points.
Illustration
![Image]
![Image]
0
200
400
800
600
1000
A
B
C
1
4
3
2
1
2
3
4
1
2
3
4
xx0400001145
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4.1.10.2 The concept of robot to robot synchronization
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4.1.10 Robot to robot synchronization
4.1.10.1 Introduction
Overview
It is possible to synchronize two robot systems in a synchronization application.
This is done with a master and a slave robot setup.
Requirements
For cable connection and setup, see Application manual - DeviceNet Master/Slave .
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4 Motion coordination
4.1.10.1 Introduction
4.1.10.2 The concept of robot to robot synchronization
Description
The basic idea of robot to robot synchronization is that two robot should use a
common virtual sensor. The master robot controls the virtual motion of this sensor.
The slave robot uses the sensor’s virtual position and speed to adjust its speed.
The synchronization is achieved by defining positions where the two robots should
be at the same time, and assigning a sensor value for each of these points.
Illustration
![Image]
![Image]
0
200
400
800
600
1000
A
B
C
1
4
3
2
1
2
3
4
1
2
3
4
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4 Motion coordination
4.1.10.2 The concept of robot to robot synchronization
4.1.10.3 Master robot configuration parameters
Overview
Use the following parameters to set up the master robot.
Use RobotStudio to change the parameters.
Topic: Motion
Value
SINGLE_TYPE/Parameter
SSYNC2
Name
SS_LIN
mechanics
SSYNC2
process_name
PSSYNC
use_path
Topic: Process
Value
SENSOR_SYSTEM/Parameter
SSYNC1
Name
CAN
sensor_type
CAN1
use_sensor
1000
adjustment_speed
600
min_dist
20000
max_dist
10
correction_vector_ramp_length
Topic: I/O
EIO_UNIT
Value
EIO_UNIT/Parameter
MASTER1
Name
DN_SLAVE
UnitType
DeviceNet1
Bus
1
DN_Address
EIO_SIGNAL
Value
EIO_SIGNAL/Parameter
ao1Position
Name
AO
SignalType
MASTER1
Unit
0-15
UnitMap
10.0
MaxLog
1
MaxPhys
1
MaxPhysLimit
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4.1.10.2 The concept of robot to robot synchronization
Description
The basic idea of robot to robot synchronization is that two robot should use a
common virtual sensor. The master robot controls the virtual motion of this sensor.
The slave robot uses the sensor’s virtual position and speed to adjust its speed.
The synchronization is achieved by defining positions where the two robots should
be at the same time, and assigning a sensor value for each of these points.
Illustration
![Image]
![Image]
0
200
400
800
600
1000
A
B
C
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4
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3
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3
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4 Motion coordination
4.1.10.2 The concept of robot to robot synchronization
4.1.10.3 Master robot configuration parameters
Overview
Use the following parameters to set up the master robot.
Use RobotStudio to change the parameters.
Topic: Motion
Value
SINGLE_TYPE/Parameter
SSYNC2
Name
SS_LIN
mechanics
SSYNC2
process_name
PSSYNC
use_path
Topic: Process
Value
SENSOR_SYSTEM/Parameter
SSYNC1
Name
CAN
sensor_type
CAN1
use_sensor
1000
adjustment_speed
600
min_dist
20000
max_dist
10
correction_vector_ramp_length
Topic: I/O
EIO_UNIT
Value
EIO_UNIT/Parameter
MASTER1
Name
DN_SLAVE
UnitType
DeviceNet1
Bus
1
DN_Address
EIO_SIGNAL
Value
EIO_SIGNAL/Parameter
ao1Position
Name
AO
SignalType
MASTER1
Unit
0-15
UnitMap
10.0
MaxLog
1
MaxPhys
1
MaxPhysLimit
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4 Motion coordination
4.1.10.3 Master robot configuration parameters
Value
EIO_SIGNAL/Parameter
32767
MaxBitVal
-10.0
MinLog
-1
MinPhys
-1
MinPhysLimit
-32767
MinBitVal
Value
EIO_SIGNAL/Parameters
ao1Speed
Name
AO
SignalType
MASTER1
Unit
16-31
UnitMap
10.0
MaxLog
1
MaxPhys
1
MaxPhysLimit
32767
MaxBitVal
-10.0
MinLog
-1
MinPhys
-1
MinPhysLimit
-32767
MinBitVal
Value
EIO_SIGNAL/Parameters
ao1PredTime
Name
AO
SignalType
MASTER1
Unit
32-47
UnitMap
10.0
MaxLog
1
MaxPhys
1
MaxPhysLimit
32767
MaxBitVal
-10.0
MinLog
-1
MinPhys
-1
MinPhysLimit
-32767
MinBitVal
Value
EIO_SIGNAL/Parameters
do1Dready
Name
DO
SignalType
MASTER1
Unit
48
UnitMap
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4 Motion coordination
4.1.10.3 Master robot configuration parameters
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4.1.10.3 Master robot configuration parameters
Overview
Use the following parameters to set up the master robot.
Use RobotStudio to change the parameters.
Topic: Motion
Value
SINGLE_TYPE/Parameter
SSYNC2
Name
SS_LIN
mechanics
SSYNC2
process_name
PSSYNC
use_path
Topic: Process
Value
SENSOR_SYSTEM/Parameter
SSYNC1
Name
CAN
sensor_type
CAN1
use_sensor
1000
adjustment_speed
600
min_dist
20000
max_dist
10
correction_vector_ramp_length
Topic: I/O
EIO_UNIT
Value
EIO_UNIT/Parameter
MASTER1
Name
DN_SLAVE
UnitType
DeviceNet1
Bus
1
DN_Address
EIO_SIGNAL
Value
EIO_SIGNAL/Parameter
ao1Position
Name
AO
SignalType
MASTER1
Unit
0-15
UnitMap
10.0
MaxLog
1
MaxPhys
1
MaxPhysLimit
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4 Motion coordination
4.1.10.3 Master robot configuration parameters
Value
EIO_SIGNAL/Parameter
32767
MaxBitVal
-10.0
MinLog
-1
MinPhys
-1
MinPhysLimit
-32767
MinBitVal
Value
EIO_SIGNAL/Parameters
ao1Speed
Name
AO
SignalType
MASTER1
Unit
16-31
UnitMap
10.0
MaxLog
1
MaxPhys
1
MaxPhysLimit
32767
MaxBitVal
-10.0
MinLog
-1
MinPhys
-1
MinPhysLimit
-32767
MinBitVal
Value
EIO_SIGNAL/Parameters
ao1PredTime
Name
AO
SignalType
MASTER1
Unit
32-47
UnitMap
10.0
MaxLog
1
MaxPhys
1
MaxPhysLimit
32767
MaxBitVal
-10.0
MinLog
-1
MinPhys
-1
MinPhysLimit
-32767
MinBitVal
Value
EIO_SIGNAL/Parameters
do1Dready
Name
DO
SignalType
MASTER1
Unit
48
UnitMap
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4 Motion coordination
4.1.10.3 Master robot configuration parameters
Continued
Value
EIO_SIGNAL/Parameters
do1Sync2
Name
DO
SignalType
MASTER1
Unit
50
UnitMap
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4.1.10.3 Master robot configuration parameters
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Value
EIO_SIGNAL/Parameter
32767
MaxBitVal
-10.0
MinLog
-1
MinPhys
-1
MinPhysLimit
-32767
MinBitVal
Value
EIO_SIGNAL/Parameters
ao1Speed
Name
AO
SignalType
MASTER1
Unit
16-31
UnitMap
10.0
MaxLog
1
MaxPhys
1
MaxPhysLimit
32767
MaxBitVal
-10.0
MinLog
-1
MinPhys
-1
MinPhysLimit
-32767
MinBitVal
Value
EIO_SIGNAL/Parameters
ao1PredTime
Name
AO
SignalType
MASTER1
Unit
32-47
UnitMap
10.0
MaxLog
1
MaxPhys
1
MaxPhysLimit
32767
MaxBitVal
-10.0
MinLog
-1
MinPhys
-1
MinPhysLimit
-32767
MinBitVal
Value
EIO_SIGNAL/Parameters
do1Dready
Name
DO
SignalType
MASTER1
Unit
48
UnitMap
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4 Motion coordination
4.1.10.3 Master robot configuration parameters
Continued
Value
EIO_SIGNAL/Parameters
do1Sync2
Name
DO
SignalType
MASTER1
Unit
50
UnitMap
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4 Motion coordination
4.1.10.3 Master robot configuration parameters
Continued
4.1.10.4 Slave robot configuration parameters
Overview
For default configuration, see System parameters on page 231 .
Use RobotStudio to change the parameters and to set up the slave robot.
Description
To make the slave robot stop and restart synchronized with the master robot:
•
Set the parameter value min_sync_speed to 0.0
The slave robot will also stop if a fine point is defined in the master robot path.
Topic: Process
SENSOR_SYSTEM
Value
SENSOR_SYSTEM/Parameter
SSYNCS1
Name
CAN
sensor_type
CAN1
use_sensor
1000
adjustment_speed
600
min_dist
20000
max_dist
10
correction_vector_ramp_length
1000
nominal_speed
CAN_INTERFACE
Value
CAN_INTERFACE/Parameters
CAN1
Name
34
Signal delay
c1Connected
Connected signal
c1Position
Position signal
c1Speed
Velocity signal
c1NullSpeed
Null speed signal
Data ready signal
c1WaitWObj
Waitwobj signal
c1DropWobj
Dropwobj signal
c1DTimestamp
Data Time stamp
c1RemAllPObj
RemAllPObj signal
NO
Virtual sensor
0,33
Sensor Speed filter
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4 Motion coordination
4.1.10.4 Slave robot configuration parameters
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Value
EIO_SIGNAL/Parameters
do1Sync2
Name
DO
SignalType
MASTER1
Unit
50
UnitMap
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4 Motion coordination
4.1.10.3 Master robot configuration parameters
Continued
4.1.10.4 Slave robot configuration parameters
Overview
For default configuration, see System parameters on page 231 .
Use RobotStudio to change the parameters and to set up the slave robot.
Description
To make the slave robot stop and restart synchronized with the master robot:
•
Set the parameter value min_sync_speed to 0.0
The slave robot will also stop if a fine point is defined in the master robot path.
Topic: Process
SENSOR_SYSTEM
Value
SENSOR_SYSTEM/Parameter
SSYNCS1
Name
CAN
sensor_type
CAN1
use_sensor
1000
adjustment_speed
600
min_dist
20000
max_dist
10
correction_vector_ramp_length
1000
nominal_speed
CAN_INTERFACE
Value
CAN_INTERFACE/Parameters
CAN1
Name
34
Signal delay
c1Connected
Connected signal
c1Position
Position signal
c1Speed
Velocity signal
c1NullSpeed
Null speed signal
Data ready signal
c1WaitWObj
Waitwobj signal
c1DropWobj
Dropwobj signal
c1DTimestamp
Data Time stamp
c1RemAllPObj
RemAllPObj signal
NO
Virtual sensor
0,33
Sensor Speed filter
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4 Motion coordination
4.1.10.4 Slave robot configuration parameters
Topic: I/O
EIO_UNIT
Value
EIO_UNIT/Parameters
SLAVE1
Name
DN_SLAVE
UnitType
DeviceNet2
Bus
1
DN_Address
EIO_SIGNAL
Value
EIO_SIGNAL/Parameters
ai1Position
Name
AI
SignalType
SLAVE1
Unit
0-15
UnitMap
10.0
MaxLog
1
MaxPhys
1
MaxPhysLimit
32767
MaxBitVal
-10.0
MinLog
-1
MinPhys
-1
MinPhysLimit
-32767
MinBitVal
Value
EIO_SIGNAL/Parameters
ai1Speed
Name
AI
SignalType
SLAVE1
Unit
16-31
UnitMap
10.0
MaxLog
1
MaxPhys
1
MaxPhysLimit
32767
MaxBitVal
-10.0
MinLog
-1
MinPhys
-1
MinPhysLimit
-32767
MinBitVal
Value
EIO_SIGNAL/Parameters
ai1PredTime
Name
AI
SignalType
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4 Motion coordination
4.1.10.4 Slave robot configuration parameters
Continued
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|
4.1.10.4 Slave robot configuration parameters
Overview
For default configuration, see System parameters on page 231 .
Use RobotStudio to change the parameters and to set up the slave robot.
Description
To make the slave robot stop and restart synchronized with the master robot:
•
Set the parameter value min_sync_speed to 0.0
The slave robot will also stop if a fine point is defined in the master robot path.
Topic: Process
SENSOR_SYSTEM
Value
SENSOR_SYSTEM/Parameter
SSYNCS1
Name
CAN
sensor_type
CAN1
use_sensor
1000
adjustment_speed
600
min_dist
20000
max_dist
10
correction_vector_ramp_length
1000
nominal_speed
CAN_INTERFACE
Value
CAN_INTERFACE/Parameters
CAN1
Name
34
Signal delay
c1Connected
Connected signal
c1Position
Position signal
c1Speed
Velocity signal
c1NullSpeed
Null speed signal
Data ready signal
c1WaitWObj
Waitwobj signal
c1DropWobj
Dropwobj signal
c1DTimestamp
Data Time stamp
c1RemAllPObj
RemAllPObj signal
NO
Virtual sensor
0,33
Sensor Speed filter
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4 Motion coordination
4.1.10.4 Slave robot configuration parameters
Topic: I/O
EIO_UNIT
Value
EIO_UNIT/Parameters
SLAVE1
Name
DN_SLAVE
UnitType
DeviceNet2
Bus
1
DN_Address
EIO_SIGNAL
Value
EIO_SIGNAL/Parameters
ai1Position
Name
AI
SignalType
SLAVE1
Unit
0-15
UnitMap
10.0
MaxLog
1
MaxPhys
1
MaxPhysLimit
32767
MaxBitVal
-10.0
MinLog
-1
MinPhys
-1
MinPhysLimit
-32767
MinBitVal
Value
EIO_SIGNAL/Parameters
ai1Speed
Name
AI
SignalType
SLAVE1
Unit
16-31
UnitMap
10.0
MaxLog
1
MaxPhys
1
MaxPhysLimit
32767
MaxBitVal
-10.0
MinLog
-1
MinPhys
-1
MinPhysLimit
-32767
MinBitVal
Value
EIO_SIGNAL/Parameters
ai1PredTime
Name
AI
SignalType
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4 Motion coordination
4.1.10.4 Slave robot configuration parameters
Continued
Value
EIO_SIGNAL/Parameters
SLAVE1
Unit
32-47
UnitMap
10.0
MaxLog
1
MaxPhys
1
MaxPhysLimit
32767
MaxBitVal
-10.0
MinLog
-1
MinPhys
-1
MinPhysLimit
-32767
MinBitVal
Value
EIO_SIGNAL/Parameters
di1Dready
Name
DI
SignalType
SLAVE1
Unit
48
UnitMap
Value
EIO_SIGNAL/Parameters
di1Sync2
Name
DI
SignalType
SLAVE1
Unit
50
UnitMap
218
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4 Motion coordination
4.1.10.4 Slave robot configuration parameters
Continued
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Topic: I/O
EIO_UNIT
Value
EIO_UNIT/Parameters
SLAVE1
Name
DN_SLAVE
UnitType
DeviceNet2
Bus
1
DN_Address
EIO_SIGNAL
Value
EIO_SIGNAL/Parameters
ai1Position
Name
AI
SignalType
SLAVE1
Unit
0-15
UnitMap
10.0
MaxLog
1
MaxPhys
1
MaxPhysLimit
32767
MaxBitVal
-10.0
MinLog
-1
MinPhys
-1
MinPhysLimit
-32767
MinBitVal
Value
EIO_SIGNAL/Parameters
ai1Speed
Name
AI
SignalType
SLAVE1
Unit
16-31
UnitMap
10.0
MaxLog
1
MaxPhys
1
MaxPhysLimit
32767
MaxBitVal
-10.0
MinLog
-1
MinPhys
-1
MinPhysLimit
-32767
MinBitVal
Value
EIO_SIGNAL/Parameters
ai1PredTime
Name
AI
SignalType
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4 Motion coordination
4.1.10.4 Slave robot configuration parameters
Continued
Value
EIO_SIGNAL/Parameters
SLAVE1
Unit
32-47
UnitMap
10.0
MaxLog
1
MaxPhys
1
MaxPhysLimit
32767
MaxBitVal
-10.0
MinLog
-1
MinPhys
-1
MinPhysLimit
-32767
MinBitVal
Value
EIO_SIGNAL/Parameters
di1Dready
Name
DI
SignalType
SLAVE1
Unit
48
UnitMap
Value
EIO_SIGNAL/Parameters
di1Sync2
Name
DI
SignalType
SLAVE1
Unit
50
UnitMap
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4 Motion coordination
4.1.10.4 Slave robot configuration parameters
Continued
4.1.10.5 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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4 Motion coordination
4.1.10.5 Programming example for master robot
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Value
EIO_SIGNAL/Parameters
SLAVE1
Unit
32-47
UnitMap
10.0
MaxLog
1
MaxPhys
1
MaxPhysLimit
32767
MaxBitVal
-10.0
MinLog
-1
MinPhys
-1
MinPhysLimit
-32767
MinBitVal
Value
EIO_SIGNAL/Parameters
di1Dready
Name
DI
SignalType
SLAVE1
Unit
48
UnitMap
Value
EIO_SIGNAL/Parameters
di1Sync2
Name
DI
SignalType
SLAVE1
Unit
50
UnitMap
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4 Motion coordination
4.1.10.4 Slave robot configuration parameters
Continued
4.1.10.5 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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4 Motion coordination
4.1.10.5 Programming example for master robot
Considerations
The following is to be considered
•
The values of extax.eax_e should increase for every robtarget during
synchronization. The first move instruction of the master robot, after the
synchronization, should also have a higher extax.eax_e value than the
previous instruction. Otherwise the value of extax.eax_e may decrease,
and the synchronization end, before the slave robot has reached its target.
•
The movement back to syncstart (move instruction to robpos5 in the
example) may be slower than the ordered speed ( v2000 ). If this robot
movement is short and the value of extax.eax_e is large, the maximum
speed will be limited by the virtual sensor speed.
•
Do not use WaitSensor or DropSensor .
•
Verify that the virtual sensor max speed (speed_out) is less than 1m/s.
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4.1.10.5 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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4 Motion coordination
4.1.10.5 Programming example for master robot
Considerations
The following is to be considered
•
The values of extax.eax_e should increase for every robtarget during
synchronization. The first move instruction of the master robot, after the
synchronization, should also have a higher extax.eax_e value than the
previous instruction. Otherwise the value of extax.eax_e may decrease,
and the synchronization end, before the slave robot has reached its target.
•
The movement back to syncstart (move instruction to robpos5 in the
example) may be slower than the ordered speed ( v2000 ). If this robot
movement is short and the value of extax.eax_e is large, the maximum
speed will be limited by the virtual sensor speed.
•
Do not use WaitSensor or DropSensor .
•
Verify that the virtual sensor max speed (speed_out) is less than 1m/s.
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4 Motion coordination
4.1.10.5 Programming example for master robot
Continued
4.1.10.6 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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Considerations
The following is to be considered
•
The values of extax.eax_e should increase for every robtarget during
synchronization. The first move instruction of the master robot, after the
synchronization, should also have a higher extax.eax_e value than the
previous instruction. Otherwise the value of extax.eax_e may decrease,
and the synchronization end, before the slave robot has reached its target.
•
The movement back to syncstart (move instruction to robpos5 in the
example) may be slower than the ordered speed ( v2000 ). If this robot
movement is short and the value of extax.eax_e is large, the maximum
speed will be limited by the virtual sensor speed.
•
Do not use WaitSensor or DropSensor .
•
Verify that the virtual sensor max speed (speed_out) is less than 1m/s.
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4 Motion coordination
4.1.10.5 Programming example for master robot
Continued
4.1.10.6 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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4 Motion coordination
4.1.10.6 Programming example for slave robot
4.1.11 Synchronize with hydraulic press using recorded profile
4.1.11.1 Introduction
Overview
This section describes how to use a recorded machine profile to improve the
accuracy of robot’s synchronization with a hydraulic press. This profile is used for
modeling of press path. Not using a recorded profile will require a bigger distance
between robot and press model when teaching the path.
Principles of hydraulic press synchronization
1
Record the movement of the hydraulic press.
2
Activate the record to be used in the next cycle.
3
Activate the sensor synchronization with the RAPID instruction
SyncToSensor .
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4.1.10.6 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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4 Motion coordination
4.1.10.6 Programming example for slave robot
4.1.11 Synchronize with hydraulic press using recorded profile
4.1.11.1 Introduction
Overview
This section describes how to use a recorded machine profile to improve the
accuracy of robot’s synchronization with a hydraulic press. This profile is used for
modeling of press path. Not using a recorded profile will require a bigger distance
between robot and press model when teaching the path.
Principles of hydraulic press synchronization
1
Record the movement of the hydraulic press.
2
Activate the record to be used in the next cycle.
3
Activate the sensor synchronization with the RAPID instruction
SyncToSensor .
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4 Motion coordination
4.1.11.1 Introduction
4.1.11.2 Configuration of system parameters
Introduction
This section describes how to configure the parameters to get the best result when
using recorded sensor profiles with a hydraulic press. Start the tuning with the
general settings. If the system is not using a DSQC377A encoder, see Settings for
analog input with no DSQC377A encoder on page 223 If the sensor is using group
input, see Settings for sensor using Group input on page 224 . Descriptions of the
system parameters are found in System parameters on page 231 .
General settings
This parameter belong to the configuration type Fieldbus Command in the topic
I/O .
Value
Parameter
10-15 Hz, Change this value to get good accuracy during start
and stop.
Parameter Value for the in-
stance where Type of
Fieldbus Command is
IIRFFP.
This parameter belong to the configuration type Path Sensor Synchronization in
the topic Motion .
Value
Parameter
ROBOT_TO_HPRES
Synchronization Type
The parameters belong to the configuration type Sensor systems in the topic
Process .
Value
Parameter
Type the name of the I/O signal
Sensor start signal
Type the name of the I/O signal
Stop press signal
Type the name of the I/O signal
Sync Alarm signal
Settings for analog input with no DSQC377A encoder
The parameters belong to the configuration type Can Interface in the topic Process .
Value
Parameter
Yes
Virtual sensor
Type the name of the analog input.
Position signal
Note
All other signals except Position signal should be empty (i.e. "").
Tip
WaitSensor and DropSensor are not needed in the RAPID program.
Continues on next page
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4 Motion coordination
4.1.11.2 Configuration of system parameters
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4.1.11 Synchronize with hydraulic press using recorded profile
4.1.11.1 Introduction
Overview
This section describes how to use a recorded machine profile to improve the
accuracy of robot’s synchronization with a hydraulic press. This profile is used for
modeling of press path. Not using a recorded profile will require a bigger distance
between robot and press model when teaching the path.
Principles of hydraulic press synchronization
1
Record the movement of the hydraulic press.
2
Activate the record to be used in the next cycle.
3
Activate the sensor synchronization with the RAPID instruction
SyncToSensor .
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4 Motion coordination
4.1.11.1 Introduction
4.1.11.2 Configuration of system parameters
Introduction
This section describes how to configure the parameters to get the best result when
using recorded sensor profiles with a hydraulic press. Start the tuning with the
general settings. If the system is not using a DSQC377A encoder, see Settings for
analog input with no DSQC377A encoder on page 223 If the sensor is using group
input, see Settings for sensor using Group input on page 224 . Descriptions of the
system parameters are found in System parameters on page 231 .
General settings
This parameter belong to the configuration type Fieldbus Command in the topic
I/O .
Value
Parameter
10-15 Hz, Change this value to get good accuracy during start
and stop.
Parameter Value for the in-
stance where Type of
Fieldbus Command is
IIRFFP.
This parameter belong to the configuration type Path Sensor Synchronization in
the topic Motion .
Value
Parameter
ROBOT_TO_HPRES
Synchronization Type
The parameters belong to the configuration type Sensor systems in the topic
Process .
Value
Parameter
Type the name of the I/O signal
Sensor start signal
Type the name of the I/O signal
Stop press signal
Type the name of the I/O signal
Sync Alarm signal
Settings for analog input with no DSQC377A encoder
The parameters belong to the configuration type Can Interface in the topic Process .
Value
Parameter
Yes
Virtual sensor
Type the name of the analog input.
Position signal
Note
All other signals except Position signal should be empty (i.e. "").
Tip
WaitSensor and DropSensor are not needed in the RAPID program.
Continues on next page
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4 Motion coordination
4.1.11.2 Configuration of system parameters
Settings for sensor using Group input
The parameters belong to the configuration type Sensor systems in the topic
Process .
Value
Parameter
Define the number of input data per meter, the default value is
set to 10000.
Pos Group IO scale
The parameters belong to the configuration type Can Interface in the topic Process .
Value
Parameter
Yes
Virtual sensor
Type the name of the used group input.
Position signal
Note
All other signals except Position signal should be empty (i.e. "")
Tip
WaitSensor and DropSensor are not needed in the RAPID program.
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4 Motion coordination
4.1.11.2 Configuration of system parameters
Continued
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4.1.11.2 Configuration of system parameters
Introduction
This section describes how to configure the parameters to get the best result when
using recorded sensor profiles with a hydraulic press. Start the tuning with the
general settings. If the system is not using a DSQC377A encoder, see Settings for
analog input with no DSQC377A encoder on page 223 If the sensor is using group
input, see Settings for sensor using Group input on page 224 . Descriptions of the
system parameters are found in System parameters on page 231 .
General settings
This parameter belong to the configuration type Fieldbus Command in the topic
I/O .
Value
Parameter
10-15 Hz, Change this value to get good accuracy during start
and stop.
Parameter Value for the in-
stance where Type of
Fieldbus Command is
IIRFFP.
This parameter belong to the configuration type Path Sensor Synchronization in
the topic Motion .
Value
Parameter
ROBOT_TO_HPRES
Synchronization Type
The parameters belong to the configuration type Sensor systems in the topic
Process .
Value
Parameter
Type the name of the I/O signal
Sensor start signal
Type the name of the I/O signal
Stop press signal
Type the name of the I/O signal
Sync Alarm signal
Settings for analog input with no DSQC377A encoder
The parameters belong to the configuration type Can Interface in the topic Process .
Value
Parameter
Yes
Virtual sensor
Type the name of the analog input.
Position signal
Note
All other signals except Position signal should be empty (i.e. "").
Tip
WaitSensor and DropSensor are not needed in the RAPID program.
Continues on next page
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4 Motion coordination
4.1.11.2 Configuration of system parameters
Settings for sensor using Group input
The parameters belong to the configuration type Sensor systems in the topic
Process .
Value
Parameter
Define the number of input data per meter, the default value is
set to 10000.
Pos Group IO scale
The parameters belong to the configuration type Can Interface in the topic Process .
Value
Parameter
Yes
Virtual sensor
Type the name of the used group input.
Position signal
Note
All other signals except Position signal should be empty (i.e. "")
Tip
WaitSensor and DropSensor are not needed in the RAPID program.
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4 Motion coordination
4.1.11.2 Configuration of system parameters
Continued
4.1.11.3 Program example
Overview
This section describes the programming cycles that are typical for programming
a hydraulic press.
Program example
First press cycle
A pulse on sensor_start_signal will start storing position in a record array.
During this cycle the robot is not synchronized with press.
ActUnit SSYNC1;
WaitSensor SSYNC1;
! Set up a recording for 2 seconds
PrxStartRecord SSYNC1, 2, PRX_HPRESS_PROF;
! Process waiting for sensor_start_signal
! then waiting for press movement and record it during 2 sec.
Second press cycle
A pulse on sensor_start_signal is needed to synchronize readings of record and
actual positions for each cycle.
During press opening the robot moves synchronized with press.
PrxActivAndStoreRecord SSYNC1, 0, "profile.log";
WaitSensor Ssync1;
MoveL p10, v1000, z10, tool, \WObj:=wobj0;
SyncToSensor Ssync1\On;
MoveL p20, v1000, z20, tool, \WObj:=wobj0;
MoveL p30, v1000, z20, tool, \WObj:=wobj0;
SyncToSensor Ssync1\Off;
Third press cycle
No special instruction is needed, but a pulse on sensor_start_signal is needed to
synchronize readings of record and actual positions for each cycle. A new record
can also be started.
During press opening the robot moves synchronized with press.
WaitSensor Ssync1;
MoveL p10, v1000, z10, tool, \WObj:=wobj0;
SyncToSensor Ssync1\On;
MoveL p20, v1000, z20, tool, \WObj:=wobj0;
MoveL p30, v1000, z20, tool, \WObj:=wobj0;
SyncToSensor Ssync1\Off;
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Settings for sensor using Group input
The parameters belong to the configuration type Sensor systems in the topic
Process .
Value
Parameter
Define the number of input data per meter, the default value is
set to 10000.
Pos Group IO scale
The parameters belong to the configuration type Can Interface in the topic Process .
Value
Parameter
Yes
Virtual sensor
Type the name of the used group input.
Position signal
Note
All other signals except Position signal should be empty (i.e. "")
Tip
WaitSensor and DropSensor are not needed in the RAPID program.
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4 Motion coordination
4.1.11.2 Configuration of system parameters
Continued
4.1.11.3 Program example
Overview
This section describes the programming cycles that are typical for programming
a hydraulic press.
Program example
First press cycle
A pulse on sensor_start_signal will start storing position in a record array.
During this cycle the robot is not synchronized with press.
ActUnit SSYNC1;
WaitSensor SSYNC1;
! Set up a recording for 2 seconds
PrxStartRecord SSYNC1, 2, PRX_HPRESS_PROF;
! Process waiting for sensor_start_signal
! then waiting for press movement and record it during 2 sec.
Second press cycle
A pulse on sensor_start_signal is needed to synchronize readings of record and
actual positions for each cycle.
During press opening the robot moves synchronized with press.
PrxActivAndStoreRecord SSYNC1, 0, "profile.log";
WaitSensor Ssync1;
MoveL p10, v1000, z10, tool, \WObj:=wobj0;
SyncToSensor Ssync1\On;
MoveL p20, v1000, z20, tool, \WObj:=wobj0;
MoveL p30, v1000, z20, tool, \WObj:=wobj0;
SyncToSensor Ssync1\Off;
Third press cycle
No special instruction is needed, but a pulse on sensor_start_signal is needed to
synchronize readings of record and actual positions for each cycle. A new record
can also be started.
During press opening the robot moves synchronized with press.
WaitSensor Ssync1;
MoveL p10, v1000, z10, tool, \WObj:=wobj0;
SyncToSensor Ssync1\On;
MoveL p20, v1000, z20, tool, \WObj:=wobj0;
MoveL p30, v1000, z20, tool, \WObj:=wobj0;
SyncToSensor Ssync1\Off;
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4 Motion coordination
4.1.11.3 Program example
4.1.12 Synchronize with molding machine using recorded profile
4.1.12.1 Introduction
Overview
This section describes how to use a recorded machine profile to improve the
accuracy of a robot’s synchronization with a molding machine. This profile is used
for modeling of mold path. Not using a recorded profile will require a bigger distance
between robot and machine model when teaching the path.
Principles of mold synchronization
1
Record the movement of the Molding machine.
2
Activate the record to be used in the next cycle.
3
Activate the sensor synchronization with the RAPID instruction
SynctoSensor .
Tip
When the molding machine is closing, supervision can be used instead of
synchronization. For more information, see Supervision on page 230 .
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4.1.11.3 Program example
Overview
This section describes the programming cycles that are typical for programming
a hydraulic press.
Program example
First press cycle
A pulse on sensor_start_signal will start storing position in a record array.
During this cycle the robot is not synchronized with press.
ActUnit SSYNC1;
WaitSensor SSYNC1;
! Set up a recording for 2 seconds
PrxStartRecord SSYNC1, 2, PRX_HPRESS_PROF;
! Process waiting for sensor_start_signal
! then waiting for press movement and record it during 2 sec.
Second press cycle
A pulse on sensor_start_signal is needed to synchronize readings of record and
actual positions for each cycle.
During press opening the robot moves synchronized with press.
PrxActivAndStoreRecord SSYNC1, 0, "profile.log";
WaitSensor Ssync1;
MoveL p10, v1000, z10, tool, \WObj:=wobj0;
SyncToSensor Ssync1\On;
MoveL p20, v1000, z20, tool, \WObj:=wobj0;
MoveL p30, v1000, z20, tool, \WObj:=wobj0;
SyncToSensor Ssync1\Off;
Third press cycle
No special instruction is needed, but a pulse on sensor_start_signal is needed to
synchronize readings of record and actual positions for each cycle. A new record
can also be started.
During press opening the robot moves synchronized with press.
WaitSensor Ssync1;
MoveL p10, v1000, z10, tool, \WObj:=wobj0;
SyncToSensor Ssync1\On;
MoveL p20, v1000, z20, tool, \WObj:=wobj0;
MoveL p30, v1000, z20, tool, \WObj:=wobj0;
SyncToSensor Ssync1\Off;
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4 Motion coordination
4.1.11.3 Program example
4.1.12 Synchronize with molding machine using recorded profile
4.1.12.1 Introduction
Overview
This section describes how to use a recorded machine profile to improve the
accuracy of a robot’s synchronization with a molding machine. This profile is used
for modeling of mold path. Not using a recorded profile will require a bigger distance
between robot and machine model when teaching the path.
Principles of mold synchronization
1
Record the movement of the Molding machine.
2
Activate the record to be used in the next cycle.
3
Activate the sensor synchronization with the RAPID instruction
SynctoSensor .
Tip
When the molding machine is closing, supervision can be used instead of
synchronization. For more information, see Supervision on page 230 .
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4 Motion coordination
4.1.12.1 Introduction
4.1.12.2 Configuration of system parameters
Introduction
This section describes how to configure the parameters to get the best result when
using recorded sensor profiles with a molding machine. Start the tuning with the
general settings. If the system is not using a DSQC377A encoder, see Settings for
analog input with no DSQC377A encoder on page 227 If the sensor is using group
input, see Settings for sensor using Group input on page 228 . Descriptions of the
system parameters are found in System parameters on page 231 .
General settings
This parameter belong to the configuration type Fieldbus Command in the topic
I/O .
Value
Parameter
10-15 Hz, Change this value to get good accuracy during start
and stop.
Parameter Value for the in-
stance where Type of
Fieldbus Command is
IIRFFP.
This parameter belong to the configuration type Path Sensor Synchronization in
the topic Motion .
Value
Parameter
SYNC_TO_IMM
Synchronization Type
The parameters belong to the configuration type Sensor systems in the topic
Process .
Value
Parameter
Type the name of the I/O signal
Sensor start signal
Type the name of the I/O signal
Stop press signal
Type the name of the I/O signal
Sync Alarm signal
Settings for analog input with no DSQC377A encoder
The parameters belong to the configuration type Can Interface in the topic Process .
Value
Parameter
Yes
Virtual sensor
Type the name of the analog input.
Position signal
Note
All other signals except Position signal should be empty (i.e. "").
Tip
WaitSensor and DropSensor are not needed in the RAPID program.
Continues on next page
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4.1.12.2 Configuration of system parameters
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4.1.12 Synchronize with molding machine using recorded profile
4.1.12.1 Introduction
Overview
This section describes how to use a recorded machine profile to improve the
accuracy of a robot’s synchronization with a molding machine. This profile is used
for modeling of mold path. Not using a recorded profile will require a bigger distance
between robot and machine model when teaching the path.
Principles of mold synchronization
1
Record the movement of the Molding machine.
2
Activate the record to be used in the next cycle.
3
Activate the sensor synchronization with the RAPID instruction
SynctoSensor .
Tip
When the molding machine is closing, supervision can be used instead of
synchronization. For more information, see Supervision on page 230 .
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4 Motion coordination
4.1.12.1 Introduction
4.1.12.2 Configuration of system parameters
Introduction
This section describes how to configure the parameters to get the best result when
using recorded sensor profiles with a molding machine. Start the tuning with the
general settings. If the system is not using a DSQC377A encoder, see Settings for
analog input with no DSQC377A encoder on page 227 If the sensor is using group
input, see Settings for sensor using Group input on page 228 . Descriptions of the
system parameters are found in System parameters on page 231 .
General settings
This parameter belong to the configuration type Fieldbus Command in the topic
I/O .
Value
Parameter
10-15 Hz, Change this value to get good accuracy during start
and stop.
Parameter Value for the in-
stance where Type of
Fieldbus Command is
IIRFFP.
This parameter belong to the configuration type Path Sensor Synchronization in
the topic Motion .
Value
Parameter
SYNC_TO_IMM
Synchronization Type
The parameters belong to the configuration type Sensor systems in the topic
Process .
Value
Parameter
Type the name of the I/O signal
Sensor start signal
Type the name of the I/O signal
Stop press signal
Type the name of the I/O signal
Sync Alarm signal
Settings for analog input with no DSQC377A encoder
The parameters belong to the configuration type Can Interface in the topic Process .
Value
Parameter
Yes
Virtual sensor
Type the name of the analog input.
Position signal
Note
All other signals except Position signal should be empty (i.e. "").
Tip
WaitSensor and DropSensor are not needed in the RAPID program.
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4 Motion coordination
4.1.12.2 Configuration of system parameters
Settings for sensor using Group input
The parameters belong to the configuration type Sensor systems in the topic
Process .
Value
Parameter
Define the number of increments per meter for the group input.
The default value is set to 10000.
Pos Group IO scale
The parameters belong to the configuration type Can Interface in the topic Process .
Value
Parameter
Yes
Virtual sensor
Type the name of the used group input.
Position signal
Note
All other signals except Position signal should be empty (i.e. "")
Tip
WaitSensor and DropSensor are not needed in the RAPID program.
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4.1.12.2 Configuration of system parameters
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4.1.12.2 Configuration of system parameters
Introduction
This section describes how to configure the parameters to get the best result when
using recorded sensor profiles with a molding machine. Start the tuning with the
general settings. If the system is not using a DSQC377A encoder, see Settings for
analog input with no DSQC377A encoder on page 227 If the sensor is using group
input, see Settings for sensor using Group input on page 228 . Descriptions of the
system parameters are found in System parameters on page 231 .
General settings
This parameter belong to the configuration type Fieldbus Command in the topic
I/O .
Value
Parameter
10-15 Hz, Change this value to get good accuracy during start
and stop.
Parameter Value for the in-
stance where Type of
Fieldbus Command is
IIRFFP.
This parameter belong to the configuration type Path Sensor Synchronization in
the topic Motion .
Value
Parameter
SYNC_TO_IMM
Synchronization Type
The parameters belong to the configuration type Sensor systems in the topic
Process .
Value
Parameter
Type the name of the I/O signal
Sensor start signal
Type the name of the I/O signal
Stop press signal
Type the name of the I/O signal
Sync Alarm signal
Settings for analog input with no DSQC377A encoder
The parameters belong to the configuration type Can Interface in the topic Process .
Value
Parameter
Yes
Virtual sensor
Type the name of the analog input.
Position signal
Note
All other signals except Position signal should be empty (i.e. "").
Tip
WaitSensor and DropSensor are not needed in the RAPID program.
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4 Motion coordination
4.1.12.2 Configuration of system parameters
Settings for sensor using Group input
The parameters belong to the configuration type Sensor systems in the topic
Process .
Value
Parameter
Define the number of increments per meter for the group input.
The default value is set to 10000.
Pos Group IO scale
The parameters belong to the configuration type Can Interface in the topic Process .
Value
Parameter
Yes
Virtual sensor
Type the name of the used group input.
Position signal
Note
All other signals except Position signal should be empty (i.e. "")
Tip
WaitSensor and DropSensor are not needed in the RAPID program.
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4 Motion coordination
4.1.12.2 Configuration of system parameters
Continued
4.1.12.3 Program example
Overview
This section describes the programming cycles that are typical for programming
a molding machine.
Program example
First press cycle
A pulse on sensor_start_signal will start storing position in a record array.
During this cycle the robot is not synchronized with press.
ActUnit SSYNC1;
WaitSensor SSYNC1;
! Set up a recording for 2 seconds
PrxStartRecord SSYNC1, 2, PRX_PROFILE_T1;
! Process waiting for sensor_start_signal
! then waiting for press movement and record it during 2 sec.
Second press cycle
A pulse on sensor_start_signal is needed to synchronize readings of record and
actual positions for each cycle.
During press opening the robot moves synchronized with press.
PrxActivAndStoreRecord SSYNC1, 0, "profile.log";
WaitSensor Ssync1;
MoveL p10, v1000, z10, tool, \WObj:=wobj0;
SyncToSensor Ssync1\On;
MoveL p20, v1000, z20, tool, \WObj:=wobj0;
MoveL p30, v1000, z20, tool, \WObj:=wobj0;
SyncToSensor Ssync1\Off;
Third press cycle
No special instruction is needed, but a pulse on sensor_start_signal is needed to
synchronize readings of record and actual positions for each cycle. A new record
can also be started.
During press opening the robot moves synchronized with press.
WaitSensor Ssync1;
MoveL p10, v1000, z10, tool, \WObj:=wobj0;
SyncToSensor Ssync1\On;
MoveL p20, v1000, z20, tool, \WObj:=wobj0;
MoveL p30, v1000, z20, tool, \WObj:=wobj0;
SyncToSensor Ssync1\Off;
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Settings for sensor using Group input
The parameters belong to the configuration type Sensor systems in the topic
Process .
Value
Parameter
Define the number of increments per meter for the group input.
The default value is set to 10000.
Pos Group IO scale
The parameters belong to the configuration type Can Interface in the topic Process .
Value
Parameter
Yes
Virtual sensor
Type the name of the used group input.
Position signal
Note
All other signals except Position signal should be empty (i.e. "")
Tip
WaitSensor and DropSensor are not needed in the RAPID program.
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4 Motion coordination
4.1.12.2 Configuration of system parameters
Continued
4.1.12.3 Program example
Overview
This section describes the programming cycles that are typical for programming
a molding machine.
Program example
First press cycle
A pulse on sensor_start_signal will start storing position in a record array.
During this cycle the robot is not synchronized with press.
ActUnit SSYNC1;
WaitSensor SSYNC1;
! Set up a recording for 2 seconds
PrxStartRecord SSYNC1, 2, PRX_PROFILE_T1;
! Process waiting for sensor_start_signal
! then waiting for press movement and record it during 2 sec.
Second press cycle
A pulse on sensor_start_signal is needed to synchronize readings of record and
actual positions for each cycle.
During press opening the robot moves synchronized with press.
PrxActivAndStoreRecord SSYNC1, 0, "profile.log";
WaitSensor Ssync1;
MoveL p10, v1000, z10, tool, \WObj:=wobj0;
SyncToSensor Ssync1\On;
MoveL p20, v1000, z20, tool, \WObj:=wobj0;
MoveL p30, v1000, z20, tool, \WObj:=wobj0;
SyncToSensor Ssync1\Off;
Third press cycle
No special instruction is needed, but a pulse on sensor_start_signal is needed to
synchronize readings of record and actual positions for each cycle. A new record
can also be started.
During press opening the robot moves synchronized with press.
WaitSensor Ssync1;
MoveL p10, v1000, z10, tool, \WObj:=wobj0;
SyncToSensor Ssync1\On;
MoveL p20, v1000, z20, tool, \WObj:=wobj0;
MoveL p30, v1000, z20, tool, \WObj:=wobj0;
SyncToSensor Ssync1\Off;
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4 Motion coordination
4.1.12.3 Program example
4.1.13 Supervision
Introduction
The supervision can be used to save cycle time when robot moves outside the
mold or press. Instead of waiting to be outside the machine to enable close mold
the robot enable close mold when it starts to move outside the mold after picking
the part.
The supervision can stop the mold if it comes too near the robot by setting the
output signal defined by the system parameter Sync Alarm signal .
SupSyncSensorOn is used to supervise the movement of the robot with the mold
or press. Usually supervision is used until the robot is moved outside the mold or
press. With supervision it is possible to turn off the synchronization and turn on
supervision when a workpiece is dropped or collected in the molding machine.
SupSyncSensorOn protects the robot and machine from damaging.
Supervision does not deactivate the synchronization.
Example
For the case you cannot move the sensor to defined position you have to set the
external axis value in your rapid program
p10.extax.eax_f:=sens10;
p20.extax.eax_f:=sens20;
p30.extax.eax_f:=sens30;
WaitSensor Ssync1;
MoveL p10, v1000, fine, tool, \WObj:=wobj0;
SupSyncSensorOn Ssync1, 150, -100, 650\SafetyDelay:=0;;
MoveL p20, v1000, z20, tool, \WObj:=wobj0;
MoveL p30, v1000, fine, tool, \WObj:=wobj0;
SupSyncSensorOff Ssync1;
Sens10 is the expected position of the machine (model of the machine movement
related to robot movement) when robot will be at p10 and sens20 is the expected
position of the machine when robot will be at p20 .
The supervision will be done between the sensor position 650 and 150 mm and
triggers the output if the distance between the robot and the mould is smaller than
100 mm.
Safetydist (in this case -100 ) 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).
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4.1.12.3 Program example
Overview
This section describes the programming cycles that are typical for programming
a molding machine.
Program example
First press cycle
A pulse on sensor_start_signal will start storing position in a record array.
During this cycle the robot is not synchronized with press.
ActUnit SSYNC1;
WaitSensor SSYNC1;
! Set up a recording for 2 seconds
PrxStartRecord SSYNC1, 2, PRX_PROFILE_T1;
! Process waiting for sensor_start_signal
! then waiting for press movement and record it during 2 sec.
Second press cycle
A pulse on sensor_start_signal is needed to synchronize readings of record and
actual positions for each cycle.
During press opening the robot moves synchronized with press.
PrxActivAndStoreRecord SSYNC1, 0, "profile.log";
WaitSensor Ssync1;
MoveL p10, v1000, z10, tool, \WObj:=wobj0;
SyncToSensor Ssync1\On;
MoveL p20, v1000, z20, tool, \WObj:=wobj0;
MoveL p30, v1000, z20, tool, \WObj:=wobj0;
SyncToSensor Ssync1\Off;
Third press cycle
No special instruction is needed, but a pulse on sensor_start_signal is needed to
synchronize readings of record and actual positions for each cycle. A new record
can also be started.
During press opening the robot moves synchronized with press.
WaitSensor Ssync1;
MoveL p10, v1000, z10, tool, \WObj:=wobj0;
SyncToSensor Ssync1\On;
MoveL p20, v1000, z20, tool, \WObj:=wobj0;
MoveL p30, v1000, z20, tool, \WObj:=wobj0;
SyncToSensor Ssync1\Off;
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4 Motion coordination
4.1.12.3 Program example
4.1.13 Supervision
Introduction
The supervision can be used to save cycle time when robot moves outside the
mold or press. Instead of waiting to be outside the machine to enable close mold
the robot enable close mold when it starts to move outside the mold after picking
the part.
The supervision can stop the mold if it comes too near the robot by setting the
output signal defined by the system parameter Sync Alarm signal .
SupSyncSensorOn is used to supervise the movement of the robot with the mold
or press. Usually supervision is used until the robot is moved outside the mold or
press. With supervision it is possible to turn off the synchronization and turn on
supervision when a workpiece is dropped or collected in the molding machine.
SupSyncSensorOn protects the robot and machine from damaging.
Supervision does not deactivate the synchronization.
Example
For the case you cannot move the sensor to defined position you have to set the
external axis value in your rapid program
p10.extax.eax_f:=sens10;
p20.extax.eax_f:=sens20;
p30.extax.eax_f:=sens30;
WaitSensor Ssync1;
MoveL p10, v1000, fine, tool, \WObj:=wobj0;
SupSyncSensorOn Ssync1, 150, -100, 650\SafetyDelay:=0;;
MoveL p20, v1000, z20, tool, \WObj:=wobj0;
MoveL p30, v1000, fine, tool, \WObj:=wobj0;
SupSyncSensorOff Ssync1;
Sens10 is the expected position of the machine (model of the machine movement
related to robot movement) when robot will be at p10 and sens20 is the expected
position of the machine when robot will be at p20 .
The supervision will be done between the sensor position 650 and 150 mm and
triggers the output if the distance between the robot and the mould is smaller than
100 mm.
Safetydist (in this case -100 ) 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).
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4 Motion coordination
4.1.13 Supervision
4.1.14 System parameters
About system parameters
This section describes the system parameters in a general way. For more
information about the parameters, see Technical reference manual - System
parameters .
Fieldbus Command
Only for Sensor Synchronization .
These are different instances of the type Fieldbus Command in the topic I/O .
Description
Type of Fieldbus
Command
The number of counts per meter of the external device motion.
Counts Per Meter
Defines the minimum distance that the external device must move
after a sync signal before a new sync signal is accepted as a valid
object.
Sync Separation
For Sensor Synchronization , there is no need to change the default
value.
Defines the placement of the synchronization switch relative to the
0.0 meter point on the sensor.
Queue Tracking Dis-
tance
For Sensor Synchronization , there is no need to change the default
value.
Defines the size of the start window. It is possible to connect to ob-
jects within this window with the instruction WaitSensor .
Start Window Width
For Sensor Synchronization , there is no need to change the default
value.
Specifies the location of the real part of the poles in the left-half plane
(in Hz).
IIRFFP
Sensor systems
These parameters belong to the topic Process and the type Sensor System .
Description
Parameter
When entering sensor synchronization, the robot speed must be adjus-
ted to the speed of the external device. The speed (in mm/s) at which
the robot catches up to this speed for the first motion is defined by Ad-
justment Speed .
Adjustment speed
The minimum distance (in millimeters) that a connected object may
have before being automatically dropped.
Min dist
For Sensor Synchronization , there is no need to change the default
value.
Not used for Analog Synchronization .
The maximum distance (in millimeters) that a connected object may
have before being automatically dropped.
Max dist
For Sensor Synchronization , there is no need to change the default
value.
Not used for Analog Synchronization .
The nominal work speed of the external device. If the speed of the
device exceeds 200 mm/s this parameter must be increased.
Sensor nominal
speed
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4.1.13 Supervision
Introduction
The supervision can be used to save cycle time when robot moves outside the
mold or press. Instead of waiting to be outside the machine to enable close mold
the robot enable close mold when it starts to move outside the mold after picking
the part.
The supervision can stop the mold if it comes too near the robot by setting the
output signal defined by the system parameter Sync Alarm signal .
SupSyncSensorOn is used to supervise the movement of the robot with the mold
or press. Usually supervision is used until the robot is moved outside the mold or
press. With supervision it is possible to turn off the synchronization and turn on
supervision when a workpiece is dropped or collected in the molding machine.
SupSyncSensorOn protects the robot and machine from damaging.
Supervision does not deactivate the synchronization.
Example
For the case you cannot move the sensor to defined position you have to set the
external axis value in your rapid program
p10.extax.eax_f:=sens10;
p20.extax.eax_f:=sens20;
p30.extax.eax_f:=sens30;
WaitSensor Ssync1;
MoveL p10, v1000, fine, tool, \WObj:=wobj0;
SupSyncSensorOn Ssync1, 150, -100, 650\SafetyDelay:=0;;
MoveL p20, v1000, z20, tool, \WObj:=wobj0;
MoveL p30, v1000, fine, tool, \WObj:=wobj0;
SupSyncSensorOff Ssync1;
Sens10 is the expected position of the machine (model of the machine movement
related to robot movement) when robot will be at p10 and sens20 is the expected
position of the machine when robot will be at p20 .
The supervision will be done between the sensor position 650 and 150 mm and
triggers the output if the distance between the robot and the mould is smaller than
100 mm.
Safetydist (in this case -100 ) 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).
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4 Motion coordination
4.1.13 Supervision
4.1.14 System parameters
About system parameters
This section describes the system parameters in a general way. For more
information about the parameters, see Technical reference manual - System
parameters .
Fieldbus Command
Only for Sensor Synchronization .
These are different instances of the type Fieldbus Command in the topic I/O .
Description
Type of Fieldbus
Command
The number of counts per meter of the external device motion.
Counts Per Meter
Defines the minimum distance that the external device must move
after a sync signal before a new sync signal is accepted as a valid
object.
Sync Separation
For Sensor Synchronization , there is no need to change the default
value.
Defines the placement of the synchronization switch relative to the
0.0 meter point on the sensor.
Queue Tracking Dis-
tance
For Sensor Synchronization , there is no need to change the default
value.
Defines the size of the start window. It is possible to connect to ob-
jects within this window with the instruction WaitSensor .
Start Window Width
For Sensor Synchronization , there is no need to change the default
value.
Specifies the location of the real part of the poles in the left-half plane
(in Hz).
IIRFFP
Sensor systems
These parameters belong to the topic Process and the type Sensor System .
Description
Parameter
When entering sensor synchronization, the robot speed must be adjus-
ted to the speed of the external device. The speed (in mm/s) at which
the robot catches up to this speed for the first motion is defined by Ad-
justment Speed .
Adjustment speed
The minimum distance (in millimeters) that a connected object may
have before being automatically dropped.
Min dist
For Sensor Synchronization , there is no need to change the default
value.
Not used for Analog Synchronization .
The maximum distance (in millimeters) that a connected object may
have before being automatically dropped.
Max dist
For Sensor Synchronization , there is no need to change the default
value.
Not used for Analog Synchronization .
The nominal work speed of the external device. If the speed of the
device exceeds 200 mm/s this parameter must be increased.
Sensor nominal
speed
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4 Motion coordination
4.1.14 System parameters
Description
Parameter
Name of the digital input signal telling that press is stopping. This signal
is needed for safe stop of robot.
Stop press signal
Name of the digital input signal to synchronize recorded profile and
new machine movement. The signal must be set before start of machine
movement. The signal must be triggered 100 ms before the press moves.
Sensor start sig-
nal
Defines for how many calculation steps the position error may exceed
Max Advance Distance . During this ramping period, the position error
may be 5 times Max Advance Distance .
Start ramp
Name of the digital output signal to stop the synchronized machine.This
signal may be set during supervision of sync sensor.
Sync Alarm signal
CAN Interface
These parameters belong to the topic Process and the type CAN Interface .
Description
Parameter
Name of the digital input signal for connection.
Connected signal
Not used for Analog Synchronization .
Name of the analog input signal for sensor position.
Position signal
Name of the analog input signal for sensor speed.
Velocity signal
Name of the digital input signal indicating zero speed on the sensor.
Null speed signal
Not used for Analog Synchronization.
Name of the digital input signal indicating a poll of the encoder unit.
Data ready signal
Not used for Analog Synchronization.
Name of the digital output signal to indicate that a connection is desired
to an object in the queue.
Waitwobj signal
Not used for Analog Synchronization.
Name of the digital output signal to drop a connected object on the
encoder unit
Dropwobj signal
Not used for Analog Synchronization.
Name of the digital output signal to indicate that an object has gone
past the start window without being connected.
PassStartW signal
Not used for Analog Synchronization.
Time (in ms) at which the synchronization process read the sensor
position.
Pos Update time
Motion Planner
These parameters belong to the topic Motion and the type Motion planner .
Description
Parameter
The period at which steps along the path are calculated.
Path resolution
The time (in seconds) at which the sensor process updates the
robot kinematics on the sensor position.
Process update time
CPU load equalization needs to be lowered for the synchronization
option. The default value is 2 but for the synchronization option
it should be set equal to 1 to have a stable synchronization speed.
CPU load equalization
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4.1.14 System parameters
Continued
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4.1.14 System parameters
About system parameters
This section describes the system parameters in a general way. For more
information about the parameters, see Technical reference manual - System
parameters .
Fieldbus Command
Only for Sensor Synchronization .
These are different instances of the type Fieldbus Command in the topic I/O .
Description
Type of Fieldbus
Command
The number of counts per meter of the external device motion.
Counts Per Meter
Defines the minimum distance that the external device must move
after a sync signal before a new sync signal is accepted as a valid
object.
Sync Separation
For Sensor Synchronization , there is no need to change the default
value.
Defines the placement of the synchronization switch relative to the
0.0 meter point on the sensor.
Queue Tracking Dis-
tance
For Sensor Synchronization , there is no need to change the default
value.
Defines the size of the start window. It is possible to connect to ob-
jects within this window with the instruction WaitSensor .
Start Window Width
For Sensor Synchronization , there is no need to change the default
value.
Specifies the location of the real part of the poles in the left-half plane
(in Hz).
IIRFFP
Sensor systems
These parameters belong to the topic Process and the type Sensor System .
Description
Parameter
When entering sensor synchronization, the robot speed must be adjus-
ted to the speed of the external device. The speed (in mm/s) at which
the robot catches up to this speed for the first motion is defined by Ad-
justment Speed .
Adjustment speed
The minimum distance (in millimeters) that a connected object may
have before being automatically dropped.
Min dist
For Sensor Synchronization , there is no need to change the default
value.
Not used for Analog Synchronization .
The maximum distance (in millimeters) that a connected object may
have before being automatically dropped.
Max dist
For Sensor Synchronization , there is no need to change the default
value.
Not used for Analog Synchronization .
The nominal work speed of the external device. If the speed of the
device exceeds 200 mm/s this parameter must be increased.
Sensor nominal
speed
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4 Motion coordination
4.1.14 System parameters
Description
Parameter
Name of the digital input signal telling that press is stopping. This signal
is needed for safe stop of robot.
Stop press signal
Name of the digital input signal to synchronize recorded profile and
new machine movement. The signal must be set before start of machine
movement. The signal must be triggered 100 ms before the press moves.
Sensor start sig-
nal
Defines for how many calculation steps the position error may exceed
Max Advance Distance . During this ramping period, the position error
may be 5 times Max Advance Distance .
Start ramp
Name of the digital output signal to stop the synchronized machine.This
signal may be set during supervision of sync sensor.
Sync Alarm signal
CAN Interface
These parameters belong to the topic Process and the type CAN Interface .
Description
Parameter
Name of the digital input signal for connection.
Connected signal
Not used for Analog Synchronization .
Name of the analog input signal for sensor position.
Position signal
Name of the analog input signal for sensor speed.
Velocity signal
Name of the digital input signal indicating zero speed on the sensor.
Null speed signal
Not used for Analog Synchronization.
Name of the digital input signal indicating a poll of the encoder unit.
Data ready signal
Not used for Analog Synchronization.
Name of the digital output signal to indicate that a connection is desired
to an object in the queue.
Waitwobj signal
Not used for Analog Synchronization.
Name of the digital output signal to drop a connected object on the
encoder unit
Dropwobj signal
Not used for Analog Synchronization.
Name of the digital output signal to indicate that an object has gone
past the start window without being connected.
PassStartW signal
Not used for Analog Synchronization.
Time (in ms) at which the synchronization process read the sensor
position.
Pos Update time
Motion Planner
These parameters belong to the topic Motion and the type Motion planner .
Description
Parameter
The period at which steps along the path are calculated.
Path resolution
The time (in seconds) at which the sensor process updates the
robot kinematics on the sensor position.
Process update time
CPU load equalization needs to be lowered for the synchronization
option. The default value is 2 but for the synchronization option
it should be set equal to 1 to have a stable synchronization speed.
CPU load equalization
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4 Motion coordination
4.1.14 System parameters
Continued
Mechanical unit
These parameters belong to the topic Motion and the type Mechanical unit .
Description
Parameter
The name of the unit (max. 7 characters).
Name
The sensor is to be activated automatically at start up.
Activate at start up
The sensor cannot be deactivated.
Deactivate Forbidden
Single type
This parameter belongs to the topic Motion and the type Single type .
Description
Parameter
Specifies the mechanical structure of the sensor.
Mechanics
Transmission
This parameter belong to the topic Motion and the type Transmission .
Description
Parameter
Specifies if the sensor is rotating (Yes) or linear (No).
Rotating move
Path Sensor Synchronization
These parameters belong to the topic Motion and the type Path Sensor
Synchronization . They are used to set allowed deviation between calculated and
actual position of the external device, and minimum/maximum TCP speed for the
robot.
Description
Parameter
The max advance distance allowed from calculated position to ac-
tual position of the external device.
Max Advance Distance
The max delay distance allowed from calculated position to actual
position of the external device.
Max Delay Distance
The max robot TCP speed allowed in m/s.
Max Synchronization
Speed
The min robot TCP speed allowed in m/s.
Min Synchronization
Speed
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Description
Parameter
Name of the digital input signal telling that press is stopping. This signal
is needed for safe stop of robot.
Stop press signal
Name of the digital input signal to synchronize recorded profile and
new machine movement. The signal must be set before start of machine
movement. The signal must be triggered 100 ms before the press moves.
Sensor start sig-
nal
Defines for how many calculation steps the position error may exceed
Max Advance Distance . During this ramping period, the position error
may be 5 times Max Advance Distance .
Start ramp
Name of the digital output signal to stop the synchronized machine.This
signal may be set during supervision of sync sensor.
Sync Alarm signal
CAN Interface
These parameters belong to the topic Process and the type CAN Interface .
Description
Parameter
Name of the digital input signal for connection.
Connected signal
Not used for Analog Synchronization .
Name of the analog input signal for sensor position.
Position signal
Name of the analog input signal for sensor speed.
Velocity signal
Name of the digital input signal indicating zero speed on the sensor.
Null speed signal
Not used for Analog Synchronization.
Name of the digital input signal indicating a poll of the encoder unit.
Data ready signal
Not used for Analog Synchronization.
Name of the digital output signal to indicate that a connection is desired
to an object in the queue.
Waitwobj signal
Not used for Analog Synchronization.
Name of the digital output signal to drop a connected object on the
encoder unit
Dropwobj signal
Not used for Analog Synchronization.
Name of the digital output signal to indicate that an object has gone
past the start window without being connected.
PassStartW signal
Not used for Analog Synchronization.
Time (in ms) at which the synchronization process read the sensor
position.
Pos Update time
Motion Planner
These parameters belong to the topic Motion and the type Motion planner .
Description
Parameter
The period at which steps along the path are calculated.
Path resolution
The time (in seconds) at which the sensor process updates the
robot kinematics on the sensor position.
Process update time
CPU load equalization needs to be lowered for the synchronization
option. The default value is 2 but for the synchronization option
it should be set equal to 1 to have a stable synchronization speed.
CPU load equalization
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4 Motion coordination
4.1.14 System parameters
Continued
Mechanical unit
These parameters belong to the topic Motion and the type Mechanical unit .
Description
Parameter
The name of the unit (max. 7 characters).
Name
The sensor is to be activated automatically at start up.
Activate at start up
The sensor cannot be deactivated.
Deactivate Forbidden
Single type
This parameter belongs to the topic Motion and the type Single type .
Description
Parameter
Specifies the mechanical structure of the sensor.
Mechanics
Transmission
This parameter belong to the topic Motion and the type Transmission .
Description
Parameter
Specifies if the sensor is rotating (Yes) or linear (No).
Rotating move
Path Sensor Synchronization
These parameters belong to the topic Motion and the type Path Sensor
Synchronization . They are used to set allowed deviation between calculated and
actual position of the external device, and minimum/maximum TCP speed for the
robot.
Description
Parameter
The max advance distance allowed from calculated position to ac-
tual position of the external device.
Max Advance Distance
The max delay distance allowed from calculated position to actual
position of the external device.
Max Delay Distance
The max robot TCP speed allowed in m/s.
Max Synchronization
Speed
The min robot TCP speed allowed in m/s.
Min Synchronization
Speed
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4 Motion coordination
4.1.14 System parameters
Continued
4.1.15 I/O signals
Overview
Sensor Synchronization provides several I/O signals which allow a user or RAPID
program to monitor and control the object queue on the encoder interface unit.
The object queue is designed for the option Conveyor Tracking and has more
functionality than required by Sensor Synchronization. Since each closing of a
press is considered an object in the object queue, signals for the object queue
may occasionally be useful.
Object queue signals
The following table shows the I/O signals in the encoder unit DSQC 354 which
impact the object queue.
Description
Instruction
Group input showing the number of objects in the object queue. These
objects are registered by the synchronization switch and have not been
dropped.
c1ObjectsInQ
Digital output that removes the first pending object from the object queue.
Pending objects are objects that are in the queue but are not connected
to a work object.
c1Rem1PObj
Digital output that removes all pending objects. If an object is connected,
then it is not removed.
c1RemAllPObj
Digital output that will cause the encoder interface unit to drop the tracked
object and disconnect it. The object is removed from the queue.
c1DropWObj
Do not use c1DropWObj in RAPID code. Use the DropWobj instruction
instead.
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Mechanical unit
These parameters belong to the topic Motion and the type Mechanical unit .
Description
Parameter
The name of the unit (max. 7 characters).
Name
The sensor is to be activated automatically at start up.
Activate at start up
The sensor cannot be deactivated.
Deactivate Forbidden
Single type
This parameter belongs to the topic Motion and the type Single type .
Description
Parameter
Specifies the mechanical structure of the sensor.
Mechanics
Transmission
This parameter belong to the topic Motion and the type Transmission .
Description
Parameter
Specifies if the sensor is rotating (Yes) or linear (No).
Rotating move
Path Sensor Synchronization
These parameters belong to the topic Motion and the type Path Sensor
Synchronization . They are used to set allowed deviation between calculated and
actual position of the external device, and minimum/maximum TCP speed for the
robot.
Description
Parameter
The max advance distance allowed from calculated position to ac-
tual position of the external device.
Max Advance Distance
The max delay distance allowed from calculated position to actual
position of the external device.
Max Delay Distance
The max robot TCP speed allowed in m/s.
Max Synchronization
Speed
The min robot TCP speed allowed in m/s.
Min Synchronization
Speed
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4 Motion coordination
4.1.14 System parameters
Continued
4.1.15 I/O signals
Overview
Sensor Synchronization provides several I/O signals which allow a user or RAPID
program to monitor and control the object queue on the encoder interface unit.
The object queue is designed for the option Conveyor Tracking and has more
functionality than required by Sensor Synchronization. Since each closing of a
press is considered an object in the object queue, signals for the object queue
may occasionally be useful.
Object queue signals
The following table shows the I/O signals in the encoder unit DSQC 354 which
impact the object queue.
Description
Instruction
Group input showing the number of objects in the object queue. These
objects are registered by the synchronization switch and have not been
dropped.
c1ObjectsInQ
Digital output that removes the first pending object from the object queue.
Pending objects are objects that are in the queue but are not connected
to a work object.
c1Rem1PObj
Digital output that removes all pending objects. If an object is connected,
then it is not removed.
c1RemAllPObj
Digital output that will cause the encoder interface unit to drop the tracked
object and disconnect it. The object is removed from the queue.
c1DropWObj
Do not use c1DropWObj in RAPID code. Use the DropWobj instruction
instead.
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4 Motion coordination
4.1.15 I/O signals
4.1.16 RAPID components
About the RAPID components
This is an overview of all instructions, functions, and data types in Machine
Synchronization .
For more information, see Technical reference manual - RAPID Instructions,
Functions and Data types .
Instructions
Description
Instructions
Drop object on sensor
DropSensor
Activate and store the recorded profile data
PrxActivAndStoreRecord
Activate the recorded profile data
PrxActivRecord
Store and debug the recorded profile data
PrxDbgStoreRecord
Deactivate a record
PrxDeactRecord
Reset the zero position of the sensor
PrxResetPos
Reset and deactivate all records
PrxResetRecords
Set a reference position for the sensor
PrxSetPosOffset
Set the sample time for recording a profile
PrxSetRecordSampleTime
Set sync alarm behavior
PrxSetSyncalarm
Record a new profile
PrxStartRecord
Stop recording a profile
PrxStopRecord
Store the recorded profile data
PrxStoreRecord
Use the recorded profile data
PrxUseFileRecord
Stop synchronized sensor supervision
SupSyncSensorOff
Start synchronized sensor supervision
SupSyncSensorOn
Sync to sensor
SyncToSensor
Wait for connection on sensor
WaitSensor
Functions
Description
Functions
Get the maximum sensor position
PrxGetMaxRecordpos
Data types
Machine Synchronization includes no data types.
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4.1.15 I/O signals
Overview
Sensor Synchronization provides several I/O signals which allow a user or RAPID
program to monitor and control the object queue on the encoder interface unit.
The object queue is designed for the option Conveyor Tracking and has more
functionality than required by Sensor Synchronization. Since each closing of a
press is considered an object in the object queue, signals for the object queue
may occasionally be useful.
Object queue signals
The following table shows the I/O signals in the encoder unit DSQC 354 which
impact the object queue.
Description
Instruction
Group input showing the number of objects in the object queue. These
objects are registered by the synchronization switch and have not been
dropped.
c1ObjectsInQ
Digital output that removes the first pending object from the object queue.
Pending objects are objects that are in the queue but are not connected
to a work object.
c1Rem1PObj
Digital output that removes all pending objects. If an object is connected,
then it is not removed.
c1RemAllPObj
Digital output that will cause the encoder interface unit to drop the tracked
object and disconnect it. The object is removed from the queue.
c1DropWObj
Do not use c1DropWObj in RAPID code. Use the DropWobj instruction
instead.
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4 Motion coordination
4.1.15 I/O signals
4.1.16 RAPID components
About the RAPID components
This is an overview of all instructions, functions, and data types in Machine
Synchronization .
For more information, see Technical reference manual - RAPID Instructions,
Functions and Data types .
Instructions
Description
Instructions
Drop object on sensor
DropSensor
Activate and store the recorded profile data
PrxActivAndStoreRecord
Activate the recorded profile data
PrxActivRecord
Store and debug the recorded profile data
PrxDbgStoreRecord
Deactivate a record
PrxDeactRecord
Reset the zero position of the sensor
PrxResetPos
Reset and deactivate all records
PrxResetRecords
Set a reference position for the sensor
PrxSetPosOffset
Set the sample time for recording a profile
PrxSetRecordSampleTime
Set sync alarm behavior
PrxSetSyncalarm
Record a new profile
PrxStartRecord
Stop recording a profile
PrxStopRecord
Store the recorded profile data
PrxStoreRecord
Use the recorded profile data
PrxUseFileRecord
Stop synchronized sensor supervision
SupSyncSensorOff
Start synchronized sensor supervision
SupSyncSensorOn
Sync to sensor
SyncToSensor
Wait for connection on sensor
WaitSensor
Functions
Description
Functions
Get the maximum sensor position
PrxGetMaxRecordpos
Data types
Machine Synchronization includes no data types.
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4.1.16 RAPID components
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4.1.16 RAPID components
About the RAPID components
This is an overview of all instructions, functions, and data types in Machine
Synchronization .
For more information, see Technical reference manual - RAPID Instructions,
Functions and Data types .
Instructions
Description
Instructions
Drop object on sensor
DropSensor
Activate and store the recorded profile data
PrxActivAndStoreRecord
Activate the recorded profile data
PrxActivRecord
Store and debug the recorded profile data
PrxDbgStoreRecord
Deactivate a record
PrxDeactRecord
Reset the zero position of the sensor
PrxResetPos
Reset and deactivate all records
PrxResetRecords
Set a reference position for the sensor
PrxSetPosOffset
Set the sample time for recording a profile
PrxSetRecordSampleTime
Set sync alarm behavior
PrxSetSyncalarm
Record a new profile
PrxStartRecord
Stop recording a profile
PrxStopRecord
Store the recorded profile data
PrxStoreRecord
Use the recorded profile data
PrxUseFileRecord
Stop synchronized sensor supervision
SupSyncSensorOff
Start synchronized sensor supervision
SupSyncSensorOn
Sync to sensor
SyncToSensor
Wait for connection on sensor
WaitSensor
Functions
Description
Functions
Get the maximum sensor position
PrxGetMaxRecordpos
Data types
Machine Synchronization includes no data types.
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5 Motion Events
5.1 World Zones [608-1]
5.1.1 Overview of World Zones
Purpose
The purpose of World Zones is to stop the robot or set an output signal if the robot
is inside a special user-defined zone. Here are some examples of applications:
•
When two robots share a part of their respective work areas. The possibility
of the two robots colliding can be safely eliminated by World Zones
supervision.
•
When a permanent obstacle or some temporary external equipment is located
inside the robot’s work area. A forbidden zone can be created to prevent the
robot from colliding with this equipment.
•
Indication that the robot is at a position where it is permissible to start program
execution from a Programmable Logic Controller (PLC).
A world zone is supervised during robot movements both during program execution
and jogging. If the robot’s TCP reaches the world zone or if the axes reaches the
world zone in joints, the movement is stopped or a digital output signal is set.
WARNING
For safety reasons, this software shall not be used for protection of personnel.
Use hardware protection equipment for that.
What is included
The RobotWare option World Zones gives you access to:
•
instructions used to define volumes of various shapes
•
instructions used to define joint zones in coordinates for axes
•
instructions used to define and enable world zones
Basic approach
This is the general approach for setting up World Zones. For a more detailed
example of how this is done, see Code examples on page 241 .
1
Declare the world zone as stationary or temporary.
2
Declare the shape variable.
3
Define the shape that the world zone shall have.
4
Define the world zone (that the robot shall stop or that an output signal shall
be set when reaching the volume).
Continues on next page
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5.1.1 Overview of World Zones
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5 Motion Events
5.1 World Zones [608-1]
5.1.1 Overview of World Zones
Purpose
The purpose of World Zones is to stop the robot or set an output signal if the robot
is inside a special user-defined zone. Here are some examples of applications:
•
When two robots share a part of their respective work areas. The possibility
of the two robots colliding can be safely eliminated by World Zones
supervision.
•
When a permanent obstacle or some temporary external equipment is located
inside the robot’s work area. A forbidden zone can be created to prevent the
robot from colliding with this equipment.
•
Indication that the robot is at a position where it is permissible to start program
execution from a Programmable Logic Controller (PLC).
A world zone is supervised during robot movements both during program execution
and jogging. If the robot’s TCP reaches the world zone or if the axes reaches the
world zone in joints, the movement is stopped or a digital output signal is set.
WARNING
For safety reasons, this software shall not be used for protection of personnel.
Use hardware protection equipment for that.
What is included
The RobotWare option World Zones gives you access to:
•
instructions used to define volumes of various shapes
•
instructions used to define joint zones in coordinates for axes
•
instructions used to define and enable world zones
Basic approach
This is the general approach for setting up World Zones. For a more detailed
example of how this is done, see Code examples on page 241 .
1
Declare the world zone as stationary or temporary.
2
Declare the shape variable.
3
Define the shape that the world zone shall have.
4
Define the world zone (that the robot shall stop or that an output signal shall
be set when reaching the volume).
Continues on next page
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5 Motion Events
5.1.1 Overview of World Zones
Limitations
Supervision of a volume only works for the TCP. Any other part of the robot may
pass through the volume undetected. To be certain to prevent this, you can
supervise a joint world zone (defined by WZLimJointDef or WZHomeJointDef ).
A variable of type wzstationary or wztemporary can not be redefined. They
can only be defined once (with WZLimSup or WZDOSet ).
World Zones supervision is not accessible when lead-through is active.
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5.1.1 Overview of World Zones
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5 Motion Events
5.1 World Zones [608-1]
5.1.1 Overview of World Zones
Purpose
The purpose of World Zones is to stop the robot or set an output signal if the robot
is inside a special user-defined zone. Here are some examples of applications:
•
When two robots share a part of their respective work areas. The possibility
of the two robots colliding can be safely eliminated by World Zones
supervision.
•
When a permanent obstacle or some temporary external equipment is located
inside the robot’s work area. A forbidden zone can be created to prevent the
robot from colliding with this equipment.
•
Indication that the robot is at a position where it is permissible to start program
execution from a Programmable Logic Controller (PLC).
A world zone is supervised during robot movements both during program execution
and jogging. If the robot’s TCP reaches the world zone or if the axes reaches the
world zone in joints, the movement is stopped or a digital output signal is set.
WARNING
For safety reasons, this software shall not be used for protection of personnel.
Use hardware protection equipment for that.
What is included
The RobotWare option World Zones gives you access to:
•
instructions used to define volumes of various shapes
•
instructions used to define joint zones in coordinates for axes
•
instructions used to define and enable world zones
Basic approach
This is the general approach for setting up World Zones. For a more detailed
example of how this is done, see Code examples on page 241 .
1
Declare the world zone as stationary or temporary.
2
Declare the shape variable.
3
Define the shape that the world zone shall have.
4
Define the world zone (that the robot shall stop or that an output signal shall
be set when reaching the volume).
Continues on next page
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5 Motion Events
5.1.1 Overview of World Zones
Limitations
Supervision of a volume only works for the TCP. Any other part of the robot may
pass through the volume undetected. To be certain to prevent this, you can
supervise a joint world zone (defined by WZLimJointDef or WZHomeJointDef ).
A variable of type wzstationary or wztemporary can not be redefined. They
can only be defined once (with WZLimSup or WZDOSet ).
World Zones supervision is not accessible when lead-through is active.
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5 Motion Events
5.1.1 Overview of World Zones
Continued
5.1.2 RAPID components
Data types
This is a brief description of each data type in World Zones. For more information,
see respective data type in Technical reference manual - RAPID Instructions,
Functions and Data types .
Description
Data type
wztemporary is used to identify a temporary world zone and can be
used anywhere in the RAPID program.
wztemporary
Temporary world zones can be disabled, enabled again, or erased
via RAPID instructions. Temporary world zones are automatically
erased when a new program is loaded or when program execution
start from the beginning in the MAIN routine.
wzstationary is used to identify a stationary world zone and can
only be used in an event routine connected to the event POWER ON.
For information on defining event routines, see Operating manu-
al - IRC5 with FlexPendant .
wzstationary
A stationary world zone is always active and is reactivated by a restart
(switch power off then on, or change system parameters). It is not
possible to disable, enable or erase a stationary world zone via
RAPID instructions.
Stationary world zones shall be used if security is involved.
shapedata is used to describe the geometry of a world zone.
shapedata
World zones can be defined in 4 different geometrical shapes:
•
a straight box, with all sides parallel to the world coordinate
system
•
a cylinder, parallel to the z axis of the world coordinate system
•
a sphere
•
a joint angle area for the robot axes and/or external axes
Instructions
This is a brief description of each instruction in World Zones. For more information,
see respective instruction in Technical reference manual - RAPID Instructions,
Functions and Data types .
Description
Instruction
WZBoxDef is used to define a volume that has the shape of a straight
box with all its sides parallel to the axes of the world coordinate sys-
tem. The definition is stored in a variable of type shapedata .
WZBoxDef
The volume can also be defined as the inverse of the box (all volume
outside the box).
WZCylDef is used to define a volume that has the shape of a cylinder
with the cylinder axis parallel to the z-axis of the world coordinate
system. The definition is stored in a variable of type shapedata .
WZCylDef
The volume can also be defined as the inverse of the cylinder (all
volume outside the cylinder).
WZSphDef is used to define a volume that has the shape of a sphere.
The definition is stored in a variable of type shapedata .
WZSphDef
The volume can also be defined as the inverse of the sphere (all
volume outside the sphere).
Continues on next page
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5.1.2 RAPID components
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Limitations
Supervision of a volume only works for the TCP. Any other part of the robot may
pass through the volume undetected. To be certain to prevent this, you can
supervise a joint world zone (defined by WZLimJointDef or WZHomeJointDef ).
A variable of type wzstationary or wztemporary can not be redefined. They
can only be defined once (with WZLimSup or WZDOSet ).
World Zones supervision is not accessible when lead-through is active.
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5 Motion Events
5.1.1 Overview of World Zones
Continued
5.1.2 RAPID components
Data types
This is a brief description of each data type in World Zones. For more information,
see respective data type in Technical reference manual - RAPID Instructions,
Functions and Data types .
Description
Data type
wztemporary is used to identify a temporary world zone and can be
used anywhere in the RAPID program.
wztemporary
Temporary world zones can be disabled, enabled again, or erased
via RAPID instructions. Temporary world zones are automatically
erased when a new program is loaded or when program execution
start from the beginning in the MAIN routine.
wzstationary is used to identify a stationary world zone and can
only be used in an event routine connected to the event POWER ON.
For information on defining event routines, see Operating manu-
al - IRC5 with FlexPendant .
wzstationary
A stationary world zone is always active and is reactivated by a restart
(switch power off then on, or change system parameters). It is not
possible to disable, enable or erase a stationary world zone via
RAPID instructions.
Stationary world zones shall be used if security is involved.
shapedata is used to describe the geometry of a world zone.
shapedata
World zones can be defined in 4 different geometrical shapes:
•
a straight box, with all sides parallel to the world coordinate
system
•
a cylinder, parallel to the z axis of the world coordinate system
•
a sphere
•
a joint angle area for the robot axes and/or external axes
Instructions
This is a brief description of each instruction in World Zones. For more information,
see respective instruction in Technical reference manual - RAPID Instructions,
Functions and Data types .
Description
Instruction
WZBoxDef is used to define a volume that has the shape of a straight
box with all its sides parallel to the axes of the world coordinate sys-
tem. The definition is stored in a variable of type shapedata .
WZBoxDef
The volume can also be defined as the inverse of the box (all volume
outside the box).
WZCylDef is used to define a volume that has the shape of a cylinder
with the cylinder axis parallel to the z-axis of the world coordinate
system. The definition is stored in a variable of type shapedata .
WZCylDef
The volume can also be defined as the inverse of the cylinder (all
volume outside the cylinder).
WZSphDef is used to define a volume that has the shape of a sphere.
The definition is stored in a variable of type shapedata .
WZSphDef
The volume can also be defined as the inverse of the sphere (all
volume outside the sphere).
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5.1.2 RAPID components
Description
Instruction
WZLimJointDef is used to define joint coordinate for axes, to be
used for limitation of the working area. Coordinate limits can be set
for both the robot axes and external axes.
WZLimJointDef
For each axis WZLimJointDef defines an upper and lower limit. For
rotational axes the limits are given in degrees and for linear axes the
limits are given in mm.
The definition is stored in a variable of type shapedata .
WZHomeJointDef is used to define joint coordinates for axes, to be
used to identify a position in the joint space. Coordinate limits can be
set for both the robot axes and external axes.
WZHomeJointDef
For each axis WZHomeJointDef defines a joint coordinate for the
middle of the zone and the zones delta deviation from the middle. For
rotational axes the coordinates are given in degrees and for linear
axes the coordinates are given in mm.
The definition is stored in a variable of type shapedata .
WZLimSup is used to define, and enable, stopping the robot with an
error message when the TCP reaches the world zone. This supervision
is active both during program execution and when jogging.
WZLimSup
When calling WZLimSup you specify whether it is a stationary world
zone, stored in a wzstationary variable, or a temporary world zone,
stored in a wztemporary variable.
WZDOSet is used to define, and enable, setting a digital output signal
when the TCP reaches the world zone.
WZDOSet
When calling WZDOSet you specify whether it is a stationary world
zone, stored in a wzstationary variable, or a temporary world zone,
stored in a wztemporary variable.
WZDisable is used to disable the supervision of a temporary world
zone.
WZDisable
WZEnable is used to re-enable the supervision of a temporary world
zone.
WZEnable
A world zone is automatically enabled on creation. Enabling is only
necessary after it has been disabled with WZDisable .
WZFree is used to disable and erase a temporary world zone.
WZFree
Functions
World Zones does not include any RAPID functions.
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5 Motion Events
5.1.2 RAPID components
Continued
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5.1.2 RAPID components
Data types
This is a brief description of each data type in World Zones. For more information,
see respective data type in Technical reference manual - RAPID Instructions,
Functions and Data types .
Description
Data type
wztemporary is used to identify a temporary world zone and can be
used anywhere in the RAPID program.
wztemporary
Temporary world zones can be disabled, enabled again, or erased
via RAPID instructions. Temporary world zones are automatically
erased when a new program is loaded or when program execution
start from the beginning in the MAIN routine.
wzstationary is used to identify a stationary world zone and can
only be used in an event routine connected to the event POWER ON.
For information on defining event routines, see Operating manu-
al - IRC5 with FlexPendant .
wzstationary
A stationary world zone is always active and is reactivated by a restart
(switch power off then on, or change system parameters). It is not
possible to disable, enable or erase a stationary world zone via
RAPID instructions.
Stationary world zones shall be used if security is involved.
shapedata is used to describe the geometry of a world zone.
shapedata
World zones can be defined in 4 different geometrical shapes:
•
a straight box, with all sides parallel to the world coordinate
system
•
a cylinder, parallel to the z axis of the world coordinate system
•
a sphere
•
a joint angle area for the robot axes and/or external axes
Instructions
This is a brief description of each instruction in World Zones. For more information,
see respective instruction in Technical reference manual - RAPID Instructions,
Functions and Data types .
Description
Instruction
WZBoxDef is used to define a volume that has the shape of a straight
box with all its sides parallel to the axes of the world coordinate sys-
tem. The definition is stored in a variable of type shapedata .
WZBoxDef
The volume can also be defined as the inverse of the box (all volume
outside the box).
WZCylDef is used to define a volume that has the shape of a cylinder
with the cylinder axis parallel to the z-axis of the world coordinate
system. The definition is stored in a variable of type shapedata .
WZCylDef
The volume can also be defined as the inverse of the cylinder (all
volume outside the cylinder).
WZSphDef is used to define a volume that has the shape of a sphere.
The definition is stored in a variable of type shapedata .
WZSphDef
The volume can also be defined as the inverse of the sphere (all
volume outside the sphere).
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5 Motion Events
5.1.2 RAPID components
Description
Instruction
WZLimJointDef is used to define joint coordinate for axes, to be
used for limitation of the working area. Coordinate limits can be set
for both the robot axes and external axes.
WZLimJointDef
For each axis WZLimJointDef defines an upper and lower limit. For
rotational axes the limits are given in degrees and for linear axes the
limits are given in mm.
The definition is stored in a variable of type shapedata .
WZHomeJointDef is used to define joint coordinates for axes, to be
used to identify a position in the joint space. Coordinate limits can be
set for both the robot axes and external axes.
WZHomeJointDef
For each axis WZHomeJointDef defines a joint coordinate for the
middle of the zone and the zones delta deviation from the middle. For
rotational axes the coordinates are given in degrees and for linear
axes the coordinates are given in mm.
The definition is stored in a variable of type shapedata .
WZLimSup is used to define, and enable, stopping the robot with an
error message when the TCP reaches the world zone. This supervision
is active both during program execution and when jogging.
WZLimSup
When calling WZLimSup you specify whether it is a stationary world
zone, stored in a wzstationary variable, or a temporary world zone,
stored in a wztemporary variable.
WZDOSet is used to define, and enable, setting a digital output signal
when the TCP reaches the world zone.
WZDOSet
When calling WZDOSet you specify whether it is a stationary world
zone, stored in a wzstationary variable, or a temporary world zone,
stored in a wztemporary variable.
WZDisable is used to disable the supervision of a temporary world
zone.
WZDisable
WZEnable is used to re-enable the supervision of a temporary world
zone.
WZEnable
A world zone is automatically enabled on creation. Enabling is only
necessary after it has been disabled with WZDisable .
WZFree is used to disable and erase a temporary world zone.
WZFree
Functions
World Zones does not include any RAPID functions.
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5 Motion Events
5.1.2 RAPID components
Continued
5.1.3 Code examples
Create protected box
To prevent the robot TCP from moving into stationary equipment, set up a stationary
world zone around the equipment.
The routine my_power_on should then be connected to the event POWER ON.
For information on how to do this, read about defining event routines in Operating
manual - IRC5 with FlexPendant .
xx0300000178
VAR wzstationary obstacle;
PROC my_power_on()
VAR shapedata volume;
CONST pos p1 := [200, 100, 100];
CONST pos p2 := [600, 400, 400];
!Define a box between the corners p1 and p2
WZBoxDef \Inside, volume, p1, p2;
!Define and enable supervision of the box
WZLimSup \Stat, obstacle, volume;
ENDPROC
Signal when robot is in position
When two robots share a work area it is important to know when a robot is out of
the way, letting the other robot move freely.
This example defines a home position where the robot is in a safe position and
sets an output signal when the robot is in its home position. The robot is standing
on a travel track, handled as external axis 1. No other external axes are active.
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Description
Instruction
WZLimJointDef is used to define joint coordinate for axes, to be
used for limitation of the working area. Coordinate limits can be set
for both the robot axes and external axes.
WZLimJointDef
For each axis WZLimJointDef defines an upper and lower limit. For
rotational axes the limits are given in degrees and for linear axes the
limits are given in mm.
The definition is stored in a variable of type shapedata .
WZHomeJointDef is used to define joint coordinates for axes, to be
used to identify a position in the joint space. Coordinate limits can be
set for both the robot axes and external axes.
WZHomeJointDef
For each axis WZHomeJointDef defines a joint coordinate for the
middle of the zone and the zones delta deviation from the middle. For
rotational axes the coordinates are given in degrees and for linear
axes the coordinates are given in mm.
The definition is stored in a variable of type shapedata .
WZLimSup is used to define, and enable, stopping the robot with an
error message when the TCP reaches the world zone. This supervision
is active both during program execution and when jogging.
WZLimSup
When calling WZLimSup you specify whether it is a stationary world
zone, stored in a wzstationary variable, or a temporary world zone,
stored in a wztemporary variable.
WZDOSet is used to define, and enable, setting a digital output signal
when the TCP reaches the world zone.
WZDOSet
When calling WZDOSet you specify whether it is a stationary world
zone, stored in a wzstationary variable, or a temporary world zone,
stored in a wztemporary variable.
WZDisable is used to disable the supervision of a temporary world
zone.
WZDisable
WZEnable is used to re-enable the supervision of a temporary world
zone.
WZEnable
A world zone is automatically enabled on creation. Enabling is only
necessary after it has been disabled with WZDisable .
WZFree is used to disable and erase a temporary world zone.
WZFree
Functions
World Zones does not include any RAPID functions.
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5 Motion Events
5.1.2 RAPID components
Continued
5.1.3 Code examples
Create protected box
To prevent the robot TCP from moving into stationary equipment, set up a stationary
world zone around the equipment.
The routine my_power_on should then be connected to the event POWER ON.
For information on how to do this, read about defining event routines in Operating
manual - IRC5 with FlexPendant .
xx0300000178
VAR wzstationary obstacle;
PROC my_power_on()
VAR shapedata volume;
CONST pos p1 := [200, 100, 100];
CONST pos p2 := [600, 400, 400];
!Define a box between the corners p1 and p2
WZBoxDef \Inside, volume, p1, p2;
!Define and enable supervision of the box
WZLimSup \Stat, obstacle, volume;
ENDPROC
Signal when robot is in position
When two robots share a work area it is important to know when a robot is out of
the way, letting the other robot move freely.
This example defines a home position where the robot is in a safe position and
sets an output signal when the robot is in its home position. The robot is standing
on a travel track, handled as external axis 1. No other external axes are active.
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5 Motion Events
5.1.3 Code examples
The shadowed area in the illustration shows the world zone.
![Image]
xx0300000206
VAR wztemporary home;
PROC zone_output()
VAR shapedata joint_space;
!Define the home position
CONST jointtarget home_pos := [[0, -20, 0, 0, 0, 0], [0, 9E9,
9E9, 9E9, 9E9, 9E9]];
!Define accepted deviation from the home position
CONST jointtarget delta_pos := [[2, 2, 2, 2, 2, 2], [10, 9E9,
9E9, 9E9, 9E9, 9E9]];
!Define the shape of the world zone
WZHomeJointDef \Inside, joint_space, home_pos, delta_pos;
!Define the world zone, setting the
!signal do_home to 1 when in zone
WZDOSet \Temp, home \Inside, joint_space, do_home, 1;
ENDPROC
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5 Motion Events
5.1.3 Code examples
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5.1.3 Code examples
Create protected box
To prevent the robot TCP from moving into stationary equipment, set up a stationary
world zone around the equipment.
The routine my_power_on should then be connected to the event POWER ON.
For information on how to do this, read about defining event routines in Operating
manual - IRC5 with FlexPendant .
xx0300000178
VAR wzstationary obstacle;
PROC my_power_on()
VAR shapedata volume;
CONST pos p1 := [200, 100, 100];
CONST pos p2 := [600, 400, 400];
!Define a box between the corners p1 and p2
WZBoxDef \Inside, volume, p1, p2;
!Define and enable supervision of the box
WZLimSup \Stat, obstacle, volume;
ENDPROC
Signal when robot is in position
When two robots share a work area it is important to know when a robot is out of
the way, letting the other robot move freely.
This example defines a home position where the robot is in a safe position and
sets an output signal when the robot is in its home position. The robot is standing
on a travel track, handled as external axis 1. No other external axes are active.
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5 Motion Events
5.1.3 Code examples
The shadowed area in the illustration shows the world zone.
![Image]
xx0300000206
VAR wztemporary home;
PROC zone_output()
VAR shapedata joint_space;
!Define the home position
CONST jointtarget home_pos := [[0, -20, 0, 0, 0, 0], [0, 9E9,
9E9, 9E9, 9E9, 9E9]];
!Define accepted deviation from the home position
CONST jointtarget delta_pos := [[2, 2, 2, 2, 2, 2], [10, 9E9,
9E9, 9E9, 9E9, 9E9]];
!Define the shape of the world zone
WZHomeJointDef \Inside, joint_space, home_pos, delta_pos;
!Define the world zone, setting the
!signal do_home to 1 when in zone
WZDOSet \Temp, home \Inside, joint_space, do_home, 1;
ENDPROC
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5 Motion Events
5.1.3 Code examples
Continued
6 Motion functions
6.1 Independent Axis [610-1]
6.1.1 Overview
Purpose
The purpose of Independent Axis is to move an axis independently of other axes
in the robot system. Some examples of applications are:
•
Move an external axis holding an object (for example rotating an object while
the robot is spray painting it).
•
Save cycle time by performing a robot task at the same time as an external
axis performs another.
•
Continuously rotate robot axis 6 (for polishing or similar tasks).
•
Reset the measurement system after an axis has rotated multiple revolutions
in the same direction. Saves cycle time compared to physically winding back.
An axis can move independently if it is set to independent mode. An axis can be
changed to independent mode and later back to normal mode again.
What is included
The RobotWare option Independent Axis gives you access to:
•
instructions used to set independent mode and specify the movement for an
axis
•
an instruction for changing back to normal mode and/or reset the
measurement system
•
functions used to verify the status of an independent axis
•
system parameters for configuration.
Basic approach
This is the general approach for moving an axis independently. For detailed
examples of how this is done, see Code examples on page 247 .
1
Call an independent move instruction to set the axis to independent mode
and move it.
2
Let the robot execute another instruction at the same time as the independent
axis moves.
3
When both robot and independent axis has stopped, reset the independent
axis to normal mode.
Reset axis
Even without being in independent mode, an axis might rotate only in one direction
and eventually loose precision. The measurement system can then be reset with
the instruction IndReset .
The recommendation is to reset the measurement system for an axis before its
motor has rotated 10000 revolutions in the same direction.
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6 Motion functions
6.1.1 Overview
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The shadowed area in the illustration shows the world zone.
![Image]
xx0300000206
VAR wztemporary home;
PROC zone_output()
VAR shapedata joint_space;
!Define the home position
CONST jointtarget home_pos := [[0, -20, 0, 0, 0, 0], [0, 9E9,
9E9, 9E9, 9E9, 9E9]];
!Define accepted deviation from the home position
CONST jointtarget delta_pos := [[2, 2, 2, 2, 2, 2], [10, 9E9,
9E9, 9E9, 9E9, 9E9]];
!Define the shape of the world zone
WZHomeJointDef \Inside, joint_space, home_pos, delta_pos;
!Define the world zone, setting the
!signal do_home to 1 when in zone
WZDOSet \Temp, home \Inside, joint_space, do_home, 1;
ENDPROC
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5 Motion Events
5.1.3 Code examples
Continued
6 Motion functions
6.1 Independent Axis [610-1]
6.1.1 Overview
Purpose
The purpose of Independent Axis is to move an axis independently of other axes
in the robot system. Some examples of applications are:
•
Move an external axis holding an object (for example rotating an object while
the robot is spray painting it).
•
Save cycle time by performing a robot task at the same time as an external
axis performs another.
•
Continuously rotate robot axis 6 (for polishing or similar tasks).
•
Reset the measurement system after an axis has rotated multiple revolutions
in the same direction. Saves cycle time compared to physically winding back.
An axis can move independently if it is set to independent mode. An axis can be
changed to independent mode and later back to normal mode again.
What is included
The RobotWare option Independent Axis gives you access to:
•
instructions used to set independent mode and specify the movement for an
axis
•
an instruction for changing back to normal mode and/or reset the
measurement system
•
functions used to verify the status of an independent axis
•
system parameters for configuration.
Basic approach
This is the general approach for moving an axis independently. For detailed
examples of how this is done, see Code examples on page 247 .
1
Call an independent move instruction to set the axis to independent mode
and move it.
2
Let the robot execute another instruction at the same time as the independent
axis moves.
3
When both robot and independent axis has stopped, reset the independent
axis to normal mode.
Reset axis
Even without being in independent mode, an axis might rotate only in one direction
and eventually loose precision. The measurement system can then be reset with
the instruction IndReset .
The recommendation is to reset the measurement system for an axis before its
motor has rotated 10000 revolutions in the same direction.
Continues on next page
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6 Motion functions
6.1.1 Overview
Limitations
A mechanical unit may not be deactivated when one of its axes is in independent
mode.
Axes in independent mode cannot be jogged.
The only robot axis that can be used as an independent axis is axis number 6. On
IRB 1600, 2600 and 4600 models (except ID version), the instruction IndReset
can also be used for axis 4.
Internal and customer cabling and equipment may limit the ability to use
independent axis functionality on axis 4 and 6.
The option is not possible to use in combination with:
•
SafeMove I
•
Track Motion (IRBT)
•
Positioners (IRBP) on Interchange axes
•
Tool change
I
Independent Axis can in some cases be combined with SafeMove2 if the additional axis does not
move the robot, and the additional axis is not monitored by SafeMove. Contact your local ABB
sales office team for additional information.
The following is deactivated when option Independent Axes is used:
•
Collision detection
Note
The collision detection is deactivated on all axes in a motion planner if one
of them is run in independent mode.
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6 Motion functions
6.1.1 Overview
Continued
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6 Motion functions
6.1 Independent Axis [610-1]
6.1.1 Overview
Purpose
The purpose of Independent Axis is to move an axis independently of other axes
in the robot system. Some examples of applications are:
•
Move an external axis holding an object (for example rotating an object while
the robot is spray painting it).
•
Save cycle time by performing a robot task at the same time as an external
axis performs another.
•
Continuously rotate robot axis 6 (for polishing or similar tasks).
•
Reset the measurement system after an axis has rotated multiple revolutions
in the same direction. Saves cycle time compared to physically winding back.
An axis can move independently if it is set to independent mode. An axis can be
changed to independent mode and later back to normal mode again.
What is included
The RobotWare option Independent Axis gives you access to:
•
instructions used to set independent mode and specify the movement for an
axis
•
an instruction for changing back to normal mode and/or reset the
measurement system
•
functions used to verify the status of an independent axis
•
system parameters for configuration.
Basic approach
This is the general approach for moving an axis independently. For detailed
examples of how this is done, see Code examples on page 247 .
1
Call an independent move instruction to set the axis to independent mode
and move it.
2
Let the robot execute another instruction at the same time as the independent
axis moves.
3
When both robot and independent axis has stopped, reset the independent
axis to normal mode.
Reset axis
Even without being in independent mode, an axis might rotate only in one direction
and eventually loose precision. The measurement system can then be reset with
the instruction IndReset .
The recommendation is to reset the measurement system for an axis before its
motor has rotated 10000 revolutions in the same direction.
Continues on next page
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6 Motion functions
6.1.1 Overview
Limitations
A mechanical unit may not be deactivated when one of its axes is in independent
mode.
Axes in independent mode cannot be jogged.
The only robot axis that can be used as an independent axis is axis number 6. On
IRB 1600, 2600 and 4600 models (except ID version), the instruction IndReset
can also be used for axis 4.
Internal and customer cabling and equipment may limit the ability to use
independent axis functionality on axis 4 and 6.
The option is not possible to use in combination with:
•
SafeMove I
•
Track Motion (IRBT)
•
Positioners (IRBP) on Interchange axes
•
Tool change
I
Independent Axis can in some cases be combined with SafeMove2 if the additional axis does not
move the robot, and the additional axis is not monitored by SafeMove. Contact your local ABB
sales office team for additional information.
The following is deactivated when option Independent Axes is used:
•
Collision detection
Note
The collision detection is deactivated on all axes in a motion planner if one
of them is run in independent mode.
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6 Motion functions
6.1.1 Overview
Continued
6.1.2 System parameters
About the system parameters
This is a brief description of each parameter in the option Independent Axis . For
more information, see the respective parameter in Technical reference
manual - System parameters .
Arm
These parameters belongs to the type Arm in the topic Motion .
Description
Parameter
Flag that determines if independent mode is allowed for the axis.
Independent Joint
Defines the upper limit of the working area for the joint when operating
in independent mode.
Independent Upper
Joint Bound
Defines the lower limit of the working area for the joint when operating
in independent mode.
Independent Lower
Joint Bound
Transmission
These parameters belong to the type Transmission in the topic Motion .
Description
Parameter
Independent Axes requires high resolution in transmission gear ratio,
which is therefore defined as Transmission Gear High divided by
Transmission Gear Low . If no smaller number can be used, the
transmission gear ratio will be correct if Transmission Gear High is
set to the number of cogs on the robot axis side, and Transmission
Gear Low is set to the number of cogs on the motor side.
Transmission Gear
High
See Transmission Gear High .
Transmission Gear
Low
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Limitations
A mechanical unit may not be deactivated when one of its axes is in independent
mode.
Axes in independent mode cannot be jogged.
The only robot axis that can be used as an independent axis is axis number 6. On
IRB 1600, 2600 and 4600 models (except ID version), the instruction IndReset
can also be used for axis 4.
Internal and customer cabling and equipment may limit the ability to use
independent axis functionality on axis 4 and 6.
The option is not possible to use in combination with:
•
SafeMove I
•
Track Motion (IRBT)
•
Positioners (IRBP) on Interchange axes
•
Tool change
I
Independent Axis can in some cases be combined with SafeMove2 if the additional axis does not
move the robot, and the additional axis is not monitored by SafeMove. Contact your local ABB
sales office team for additional information.
The following is deactivated when option Independent Axes is used:
•
Collision detection
Note
The collision detection is deactivated on all axes in a motion planner if one
of them is run in independent mode.
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6.1.1 Overview
Continued
6.1.2 System parameters
About the system parameters
This is a brief description of each parameter in the option Independent Axis . For
more information, see the respective parameter in Technical reference
manual - System parameters .
Arm
These parameters belongs to the type Arm in the topic Motion .
Description
Parameter
Flag that determines if independent mode is allowed for the axis.
Independent Joint
Defines the upper limit of the working area for the joint when operating
in independent mode.
Independent Upper
Joint Bound
Defines the lower limit of the working area for the joint when operating
in independent mode.
Independent Lower
Joint Bound
Transmission
These parameters belong to the type Transmission in the topic Motion .
Description
Parameter
Independent Axes requires high resolution in transmission gear ratio,
which is therefore defined as Transmission Gear High divided by
Transmission Gear Low . If no smaller number can be used, the
transmission gear ratio will be correct if Transmission Gear High is
set to the number of cogs on the robot axis side, and Transmission
Gear Low is set to the number of cogs on the motor side.
Transmission Gear
High
See Transmission Gear High .
Transmission Gear
Low
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6.1.2 System parameters
6.1.3 RAPID components
Data types
There are no data types for Independent Axis.
Instructions
This is a brief description of each instruction in Independent Axis. For more
information, see respective instruction in Technical reference manual - RAPID
Instructions, Functions and Data types .
An independent move instruction is executed immediately, even if the axis is being
moved at the time. If a new independent move instruction is executed before the
last one is finished, the new instruction immediately overrides the old one.
Description
Instruction
IndAMove (Independent Absolute position Movement) change an
axis to independent mode and move the axis to a specified position.
IndAMove
IndCMove (Independent Continuous Movement) change an axis to
independent mode and start moving the axis continuously at a spe-
cified speed.
IndCMove
IndDMove (Independent Delta position Movement) change an axis to
independent mode and move the axis a specified distance.
IndDMove
IndRMove (Independent Relative position Movement) change a rota-
tional axis to independent mode and move the axis to a specific pos-
ition within one revolution.
IndRMove
Because the revolution information in the position is omitted,
IndRMove never rotates more than one axis revolution.
IndReset is used to change an independent axis back to normal
mode.
IndReset
IndReset can move the measurement system for a rotational axis a
number of axis revolutions. The resolution of positions is decreased
when moving away from logical position 0, and winding the axis back
would take time. By moving the measurement system the resolution
is maintained without physically winding the axis back.
Both the independent axis and the robot must stand still when calling
IndReset .
Functions
This is a brief description of each function in Independent Axis. For more
information, see respective function in Technical reference manual - RAPID
Instructions, Functions and Data types .
Description
Function
IndInpos indicates whether an axis has reached the selected position.
IndInpos
IndSpeed indicates whether an axis has reached the selected speed.
IndSpeed
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6.1.2 System parameters
About the system parameters
This is a brief description of each parameter in the option Independent Axis . For
more information, see the respective parameter in Technical reference
manual - System parameters .
Arm
These parameters belongs to the type Arm in the topic Motion .
Description
Parameter
Flag that determines if independent mode is allowed for the axis.
Independent Joint
Defines the upper limit of the working area for the joint when operating
in independent mode.
Independent Upper
Joint Bound
Defines the lower limit of the working area for the joint when operating
in independent mode.
Independent Lower
Joint Bound
Transmission
These parameters belong to the type Transmission in the topic Motion .
Description
Parameter
Independent Axes requires high resolution in transmission gear ratio,
which is therefore defined as Transmission Gear High divided by
Transmission Gear Low . If no smaller number can be used, the
transmission gear ratio will be correct if Transmission Gear High is
set to the number of cogs on the robot axis side, and Transmission
Gear Low is set to the number of cogs on the motor side.
Transmission Gear
High
See Transmission Gear High .
Transmission Gear
Low
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6 Motion functions
6.1.2 System parameters
6.1.3 RAPID components
Data types
There are no data types for Independent Axis.
Instructions
This is a brief description of each instruction in Independent Axis. For more
information, see respective instruction in Technical reference manual - RAPID
Instructions, Functions and Data types .
An independent move instruction is executed immediately, even if the axis is being
moved at the time. If a new independent move instruction is executed before the
last one is finished, the new instruction immediately overrides the old one.
Description
Instruction
IndAMove (Independent Absolute position Movement) change an
axis to independent mode and move the axis to a specified position.
IndAMove
IndCMove (Independent Continuous Movement) change an axis to
independent mode and start moving the axis continuously at a spe-
cified speed.
IndCMove
IndDMove (Independent Delta position Movement) change an axis to
independent mode and move the axis a specified distance.
IndDMove
IndRMove (Independent Relative position Movement) change a rota-
tional axis to independent mode and move the axis to a specific pos-
ition within one revolution.
IndRMove
Because the revolution information in the position is omitted,
IndRMove never rotates more than one axis revolution.
IndReset is used to change an independent axis back to normal
mode.
IndReset
IndReset can move the measurement system for a rotational axis a
number of axis revolutions. The resolution of positions is decreased
when moving away from logical position 0, and winding the axis back
would take time. By moving the measurement system the resolution
is maintained without physically winding the axis back.
Both the independent axis and the robot must stand still when calling
IndReset .
Functions
This is a brief description of each function in Independent Axis. For more
information, see respective function in Technical reference manual - RAPID
Instructions, Functions and Data types .
Description
Function
IndInpos indicates whether an axis has reached the selected position.
IndInpos
IndSpeed indicates whether an axis has reached the selected speed.
IndSpeed
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6.1.3 RAPID components
6.1.4 Code examples
Save cycle time
An object in station A needs welding in two places. The external axis for station A
can turn the object in position for the second welding while the robot is welding
on another object. This saves cycle time compared to letting the robot wait while
the external axis moves.
!Perform first welding in station A
!Call subroutine for welding
weld_stationA_1;
!Move the object in station A, axis 1, with
!independent movement to position 90 degrees
!at the speed 20 degrees/second
IndAMove Station_A,1\ToAbsNum:=90,20;
!Let the robot perform another task while waiting
!Call subroutine for welding
weld_stationB_1;
!Wait until the independent axis is in position
WaitUntil IndInpos(Station_A,1 ) = TRUE;
WaitTime 0.2;
!Perform second welding in station A
!Call subroutine for welding
weld_stationA_2;
Polish by rotating axis 6
To polish an object the robot axis 6 can be set to continuously rotate.
Set robot axis 6 to independent mode and continuously rotate it. Move the robot
over the area you want to polish. Stop movement for both robot and independent
axis before changing back to normal mode. After rotating the axis many revolutions,
reset the measurement system to maintain the resolution.
Note that, for this example to work, the parameter Independent Joint for rob1_6
must be set to Yes.
PROC Polish()
!Change axis 6 of ROB_1 to independent mode and
!rotate it with 180 degrees/second
IndCMove ROB_1, 6, 180;
!Wait until axis 6 is up to speed
WaitUntil IndSpeed(ROB_1,6\InSpeed);
WaitTime 0.2;
!Move robot where you want to polish
MoveL p1,v10, z50, tool1;
MoveL p2,v10, fine, tool1;
Continues on next page
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6.1.3 RAPID components
Data types
There are no data types for Independent Axis.
Instructions
This is a brief description of each instruction in Independent Axis. For more
information, see respective instruction in Technical reference manual - RAPID
Instructions, Functions and Data types .
An independent move instruction is executed immediately, even if the axis is being
moved at the time. If a new independent move instruction is executed before the
last one is finished, the new instruction immediately overrides the old one.
Description
Instruction
IndAMove (Independent Absolute position Movement) change an
axis to independent mode and move the axis to a specified position.
IndAMove
IndCMove (Independent Continuous Movement) change an axis to
independent mode and start moving the axis continuously at a spe-
cified speed.
IndCMove
IndDMove (Independent Delta position Movement) change an axis to
independent mode and move the axis a specified distance.
IndDMove
IndRMove (Independent Relative position Movement) change a rota-
tional axis to independent mode and move the axis to a specific pos-
ition within one revolution.
IndRMove
Because the revolution information in the position is omitted,
IndRMove never rotates more than one axis revolution.
IndReset is used to change an independent axis back to normal
mode.
IndReset
IndReset can move the measurement system for a rotational axis a
number of axis revolutions. The resolution of positions is decreased
when moving away from logical position 0, and winding the axis back
would take time. By moving the measurement system the resolution
is maintained without physically winding the axis back.
Both the independent axis and the robot must stand still when calling
IndReset .
Functions
This is a brief description of each function in Independent Axis. For more
information, see respective function in Technical reference manual - RAPID
Instructions, Functions and Data types .
Description
Function
IndInpos indicates whether an axis has reached the selected position.
IndInpos
IndSpeed indicates whether an axis has reached the selected speed.
IndSpeed
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6 Motion functions
6.1.3 RAPID components
6.1.4 Code examples
Save cycle time
An object in station A needs welding in two places. The external axis for station A
can turn the object in position for the second welding while the robot is welding
on another object. This saves cycle time compared to letting the robot wait while
the external axis moves.
!Perform first welding in station A
!Call subroutine for welding
weld_stationA_1;
!Move the object in station A, axis 1, with
!independent movement to position 90 degrees
!at the speed 20 degrees/second
IndAMove Station_A,1\ToAbsNum:=90,20;
!Let the robot perform another task while waiting
!Call subroutine for welding
weld_stationB_1;
!Wait until the independent axis is in position
WaitUntil IndInpos(Station_A,1 ) = TRUE;
WaitTime 0.2;
!Perform second welding in station A
!Call subroutine for welding
weld_stationA_2;
Polish by rotating axis 6
To polish an object the robot axis 6 can be set to continuously rotate.
Set robot axis 6 to independent mode and continuously rotate it. Move the robot
over the area you want to polish. Stop movement for both robot and independent
axis before changing back to normal mode. After rotating the axis many revolutions,
reset the measurement system to maintain the resolution.
Note that, for this example to work, the parameter Independent Joint for rob1_6
must be set to Yes.
PROC Polish()
!Change axis 6 of ROB_1 to independent mode and
!rotate it with 180 degrees/second
IndCMove ROB_1, 6, 180;
!Wait until axis 6 is up to speed
WaitUntil IndSpeed(ROB_1,6\InSpeed);
WaitTime 0.2;
!Move robot where you want to polish
MoveL p1,v10, z50, tool1;
MoveL p2,v10, fine, tool1;
Continues on next page
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6 Motion functions
6.1.4 Code examples
!Stop axis 6 and wait until it's still
IndCMove ROB_1, 6, 0;
WaitUntil IndSpeed(ROB_1,6\ZeroSpeed);
WaitTime 0.2;
!Change axis 6 back to normal mode and
!reset measurement system (close to 0)
IndReset ROB_1, 6 \RefNum:=0 \Short;
ENDPROC
Reset an axis
This is an example of how to reset the measurement system for axis 1 in station
A. The measurement system will change a whole number of revolutions, so it is
close to zero (±180°).
IndReset Station_A, 1 \RefNum:=0 \Short;
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6.1.4 Code examples
Continued
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6.1.4 Code examples
Save cycle time
An object in station A needs welding in two places. The external axis for station A
can turn the object in position for the second welding while the robot is welding
on another object. This saves cycle time compared to letting the robot wait while
the external axis moves.
!Perform first welding in station A
!Call subroutine for welding
weld_stationA_1;
!Move the object in station A, axis 1, with
!independent movement to position 90 degrees
!at the speed 20 degrees/second
IndAMove Station_A,1\ToAbsNum:=90,20;
!Let the robot perform another task while waiting
!Call subroutine for welding
weld_stationB_1;
!Wait until the independent axis is in position
WaitUntil IndInpos(Station_A,1 ) = TRUE;
WaitTime 0.2;
!Perform second welding in station A
!Call subroutine for welding
weld_stationA_2;
Polish by rotating axis 6
To polish an object the robot axis 6 can be set to continuously rotate.
Set robot axis 6 to independent mode and continuously rotate it. Move the robot
over the area you want to polish. Stop movement for both robot and independent
axis before changing back to normal mode. After rotating the axis many revolutions,
reset the measurement system to maintain the resolution.
Note that, for this example to work, the parameter Independent Joint for rob1_6
must be set to Yes.
PROC Polish()
!Change axis 6 of ROB_1 to independent mode and
!rotate it with 180 degrees/second
IndCMove ROB_1, 6, 180;
!Wait until axis 6 is up to speed
WaitUntil IndSpeed(ROB_1,6\InSpeed);
WaitTime 0.2;
!Move robot where you want to polish
MoveL p1,v10, z50, tool1;
MoveL p2,v10, fine, tool1;
Continues on next page
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6 Motion functions
6.1.4 Code examples
!Stop axis 6 and wait until it's still
IndCMove ROB_1, 6, 0;
WaitUntil IndSpeed(ROB_1,6\ZeroSpeed);
WaitTime 0.2;
!Change axis 6 back to normal mode and
!reset measurement system (close to 0)
IndReset ROB_1, 6 \RefNum:=0 \Short;
ENDPROC
Reset an axis
This is an example of how to reset the measurement system for axis 1 in station
A. The measurement system will change a whole number of revolutions, so it is
close to zero (±180°).
IndReset Station_A, 1 \RefNum:=0 \Short;
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6.1.4 Code examples
Continued
6.2 Path Recovery [611-1]
6.2.1 Overview
Purpose
Path Recovery is used to store the current movement path, perform some robot
movements and then restore the interrupted path. This is useful when an error or
interrupt occurs during the path movement. An error handler or interrupt routine
can perform a task and then recreate the path.
For applications like arc welding and gluing, it is important to continue the work
from the point where the robot left off. If the robot started over from the beginning,
then the work piece would have to be scrapped.
If a process error occurs when the robot is inside a work piece, moving the robot
straight out might cause a collision. By using the path recorder, the robot can
instead move out along the same path it came in.
What is included
The RobotWare option Path Recovery gives you access to:
•
instructions to suspend and resume the coordinated synchronized movement
mode on the error or interrupt level.
•
a path recorder, with the ability to move the TCP out from a position along
the same path it came.
Limitations
The instructions StorePath and RestoPath only handles movement path data.
The stop position must also be stored.
Movements using the path recorder has to be performed on trap-level, i.e.
StorePath has to be executed prior to PathRecMoveBwd .
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!Stop axis 6 and wait until it's still
IndCMove ROB_1, 6, 0;
WaitUntil IndSpeed(ROB_1,6\ZeroSpeed);
WaitTime 0.2;
!Change axis 6 back to normal mode and
!reset measurement system (close to 0)
IndReset ROB_1, 6 \RefNum:=0 \Short;
ENDPROC
Reset an axis
This is an example of how to reset the measurement system for axis 1 in station
A. The measurement system will change a whole number of revolutions, so it is
close to zero (±180°).
IndReset Station_A, 1 \RefNum:=0 \Short;
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6 Motion functions
6.1.4 Code examples
Continued
6.2 Path Recovery [611-1]
6.2.1 Overview
Purpose
Path Recovery is used to store the current movement path, perform some robot
movements and then restore the interrupted path. This is useful when an error or
interrupt occurs during the path movement. An error handler or interrupt routine
can perform a task and then recreate the path.
For applications like arc welding and gluing, it is important to continue the work
from the point where the robot left off. If the robot started over from the beginning,
then the work piece would have to be scrapped.
If a process error occurs when the robot is inside a work piece, moving the robot
straight out might cause a collision. By using the path recorder, the robot can
instead move out along the same path it came in.
What is included
The RobotWare option Path Recovery gives you access to:
•
instructions to suspend and resume the coordinated synchronized movement
mode on the error or interrupt level.
•
a path recorder, with the ability to move the TCP out from a position along
the same path it came.
Limitations
The instructions StorePath and RestoPath only handles movement path data.
The stop position must also be stored.
Movements using the path recorder has to be performed on trap-level, i.e.
StorePath has to be executed prior to PathRecMoveBwd .
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6 Motion functions
6.2.1 Overview
6.2.2 RAPID components
Data types
This is a brief description of each data type in Path Recovery. For more information,
see the respective data type in Technical reference manual - RAPID Instructions,
Functions and Data types .
Description
Data type
pathrecid is used to identify a breakpoint for the path recorder.
pathrecid
Instructions
This is a brief description of each instruction in Path Recovery. For more
information, see the respective instruction in Technical reference manual - RAPID
Instructions, Functions and Data types .
Description
Instruction
StorePath is used to store the movement path being executed when
an error or interrupt occurs.
StorePath
StorePath is included in RobotWare base.
RestoPath is used to restore the path that was stored by StorePath .
RestoPath
RestoPath is included in RobotWare base.
PathRecStart is used to start recording the robot’s path. The path
recorder will store path information during execution of the robot
program.
PathRecStart
PathRecStop is used to stop recording the robot's path.
PathRecStop
PathRecMoveBwd is used to move the robot backwards along a recor-
ded path.
PathRecMoveBwd
PathRecMoveFwd is used to move the robot back to the position
where PathRecMoveBwd was executed.
PathRecMoveFwd
It is also possible to move the robot partly forward by supplying an
identifier that has been passed during the backward movement.
SyncMoveSuspend is used to suspend synchronized movements
mode and set the system to independent movement mode.
SyncMoveSuspend
SyncmoveResume is used to go back to synchronized movements
from independent movement mode.
SyncMoveResume
Functions
This is a brief description of each function in Path Recovery. For more information,
see the respective function in Technical reference manual - RAPID Instructions,
Functions and Data types .
Description
Function
PathRecValidBwd is used to check if the path recorder is active and
if a recorded backward path is available.
PathRecValidBwd
PathRecValidFwd is used to check if the path recorder can be used
to move forward. The ability to move forward with the path recorder
implies that the path recorder must have been ordered to move
backwards earlier.
PathRecValidFwd
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6.2 Path Recovery [611-1]
6.2.1 Overview
Purpose
Path Recovery is used to store the current movement path, perform some robot
movements and then restore the interrupted path. This is useful when an error or
interrupt occurs during the path movement. An error handler or interrupt routine
can perform a task and then recreate the path.
For applications like arc welding and gluing, it is important to continue the work
from the point where the robot left off. If the robot started over from the beginning,
then the work piece would have to be scrapped.
If a process error occurs when the robot is inside a work piece, moving the robot
straight out might cause a collision. By using the path recorder, the robot can
instead move out along the same path it came in.
What is included
The RobotWare option Path Recovery gives you access to:
•
instructions to suspend and resume the coordinated synchronized movement
mode on the error or interrupt level.
•
a path recorder, with the ability to move the TCP out from a position along
the same path it came.
Limitations
The instructions StorePath and RestoPath only handles movement path data.
The stop position must also be stored.
Movements using the path recorder has to be performed on trap-level, i.e.
StorePath has to be executed prior to PathRecMoveBwd .
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6 Motion functions
6.2.1 Overview
6.2.2 RAPID components
Data types
This is a brief description of each data type in Path Recovery. For more information,
see the respective data type in Technical reference manual - RAPID Instructions,
Functions and Data types .
Description
Data type
pathrecid is used to identify a breakpoint for the path recorder.
pathrecid
Instructions
This is a brief description of each instruction in Path Recovery. For more
information, see the respective instruction in Technical reference manual - RAPID
Instructions, Functions and Data types .
Description
Instruction
StorePath is used to store the movement path being executed when
an error or interrupt occurs.
StorePath
StorePath is included in RobotWare base.
RestoPath is used to restore the path that was stored by StorePath .
RestoPath
RestoPath is included in RobotWare base.
PathRecStart is used to start recording the robot’s path. The path
recorder will store path information during execution of the robot
program.
PathRecStart
PathRecStop is used to stop recording the robot's path.
PathRecStop
PathRecMoveBwd is used to move the robot backwards along a recor-
ded path.
PathRecMoveBwd
PathRecMoveFwd is used to move the robot back to the position
where PathRecMoveBwd was executed.
PathRecMoveFwd
It is also possible to move the robot partly forward by supplying an
identifier that has been passed during the backward movement.
SyncMoveSuspend is used to suspend synchronized movements
mode and set the system to independent movement mode.
SyncMoveSuspend
SyncmoveResume is used to go back to synchronized movements
from independent movement mode.
SyncMoveResume
Functions
This is a brief description of each function in Path Recovery. For more information,
see the respective function in Technical reference manual - RAPID Instructions,
Functions and Data types .
Description
Function
PathRecValidBwd is used to check if the path recorder is active and
if a recorded backward path is available.
PathRecValidBwd
PathRecValidFwd is used to check if the path recorder can be used
to move forward. The ability to move forward with the path recorder
implies that the path recorder must have been ordered to move
backwards earlier.
PathRecValidFwd
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6 Motion functions
6.2.2 RAPID components
6.2.3 Store current path
Why store the path?
The simplest way to use Path Recovery is to only store the current path to be able
to restore it after resolving an error or similar action.
Let's say that an error occur during arc welding. To resolve the error the robot
might have to be moved away from the part. When the error is resolved, the welding
should be continued from the point it left off. This is solved by storing the path
information and the position of the robot before moving away from the path. The
path can then be restored and the welding resumed after the error has been
handled.
Basic approach
This is the general approach for storing the current path:
1
At the start of an error handler or interrupt routine:
stop the movement
store the movement path
store the stop position
2
At the end of the error handler or interrupt routine:
move to the stored stop position
restore the movement path
start the movement
Example
This is an example of how to use Path Recovery in error handling. First the path
and position is stored, the error is corrected and then the robot is moved back in
position and the path is restored.
MoveL p100, v100, z10, gun1;
...
ERROR
IF ERRNO=MY_GUN_ERR THEN
gun_cleaning();
ENDIF
...
PROC gun_cleaning()
VAR robtarget p1;
!Stop the robot movement, if not already stopped.
StopMove;
!Store the movement path and current position
StorePath;
p1 := CRobT(\Tool:=gun1\WObj:=wobj0);
!Correct the error
MoveL pclean, v100, fine, gun1;
Continues on next page
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6.2.3 Store current path
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6.2.2 RAPID components
Data types
This is a brief description of each data type in Path Recovery. For more information,
see the respective data type in Technical reference manual - RAPID Instructions,
Functions and Data types .
Description
Data type
pathrecid is used to identify a breakpoint for the path recorder.
pathrecid
Instructions
This is a brief description of each instruction in Path Recovery. For more
information, see the respective instruction in Technical reference manual - RAPID
Instructions, Functions and Data types .
Description
Instruction
StorePath is used to store the movement path being executed when
an error or interrupt occurs.
StorePath
StorePath is included in RobotWare base.
RestoPath is used to restore the path that was stored by StorePath .
RestoPath
RestoPath is included in RobotWare base.
PathRecStart is used to start recording the robot’s path. The path
recorder will store path information during execution of the robot
program.
PathRecStart
PathRecStop is used to stop recording the robot's path.
PathRecStop
PathRecMoveBwd is used to move the robot backwards along a recor-
ded path.
PathRecMoveBwd
PathRecMoveFwd is used to move the robot back to the position
where PathRecMoveBwd was executed.
PathRecMoveFwd
It is also possible to move the robot partly forward by supplying an
identifier that has been passed during the backward movement.
SyncMoveSuspend is used to suspend synchronized movements
mode and set the system to independent movement mode.
SyncMoveSuspend
SyncmoveResume is used to go back to synchronized movements
from independent movement mode.
SyncMoveResume
Functions
This is a brief description of each function in Path Recovery. For more information,
see the respective function in Technical reference manual - RAPID Instructions,
Functions and Data types .
Description
Function
PathRecValidBwd is used to check if the path recorder is active and
if a recorded backward path is available.
PathRecValidBwd
PathRecValidFwd is used to check if the path recorder can be used
to move forward. The ability to move forward with the path recorder
implies that the path recorder must have been ordered to move
backwards earlier.
PathRecValidFwd
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6 Motion functions
6.2.2 RAPID components
6.2.3 Store current path
Why store the path?
The simplest way to use Path Recovery is to only store the current path to be able
to restore it after resolving an error or similar action.
Let's say that an error occur during arc welding. To resolve the error the robot
might have to be moved away from the part. When the error is resolved, the welding
should be continued from the point it left off. This is solved by storing the path
information and the position of the robot before moving away from the path. The
path can then be restored and the welding resumed after the error has been
handled.
Basic approach
This is the general approach for storing the current path:
1
At the start of an error handler or interrupt routine:
stop the movement
store the movement path
store the stop position
2
At the end of the error handler or interrupt routine:
move to the stored stop position
restore the movement path
start the movement
Example
This is an example of how to use Path Recovery in error handling. First the path
and position is stored, the error is corrected and then the robot is moved back in
position and the path is restored.
MoveL p100, v100, z10, gun1;
...
ERROR
IF ERRNO=MY_GUN_ERR THEN
gun_cleaning();
ENDIF
...
PROC gun_cleaning()
VAR robtarget p1;
!Stop the robot movement, if not already stopped.
StopMove;
!Store the movement path and current position
StorePath;
p1 := CRobT(\Tool:=gun1\WObj:=wobj0);
!Correct the error
MoveL pclean, v100, fine, gun1;
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...
!Move the robot back to the stored position
MoveL p1, v100, fine, gun1;
!Restore the path and start the movement
RestoPath;
StartMove;
RETRY;
ENDPROC
Store path in a MultiMove system
In a MultiMove system the robots can keep the synchronized movement mode
after StorePath with the argument KeepSync . However the robots can’t switch
from independent mode to synchronized mode, only the other way around.
After a Multimove system is set with the argument KeepSync , the system can
change between synchronized, semi coordinated and independent mode on the
StorePath level. The changes are made with the instructions SyncMoveResume
and SyncMoveSuspend.
SyncArc example with coordinated synchronized movement
This is an example on how to use Path Recovery and keep synchronized mode in
the error handler for a MultiMove system. Two robots perform arc welding on the
same work piece. To make the example simple and general, we use move
instructions instead of weld instructions. The work object is rotated by a positioner.
For more information on the SyncArc example, see Application manual - MultiMove .
T_ROB1 task program
MODULE module1
VAR syncident sync1;
VAR syncident sync2;
VAR syncident sync3;
PERS tasks all_tasks{3} := [["T_ROB1"],["T_ROB2"],["T_STN1"]];
PERS wobjdata wobj_stn1 := [ FALSE, FALSE, "STN_1", [ [0, 0, 0],
[1, 0, 0 ,0] ], [ [0, 0, 250], [1, 0, 0, 0] ] ];
TASK PERS tooldata tool1 := ...
CONST robtarget p100 := ...
CONST robtarget p199 := ...
PROC main()
...
SyncMove;
ENDPROC
PROC SyncMove()
MoveJ p100, v1000, z50, tool1;
WaitSyncTask sync1, all_tasks;
MoveL p101, v500, fine, tool1;
SyncMoveOn sync2, all_tasks;
MoveL p102\ID:=10, v300, z10, tool1 \WObj:=wobj_stn1;
MoveC p103, p104\ID:=20, v300, z10, tool1 \WObj:=wobj_stn1;
MoveL p105\ID:=30, v300, z10, tool1 \WObj:=wobj_stn1;
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6.2.3 Store current path
Why store the path?
The simplest way to use Path Recovery is to only store the current path to be able
to restore it after resolving an error or similar action.
Let's say that an error occur during arc welding. To resolve the error the robot
might have to be moved away from the part. When the error is resolved, the welding
should be continued from the point it left off. This is solved by storing the path
information and the position of the robot before moving away from the path. The
path can then be restored and the welding resumed after the error has been
handled.
Basic approach
This is the general approach for storing the current path:
1
At the start of an error handler or interrupt routine:
stop the movement
store the movement path
store the stop position
2
At the end of the error handler or interrupt routine:
move to the stored stop position
restore the movement path
start the movement
Example
This is an example of how to use Path Recovery in error handling. First the path
and position is stored, the error is corrected and then the robot is moved back in
position and the path is restored.
MoveL p100, v100, z10, gun1;
...
ERROR
IF ERRNO=MY_GUN_ERR THEN
gun_cleaning();
ENDIF
...
PROC gun_cleaning()
VAR robtarget p1;
!Stop the robot movement, if not already stopped.
StopMove;
!Store the movement path and current position
StorePath;
p1 := CRobT(\Tool:=gun1\WObj:=wobj0);
!Correct the error
MoveL pclean, v100, fine, gun1;
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...
!Move the robot back to the stored position
MoveL p1, v100, fine, gun1;
!Restore the path and start the movement
RestoPath;
StartMove;
RETRY;
ENDPROC
Store path in a MultiMove system
In a MultiMove system the robots can keep the synchronized movement mode
after StorePath with the argument KeepSync . However the robots can’t switch
from independent mode to synchronized mode, only the other way around.
After a Multimove system is set with the argument KeepSync , the system can
change between synchronized, semi coordinated and independent mode on the
StorePath level. The changes are made with the instructions SyncMoveResume
and SyncMoveSuspend.
SyncArc example with coordinated synchronized movement
This is an example on how to use Path Recovery and keep synchronized mode in
the error handler for a MultiMove system. Two robots perform arc welding on the
same work piece. To make the example simple and general, we use move
instructions instead of weld instructions. The work object is rotated by a positioner.
For more information on the SyncArc example, see Application manual - MultiMove .
T_ROB1 task program
MODULE module1
VAR syncident sync1;
VAR syncident sync2;
VAR syncident sync3;
PERS tasks all_tasks{3} := [["T_ROB1"],["T_ROB2"],["T_STN1"]];
PERS wobjdata wobj_stn1 := [ FALSE, FALSE, "STN_1", [ [0, 0, 0],
[1, 0, 0 ,0] ], [ [0, 0, 250], [1, 0, 0, 0] ] ];
TASK PERS tooldata tool1 := ...
CONST robtarget p100 := ...
CONST robtarget p199 := ...
PROC main()
...
SyncMove;
ENDPROC
PROC SyncMove()
MoveJ p100, v1000, z50, tool1;
WaitSyncTask sync1, all_tasks;
MoveL p101, v500, fine, tool1;
SyncMoveOn sync2, all_tasks;
MoveL p102\ID:=10, v300, z10, tool1 \WObj:=wobj_stn1;
MoveC p103, p104\ID:=20, v300, z10, tool1 \WObj:=wobj_stn1;
MoveL p105\ID:=30, v300, z10, tool1 \WObj:=wobj_stn1;
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Continued
MoveC p106, p101\ID:=40, v300, fine, tool1 \WObj:=wobj_stn1;
SyncMoveOff sync3;
MoveL p199, v1000, fine, tool1;
ERROR
IF ERRNO = ERR_PATH_STOP THEN
gun_cleaning();
ENDIF
UNDO
SyncMoveUndo;
ENDPROC
PROC gun_cleaning()
VAR robtarget p1;
!Store the movement path and current position
! and keep syncronized mode.
StorePath \KeepSync;
p1 := CRobT(\Tool:=tool1 \WObj:=wobj_stn1);
!Correct the error
MoveL pclean1 \ID:=50, v100, fine, tool1 \WObj:=wobj_stn1;
...
!Move the robot back to the stored position
MoveL p1 \ID:=60, v100, fine, tool1 \WObj:=wobj_stn1;
!Restore the path and start the movement
RestoPath;
StartMove;
RETRY;
ENDPROC
ENDMODULE
T_ROB2 task program
MODULE module2
VAR syncident sync1;
VAR syncident sync2;
VAR syncident sync3;
PERS tasks all_tasks{3};
PERS wobjdata wobj_stn1;
TASK PERS tooldata tool2 := ...
CONST robtarget p200 := ...
CONST robtarget p299 := ...
PROC main()
...
SyncMove;
ENDPROC
PROC SyncMove()
MoveJ p200, v1000, z50, tool2;
WaitSyncTask sync1, all_tasks;
MoveL p201, v500, fine, tool2;
SyncMoveOn sync2, all_tasks;
MoveL p202\ID:=10, v300, z10, tool2 \WObj:=wobj_stn1;
MoveC p203, p204\ID:=20, v300, z10, tool2 \WObj:=wobj_stn1;
MoveL p205\ID:=30, v300, z10, tool2 \WObj:=wobj_stn1;
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...
!Move the robot back to the stored position
MoveL p1, v100, fine, gun1;
!Restore the path and start the movement
RestoPath;
StartMove;
RETRY;
ENDPROC
Store path in a MultiMove system
In a MultiMove system the robots can keep the synchronized movement mode
after StorePath with the argument KeepSync . However the robots can’t switch
from independent mode to synchronized mode, only the other way around.
After a Multimove system is set with the argument KeepSync , the system can
change between synchronized, semi coordinated and independent mode on the
StorePath level. The changes are made with the instructions SyncMoveResume
and SyncMoveSuspend.
SyncArc example with coordinated synchronized movement
This is an example on how to use Path Recovery and keep synchronized mode in
the error handler for a MultiMove system. Two robots perform arc welding on the
same work piece. To make the example simple and general, we use move
instructions instead of weld instructions. The work object is rotated by a positioner.
For more information on the SyncArc example, see Application manual - MultiMove .
T_ROB1 task program
MODULE module1
VAR syncident sync1;
VAR syncident sync2;
VAR syncident sync3;
PERS tasks all_tasks{3} := [["T_ROB1"],["T_ROB2"],["T_STN1"]];
PERS wobjdata wobj_stn1 := [ FALSE, FALSE, "STN_1", [ [0, 0, 0],
[1, 0, 0 ,0] ], [ [0, 0, 250], [1, 0, 0, 0] ] ];
TASK PERS tooldata tool1 := ...
CONST robtarget p100 := ...
CONST robtarget p199 := ...
PROC main()
...
SyncMove;
ENDPROC
PROC SyncMove()
MoveJ p100, v1000, z50, tool1;
WaitSyncTask sync1, all_tasks;
MoveL p101, v500, fine, tool1;
SyncMoveOn sync2, all_tasks;
MoveL p102\ID:=10, v300, z10, tool1 \WObj:=wobj_stn1;
MoveC p103, p104\ID:=20, v300, z10, tool1 \WObj:=wobj_stn1;
MoveL p105\ID:=30, v300, z10, tool1 \WObj:=wobj_stn1;
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Continued
MoveC p106, p101\ID:=40, v300, fine, tool1 \WObj:=wobj_stn1;
SyncMoveOff sync3;
MoveL p199, v1000, fine, tool1;
ERROR
IF ERRNO = ERR_PATH_STOP THEN
gun_cleaning();
ENDIF
UNDO
SyncMoveUndo;
ENDPROC
PROC gun_cleaning()
VAR robtarget p1;
!Store the movement path and current position
! and keep syncronized mode.
StorePath \KeepSync;
p1 := CRobT(\Tool:=tool1 \WObj:=wobj_stn1);
!Correct the error
MoveL pclean1 \ID:=50, v100, fine, tool1 \WObj:=wobj_stn1;
...
!Move the robot back to the stored position
MoveL p1 \ID:=60, v100, fine, tool1 \WObj:=wobj_stn1;
!Restore the path and start the movement
RestoPath;
StartMove;
RETRY;
ENDPROC
ENDMODULE
T_ROB2 task program
MODULE module2
VAR syncident sync1;
VAR syncident sync2;
VAR syncident sync3;
PERS tasks all_tasks{3};
PERS wobjdata wobj_stn1;
TASK PERS tooldata tool2 := ...
CONST robtarget p200 := ...
CONST robtarget p299 := ...
PROC main()
...
SyncMove;
ENDPROC
PROC SyncMove()
MoveJ p200, v1000, z50, tool2;
WaitSyncTask sync1, all_tasks;
MoveL p201, v500, fine, tool2;
SyncMoveOn sync2, all_tasks;
MoveL p202\ID:=10, v300, z10, tool2 \WObj:=wobj_stn1;
MoveC p203, p204\ID:=20, v300, z10, tool2 \WObj:=wobj_stn1;
MoveL p205\ID:=30, v300, z10, tool2 \WObj:=wobj_stn1;
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Continued
MoveC p206, p201\ID:=40, v300, fine, tool2 \WObj:=wobj_stn1;
SyncMoveOff sync3;
MoveL p299, v1000, fine, tool2;
ERROR
IF ERRNO = ERR_PATH_STOP THEN
gun_cleaning();
ENDIF
UNDO
SyncMoveUndo;
ENDPROC
PROC gun_cleaning()
VAR robtarget p2;
!Store the movement path and current position.
StorePath \KeepSync;
p2 := CRobT(\Tool:=tool2 \WObj:=wobj_stn1);
!Correct the error
MoveL pclean2 \ID:=50, v100, fine, tool2 \WObj:=wobj_stn1;
...
!Move the robot back to the stored position.
MoveL p2 \ID:=60, v100, fine, tool2 \WObj:=wobj_stn1;
!Restore the path and start the movement
RestoPath;
StartMove;
RETRY;
ENDPROC
ENDMODULE
T_STN1 task program
MODULE module3
VAR syncident sync1;
VAR syncident sync2;
VAR syncident sync3;
PERS tasks all_tasks{3};
CONST jointtarget angle_neg20 :=[ [ 9E9, 9E9, 9E9, 9E9, 9E9,
9E9], [ -20, 9E9, 9E9, 9E9, 9E9, 9E9] ];
...
CONST jointtarget angle_340 :=[ [ 9E9, 9E9, 9E9, 9E9, 9E9, 9E9],[
340, 9E9, 9E9, 9E9, 9E9, 9E9] ];
PROC main()
...
SyncMove;
...
ENDPROC
PROC SyncMove()
MoveExtJ angle_neg20, vrot50, fine;
WaitSyncTask sync1, all_tasks;
! Wait for the robots
SyncMoveOn sync2, all_tasks;
MoveExtJ angle_20\ID:=10, vrot100, z10;
MoveExtJ angle_160\ID:=20, vrot100, z10;
MoveExtJ angle_200\ID:=30, vrot100, z10;
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MoveC p106, p101\ID:=40, v300, fine, tool1 \WObj:=wobj_stn1;
SyncMoveOff sync3;
MoveL p199, v1000, fine, tool1;
ERROR
IF ERRNO = ERR_PATH_STOP THEN
gun_cleaning();
ENDIF
UNDO
SyncMoveUndo;
ENDPROC
PROC gun_cleaning()
VAR robtarget p1;
!Store the movement path and current position
! and keep syncronized mode.
StorePath \KeepSync;
p1 := CRobT(\Tool:=tool1 \WObj:=wobj_stn1);
!Correct the error
MoveL pclean1 \ID:=50, v100, fine, tool1 \WObj:=wobj_stn1;
...
!Move the robot back to the stored position
MoveL p1 \ID:=60, v100, fine, tool1 \WObj:=wobj_stn1;
!Restore the path and start the movement
RestoPath;
StartMove;
RETRY;
ENDPROC
ENDMODULE
T_ROB2 task program
MODULE module2
VAR syncident sync1;
VAR syncident sync2;
VAR syncident sync3;
PERS tasks all_tasks{3};
PERS wobjdata wobj_stn1;
TASK PERS tooldata tool2 := ...
CONST robtarget p200 := ...
CONST robtarget p299 := ...
PROC main()
...
SyncMove;
ENDPROC
PROC SyncMove()
MoveJ p200, v1000, z50, tool2;
WaitSyncTask sync1, all_tasks;
MoveL p201, v500, fine, tool2;
SyncMoveOn sync2, all_tasks;
MoveL p202\ID:=10, v300, z10, tool2 \WObj:=wobj_stn1;
MoveC p203, p204\ID:=20, v300, z10, tool2 \WObj:=wobj_stn1;
MoveL p205\ID:=30, v300, z10, tool2 \WObj:=wobj_stn1;
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Continued
MoveC p206, p201\ID:=40, v300, fine, tool2 \WObj:=wobj_stn1;
SyncMoveOff sync3;
MoveL p299, v1000, fine, tool2;
ERROR
IF ERRNO = ERR_PATH_STOP THEN
gun_cleaning();
ENDIF
UNDO
SyncMoveUndo;
ENDPROC
PROC gun_cleaning()
VAR robtarget p2;
!Store the movement path and current position.
StorePath \KeepSync;
p2 := CRobT(\Tool:=tool2 \WObj:=wobj_stn1);
!Correct the error
MoveL pclean2 \ID:=50, v100, fine, tool2 \WObj:=wobj_stn1;
...
!Move the robot back to the stored position.
MoveL p2 \ID:=60, v100, fine, tool2 \WObj:=wobj_stn1;
!Restore the path and start the movement
RestoPath;
StartMove;
RETRY;
ENDPROC
ENDMODULE
T_STN1 task program
MODULE module3
VAR syncident sync1;
VAR syncident sync2;
VAR syncident sync3;
PERS tasks all_tasks{3};
CONST jointtarget angle_neg20 :=[ [ 9E9, 9E9, 9E9, 9E9, 9E9,
9E9], [ -20, 9E9, 9E9, 9E9, 9E9, 9E9] ];
...
CONST jointtarget angle_340 :=[ [ 9E9, 9E9, 9E9, 9E9, 9E9, 9E9],[
340, 9E9, 9E9, 9E9, 9E9, 9E9] ];
PROC main()
...
SyncMove;
...
ENDPROC
PROC SyncMove()
MoveExtJ angle_neg20, vrot50, fine;
WaitSyncTask sync1, all_tasks;
! Wait for the robots
SyncMoveOn sync2, all_tasks;
MoveExtJ angle_20\ID:=10, vrot100, z10;
MoveExtJ angle_160\ID:=20, vrot100, z10;
MoveExtJ angle_200\ID:=30, vrot100, z10;
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Continued
MoveExtJ angle_340\ID:=40, vrot100, fine;
SyncMoveOff sync3;
ERROR
IF ERRNO = ERR_PATH_STOP THEN
gun_cleaning();
ENDIF
UNDO
SyncMoveUndo;
ENDPROC
PROC gun_cleaning()
VAR jointtarget resume_angle;
!Store the movement path and current angle.
StorePath \KeepSync;
resume_angle := CJointT();
!Correct the error
MoveExtJ clean_angle \ID:=50, vrot100, fine;
...
!Move the robot back to the stored position.
MoveExtJ resume_angle \ID:=60, vrot100, fine;
!Restore the path and start the movement
RestoPath;
StartMove;
RETRY;
ENDPROC
ENDMODULE
Suspend and resume synchronized movements in the SyncArc example
SyncMoveSuspend is used to suspend synchronized movements mode and set
the system to independent or semi coordinated movement mode.
SyncMoveResume is used to go back once more to synchronized movements.
These instructions can only be used after StorePath\KeepSync has been
executed.
T_ROB1
PROC gun_cleaning()
VAR robtarget p1;
!Store the movement path and current position
! and keep syncronized mode.
StorePath \KeepSync;
p1 := CRobT(\Tool:=tool1 \WObj:=wobj_stn1);
!Move in synchronized motion mode
MoveL p104 \ID:=50, v100, fine, tool1 \WObj:=wobj_stn1;
SyncMoveSuspend;
!Move in independent mode
MoveL pclean1, v100, fine, tool1;
...
!Move the robot back to the stored position
SyncMoveResume;
MoveL p1 \ID:=60, v100, fine, tool1 \WObj:=wobj_stn1;
!Restore the path and start the movement
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MoveC p206, p201\ID:=40, v300, fine, tool2 \WObj:=wobj_stn1;
SyncMoveOff sync3;
MoveL p299, v1000, fine, tool2;
ERROR
IF ERRNO = ERR_PATH_STOP THEN
gun_cleaning();
ENDIF
UNDO
SyncMoveUndo;
ENDPROC
PROC gun_cleaning()
VAR robtarget p2;
!Store the movement path and current position.
StorePath \KeepSync;
p2 := CRobT(\Tool:=tool2 \WObj:=wobj_stn1);
!Correct the error
MoveL pclean2 \ID:=50, v100, fine, tool2 \WObj:=wobj_stn1;
...
!Move the robot back to the stored position.
MoveL p2 \ID:=60, v100, fine, tool2 \WObj:=wobj_stn1;
!Restore the path and start the movement
RestoPath;
StartMove;
RETRY;
ENDPROC
ENDMODULE
T_STN1 task program
MODULE module3
VAR syncident sync1;
VAR syncident sync2;
VAR syncident sync3;
PERS tasks all_tasks{3};
CONST jointtarget angle_neg20 :=[ [ 9E9, 9E9, 9E9, 9E9, 9E9,
9E9], [ -20, 9E9, 9E9, 9E9, 9E9, 9E9] ];
...
CONST jointtarget angle_340 :=[ [ 9E9, 9E9, 9E9, 9E9, 9E9, 9E9],[
340, 9E9, 9E9, 9E9, 9E9, 9E9] ];
PROC main()
...
SyncMove;
...
ENDPROC
PROC SyncMove()
MoveExtJ angle_neg20, vrot50, fine;
WaitSyncTask sync1, all_tasks;
! Wait for the robots
SyncMoveOn sync2, all_tasks;
MoveExtJ angle_20\ID:=10, vrot100, z10;
MoveExtJ angle_160\ID:=20, vrot100, z10;
MoveExtJ angle_200\ID:=30, vrot100, z10;
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Continued
MoveExtJ angle_340\ID:=40, vrot100, fine;
SyncMoveOff sync3;
ERROR
IF ERRNO = ERR_PATH_STOP THEN
gun_cleaning();
ENDIF
UNDO
SyncMoveUndo;
ENDPROC
PROC gun_cleaning()
VAR jointtarget resume_angle;
!Store the movement path and current angle.
StorePath \KeepSync;
resume_angle := CJointT();
!Correct the error
MoveExtJ clean_angle \ID:=50, vrot100, fine;
...
!Move the robot back to the stored position.
MoveExtJ resume_angle \ID:=60, vrot100, fine;
!Restore the path and start the movement
RestoPath;
StartMove;
RETRY;
ENDPROC
ENDMODULE
Suspend and resume synchronized movements in the SyncArc example
SyncMoveSuspend is used to suspend synchronized movements mode and set
the system to independent or semi coordinated movement mode.
SyncMoveResume is used to go back once more to synchronized movements.
These instructions can only be used after StorePath\KeepSync has been
executed.
T_ROB1
PROC gun_cleaning()
VAR robtarget p1;
!Store the movement path and current position
! and keep syncronized mode.
StorePath \KeepSync;
p1 := CRobT(\Tool:=tool1 \WObj:=wobj_stn1);
!Move in synchronized motion mode
MoveL p104 \ID:=50, v100, fine, tool1 \WObj:=wobj_stn1;
SyncMoveSuspend;
!Move in independent mode
MoveL pclean1, v100, fine, tool1;
...
!Move the robot back to the stored position
SyncMoveResume;
MoveL p1 \ID:=60, v100, fine, tool1 \WObj:=wobj_stn1;
!Restore the path and start the movement
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6 Motion functions
6.2.3 Store current path
Continued
RestoPath;
StartMove;
RETRY;
ENDPROC
T_ROB2
PROC gun_cleaning()
VAR robtarget p2;
!Store the movement path and current position.
StorePath \KeepSync;
p2 := CRobT(\Tool:=tool2 \WObj:=wobj_stn1);
!Move in synchronized motion mode
MoveL p104 \ID:=50, v100, fine, tool2 \WObj:=wobj_stn1;
SyncMoveSuspend;
!Move in independent mode
MoveL pclean2 v100, fine, tool2;
...
!Move the robot back to the stored position.
SyncMoveResume;
!Move in synchronized motion mode
MoveL p2 \ID:=60, v100, fine, tool2 \WObj:=wobj_stn1;
!Restore the path and start the movement
RestoPath;
StartMove;
RETRY;
ENDPROC
T_STN1
PROC gun_cleaning()
VAR jointtarget resume_angle;
!Store the movement path and current angle.
StorePath \KeepSync;
resume_angle := CJointT();
!Move in synchronized motion mode
MoveExtJ p1clean_angle \ID:=50, vrot100, fine;
SyncMoveSuspend;
! Move in independent mode
MoveExtJ p2clean_angle,vrot, fine;
...
!Move the robot back to the stored position.
SyncMoveResume;
! Move in synchronized motion mode
MoveExtJ resume_angle \ID:=60, vrot100, fine;
!Restore the path and start the movement
RestoPath;
StartMove;
RETRY;
ENDPROC
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MoveExtJ angle_340\ID:=40, vrot100, fine;
SyncMoveOff sync3;
ERROR
IF ERRNO = ERR_PATH_STOP THEN
gun_cleaning();
ENDIF
UNDO
SyncMoveUndo;
ENDPROC
PROC gun_cleaning()
VAR jointtarget resume_angle;
!Store the movement path and current angle.
StorePath \KeepSync;
resume_angle := CJointT();
!Correct the error
MoveExtJ clean_angle \ID:=50, vrot100, fine;
...
!Move the robot back to the stored position.
MoveExtJ resume_angle \ID:=60, vrot100, fine;
!Restore the path and start the movement
RestoPath;
StartMove;
RETRY;
ENDPROC
ENDMODULE
Suspend and resume synchronized movements in the SyncArc example
SyncMoveSuspend is used to suspend synchronized movements mode and set
the system to independent or semi coordinated movement mode.
SyncMoveResume is used to go back once more to synchronized movements.
These instructions can only be used after StorePath\KeepSync has been
executed.
T_ROB1
PROC gun_cleaning()
VAR robtarget p1;
!Store the movement path and current position
! and keep syncronized mode.
StorePath \KeepSync;
p1 := CRobT(\Tool:=tool1 \WObj:=wobj_stn1);
!Move in synchronized motion mode
MoveL p104 \ID:=50, v100, fine, tool1 \WObj:=wobj_stn1;
SyncMoveSuspend;
!Move in independent mode
MoveL pclean1, v100, fine, tool1;
...
!Move the robot back to the stored position
SyncMoveResume;
MoveL p1 \ID:=60, v100, fine, tool1 \WObj:=wobj_stn1;
!Restore the path and start the movement
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6 Motion functions
6.2.3 Store current path
Continued
RestoPath;
StartMove;
RETRY;
ENDPROC
T_ROB2
PROC gun_cleaning()
VAR robtarget p2;
!Store the movement path and current position.
StorePath \KeepSync;
p2 := CRobT(\Tool:=tool2 \WObj:=wobj_stn1);
!Move in synchronized motion mode
MoveL p104 \ID:=50, v100, fine, tool2 \WObj:=wobj_stn1;
SyncMoveSuspend;
!Move in independent mode
MoveL pclean2 v100, fine, tool2;
...
!Move the robot back to the stored position.
SyncMoveResume;
!Move in synchronized motion mode
MoveL p2 \ID:=60, v100, fine, tool2 \WObj:=wobj_stn1;
!Restore the path and start the movement
RestoPath;
StartMove;
RETRY;
ENDPROC
T_STN1
PROC gun_cleaning()
VAR jointtarget resume_angle;
!Store the movement path and current angle.
StorePath \KeepSync;
resume_angle := CJointT();
!Move in synchronized motion mode
MoveExtJ p1clean_angle \ID:=50, vrot100, fine;
SyncMoveSuspend;
! Move in independent mode
MoveExtJ p2clean_angle,vrot, fine;
...
!Move the robot back to the stored position.
SyncMoveResume;
! Move in synchronized motion mode
MoveExtJ resume_angle \ID:=60, vrot100, fine;
!Restore the path and start the movement
RestoPath;
StartMove;
RETRY;
ENDPROC
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6 Motion functions
6.2.3 Store current path
Continued
6.2.4 Path recorder
What is the path recorder
The path recorder can memorize a number of move instructions. This memory can
then be used to move the robot backwards along that same path.
How to use the path recorder
This is the general approach for using the path recorder:
1
Start the path recorder
2
Move the robot with regular move, or process, instructions
3
Store the current path
4
Move backwards along the recorded path
5
Resolve the error
6
Move forward along the recorded path
7
Restore the interrupted path
Lift the tool
When the robot moves backward in its own track, you may want to avoid scraping
the tool against the work piece. For a process like arc welding, you want to stay
clear of the welding seam.
By using the argument ToolOffs in the instructions PathRecMoveBwd and
PathRecMoveFwd , you can set an offset for the TCP. This offset is set in tool
coordinates, which means that if it is set to [0,0,10] the tool will be 10mm from the
work object when it moves back along the recorded path.
xx0400000828
Note
When a MultiMove system is in synchronized mode all tasks must use ToolOffs
if a tool is going to be lifted.
However if you only want to lift one tool, set ToolOffs=[0,0,0] in the other
tasks.
Simple example
If an error occurs between p1 and p4, the robot will return to p1 where the error
can be resolved. When the error has been resolved, the robot continues from where
the error occurred.
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6.2.4 Path recorder
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RestoPath;
StartMove;
RETRY;
ENDPROC
T_ROB2
PROC gun_cleaning()
VAR robtarget p2;
!Store the movement path and current position.
StorePath \KeepSync;
p2 := CRobT(\Tool:=tool2 \WObj:=wobj_stn1);
!Move in synchronized motion mode
MoveL p104 \ID:=50, v100, fine, tool2 \WObj:=wobj_stn1;
SyncMoveSuspend;
!Move in independent mode
MoveL pclean2 v100, fine, tool2;
...
!Move the robot back to the stored position.
SyncMoveResume;
!Move in synchronized motion mode
MoveL p2 \ID:=60, v100, fine, tool2 \WObj:=wobj_stn1;
!Restore the path and start the movement
RestoPath;
StartMove;
RETRY;
ENDPROC
T_STN1
PROC gun_cleaning()
VAR jointtarget resume_angle;
!Store the movement path and current angle.
StorePath \KeepSync;
resume_angle := CJointT();
!Move in synchronized motion mode
MoveExtJ p1clean_angle \ID:=50, vrot100, fine;
SyncMoveSuspend;
! Move in independent mode
MoveExtJ p2clean_angle,vrot, fine;
...
!Move the robot back to the stored position.
SyncMoveResume;
! Move in synchronized motion mode
MoveExtJ resume_angle \ID:=60, vrot100, fine;
!Restore the path and start the movement
RestoPath;
StartMove;
RETRY;
ENDPROC
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6 Motion functions
6.2.3 Store current path
Continued
6.2.4 Path recorder
What is the path recorder
The path recorder can memorize a number of move instructions. This memory can
then be used to move the robot backwards along that same path.
How to use the path recorder
This is the general approach for using the path recorder:
1
Start the path recorder
2
Move the robot with regular move, or process, instructions
3
Store the current path
4
Move backwards along the recorded path
5
Resolve the error
6
Move forward along the recorded path
7
Restore the interrupted path
Lift the tool
When the robot moves backward in its own track, you may want to avoid scraping
the tool against the work piece. For a process like arc welding, you want to stay
clear of the welding seam.
By using the argument ToolOffs in the instructions PathRecMoveBwd and
PathRecMoveFwd , you can set an offset for the TCP. This offset is set in tool
coordinates, which means that if it is set to [0,0,10] the tool will be 10mm from the
work object when it moves back along the recorded path.
xx0400000828
Note
When a MultiMove system is in synchronized mode all tasks must use ToolOffs
if a tool is going to be lifted.
However if you only want to lift one tool, set ToolOffs=[0,0,0] in the other
tasks.
Simple example
If an error occurs between p1 and p4, the robot will return to p1 where the error
can be resolved. When the error has been resolved, the robot continues from where
the error occurred.
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6 Motion functions
6.2.4 Path recorder
When p4 is reached without any error, the path recorder is switched off. The robot
then moves from p4 to p5 without the path recorder.
...
VAR pathrecid start_id;
...
MoveL p1, vmax, fine, tool1;
PathRecStart start_id;
MoveL p2, vmax, z50, tool1;
MoveL p3, vmax, z50, tool1;
MoveL p4, vmax, fine, tool1;
PathRecStop \Clear;
MoveL p5, vmax, fine, tool1;
ERROR
StorePath;
PathRecMoveBwd;
! Fix the problem
PathRecMoveFwd;
RestoPath;
StartMove;
RETRY;
ENDIF
...
Complex example
In this example, the path recorder is used for two purposes:
•
If an error occurs, the operator can choose to back up to p1 or to p2. When
the error has been resolved, the interrupted movement is resumed.
•
Even if no error occurs, the path recorder is used to move the robot from p4
to p1. This technique is useful when the robot is in a narrow position that is
difficult to move out of.
Note that if an error occurs during the first move instruction, between p1 and p2,
it is not possible to go backwards to p2. If the operator choose to go back to p2,
PathRecValidBwd is used to see if it is possible. Before the robot is moved forward
to the position where it was interrupted, PathRecValidFwd is used to see if it is
possible (if the robot never backed up it is already in position).
...
VAR pathrecid origin_id;
VAR pathrecid corner_id;
VAR num choice;
...
MoveJ p1, vmax, z50, tool1;
PathRecStart origin_id;
MoveJ p2, vmax, z50, tool1;
PathRecStart corner_id;
MoveL p3, vmax, z50, tool1;
MoveL p4, vmax, fine, tool1;
! Use path record to move safely to p1
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6.2.4 Path recorder
Continued
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6.2.4 Path recorder
What is the path recorder
The path recorder can memorize a number of move instructions. This memory can
then be used to move the robot backwards along that same path.
How to use the path recorder
This is the general approach for using the path recorder:
1
Start the path recorder
2
Move the robot with regular move, or process, instructions
3
Store the current path
4
Move backwards along the recorded path
5
Resolve the error
6
Move forward along the recorded path
7
Restore the interrupted path
Lift the tool
When the robot moves backward in its own track, you may want to avoid scraping
the tool against the work piece. For a process like arc welding, you want to stay
clear of the welding seam.
By using the argument ToolOffs in the instructions PathRecMoveBwd and
PathRecMoveFwd , you can set an offset for the TCP. This offset is set in tool
coordinates, which means that if it is set to [0,0,10] the tool will be 10mm from the
work object when it moves back along the recorded path.
xx0400000828
Note
When a MultiMove system is in synchronized mode all tasks must use ToolOffs
if a tool is going to be lifted.
However if you only want to lift one tool, set ToolOffs=[0,0,0] in the other
tasks.
Simple example
If an error occurs between p1 and p4, the robot will return to p1 where the error
can be resolved. When the error has been resolved, the robot continues from where
the error occurred.
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6 Motion functions
6.2.4 Path recorder
When p4 is reached without any error, the path recorder is switched off. The robot
then moves from p4 to p5 without the path recorder.
...
VAR pathrecid start_id;
...
MoveL p1, vmax, fine, tool1;
PathRecStart start_id;
MoveL p2, vmax, z50, tool1;
MoveL p3, vmax, z50, tool1;
MoveL p4, vmax, fine, tool1;
PathRecStop \Clear;
MoveL p5, vmax, fine, tool1;
ERROR
StorePath;
PathRecMoveBwd;
! Fix the problem
PathRecMoveFwd;
RestoPath;
StartMove;
RETRY;
ENDIF
...
Complex example
In this example, the path recorder is used for two purposes:
•
If an error occurs, the operator can choose to back up to p1 or to p2. When
the error has been resolved, the interrupted movement is resumed.
•
Even if no error occurs, the path recorder is used to move the robot from p4
to p1. This technique is useful when the robot is in a narrow position that is
difficult to move out of.
Note that if an error occurs during the first move instruction, between p1 and p2,
it is not possible to go backwards to p2. If the operator choose to go back to p2,
PathRecValidBwd is used to see if it is possible. Before the robot is moved forward
to the position where it was interrupted, PathRecValidFwd is used to see if it is
possible (if the robot never backed up it is already in position).
...
VAR pathrecid origin_id;
VAR pathrecid corner_id;
VAR num choice;
...
MoveJ p1, vmax, z50, tool1;
PathRecStart origin_id;
MoveJ p2, vmax, z50, tool1;
PathRecStart corner_id;
MoveL p3, vmax, z50, tool1;
MoveL p4, vmax, fine, tool1;
! Use path record to move safely to p1
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6.2.4 Path recorder
Continued
StorePath;
PathRecMoveBwd \ID:=origin_id
\ToolOffs:=[0,0,10];
RestoPath;
PathRecStop \Clear;
Clear Path;
Start Move;
ERROR
StorePath;
! Ask operator how far to back up
TPReadFK choice,"Extract to:", stEmpty, stEmpty,
stEmpty, "Origin", "Corner";
IF choice=4 THEN
! Back up to p1
PathRecMoveBwd \ID:=origin_id
\ToolOffs:=[0,0,10];
ELSEIF choice=5 THEN
! Verify that it is possible to back to p2,
IF PathRecValidBwd(\ID:=corner_id) THEN
! Back up to p2
PathRecMoveBwd \ID:=corner_id
\ToolOffs:=[0,0,10];
ENDIF
ENDIF
! Fix the problem
! Verify that there is a path record forward
IF PathRecValidFwd() THEN
! Return to where the path was interrupted
PathRecMoveFwd \ToolOffs:=[0,0,10];
ENDIF
! Restore the path and resume movement
RestoPath;
StartMove;
RETRY;
...
Resume path recorder
If the path recorder is stopped, it can be started again from the same position
without loosing its history.
In the example below, the PathRecMoveBwd instruction will back the robot to p1.
If the robot had been in any other position than p2 when the path recorder was
restarted, this would not have been possible.
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6.2.4 Path recorder
Continued
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When p4 is reached without any error, the path recorder is switched off. The robot
then moves from p4 to p5 without the path recorder.
...
VAR pathrecid start_id;
...
MoveL p1, vmax, fine, tool1;
PathRecStart start_id;
MoveL p2, vmax, z50, tool1;
MoveL p3, vmax, z50, tool1;
MoveL p4, vmax, fine, tool1;
PathRecStop \Clear;
MoveL p5, vmax, fine, tool1;
ERROR
StorePath;
PathRecMoveBwd;
! Fix the problem
PathRecMoveFwd;
RestoPath;
StartMove;
RETRY;
ENDIF
...
Complex example
In this example, the path recorder is used for two purposes:
•
If an error occurs, the operator can choose to back up to p1 or to p2. When
the error has been resolved, the interrupted movement is resumed.
•
Even if no error occurs, the path recorder is used to move the robot from p4
to p1. This technique is useful when the robot is in a narrow position that is
difficult to move out of.
Note that if an error occurs during the first move instruction, between p1 and p2,
it is not possible to go backwards to p2. If the operator choose to go back to p2,
PathRecValidBwd is used to see if it is possible. Before the robot is moved forward
to the position where it was interrupted, PathRecValidFwd is used to see if it is
possible (if the robot never backed up it is already in position).
...
VAR pathrecid origin_id;
VAR pathrecid corner_id;
VAR num choice;
...
MoveJ p1, vmax, z50, tool1;
PathRecStart origin_id;
MoveJ p2, vmax, z50, tool1;
PathRecStart corner_id;
MoveL p3, vmax, z50, tool1;
MoveL p4, vmax, fine, tool1;
! Use path record to move safely to p1
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6 Motion functions
6.2.4 Path recorder
Continued
StorePath;
PathRecMoveBwd \ID:=origin_id
\ToolOffs:=[0,0,10];
RestoPath;
PathRecStop \Clear;
Clear Path;
Start Move;
ERROR
StorePath;
! Ask operator how far to back up
TPReadFK choice,"Extract to:", stEmpty, stEmpty,
stEmpty, "Origin", "Corner";
IF choice=4 THEN
! Back up to p1
PathRecMoveBwd \ID:=origin_id
\ToolOffs:=[0,0,10];
ELSEIF choice=5 THEN
! Verify that it is possible to back to p2,
IF PathRecValidBwd(\ID:=corner_id) THEN
! Back up to p2
PathRecMoveBwd \ID:=corner_id
\ToolOffs:=[0,0,10];
ENDIF
ENDIF
! Fix the problem
! Verify that there is a path record forward
IF PathRecValidFwd() THEN
! Return to where the path was interrupted
PathRecMoveFwd \ToolOffs:=[0,0,10];
ENDIF
! Restore the path and resume movement
RestoPath;
StartMove;
RETRY;
...
Resume path recorder
If the path recorder is stopped, it can be started again from the same position
without loosing its history.
In the example below, the PathRecMoveBwd instruction will back the robot to p1.
If the robot had been in any other position than p2 when the path recorder was
restarted, this would not have been possible.
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6.2.4 Path recorder
Continued
For more information, see the section about PathRecStop in Technical reference
manual - RAPID Instructions, Functions and Data types .
...
MoveL p1, vmax, z50, tool1;
PathRecStart id1;
MoveL p2, vmax, z50, tool1;
PathRecStop;
MoveL p3, vmax, z50, tool1;
MoveL p4, vmax, z50, tool1;
MoveL p2, vmax, z50, tool1;
PathRecStart id2;
MoveL p5, vmax, z50, tool1;
StorePath;
PathRecMoveBwd \ID:=id1;
RestoPath;
...
SyncArc example with coordinated synchronized movement
This is an example on how to use Path Recorder in error handling for a MultiMove
system.
In this example two robots perform arc welding on the same work piece. To make
the example simple and general, we use move instructions instead of weld
instructions. The work object is rotated by a positioner.
For more information on the SyncArc example, see Application manual - MultiMove .
T_ROB1 task program
MODULE module1
VAR syncident sync1;
VAR syncident sync2;
VAR syncident sync3;
PERS tasks all_tasks{3} := [["T_ROB1"],["T_ROB2"],["T_STN1"]];
PERS wobjdata wobj_stn1 := [ FALSE, FALSE, "STN_1",[ [0, 0, 0],
[1, 0, 0 ,0] ], [ [0, 0,250], [1, 0, 0, 0] ] ];
TASK PERS tooldata tool1 := ...
CONST robtarget p100 := ...
CONST robtarget p199 := ...
PROC main()
...
SyncMove;
ENDPROC
PROC SyncMove()
WaitSyncTask sync1, all_tasks;
MoveJ p100, v1000, z50, tool1;
! Start recording
PathRecStart HomeROB1;
MoveL p101, v500, fine, tool1;
SyncMoveOn sync2, all_tasks;
MoveL p102\ID:=10, v300, z10, tool1 \WObj:=wobj_stn1;
MoveC p103, p104\ID:=20, v300, z10, tool1 \WObj:=wobj_stn1;
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6.2.4 Path recorder
Continued
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StorePath;
PathRecMoveBwd \ID:=origin_id
\ToolOffs:=[0,0,10];
RestoPath;
PathRecStop \Clear;
Clear Path;
Start Move;
ERROR
StorePath;
! Ask operator how far to back up
TPReadFK choice,"Extract to:", stEmpty, stEmpty,
stEmpty, "Origin", "Corner";
IF choice=4 THEN
! Back up to p1
PathRecMoveBwd \ID:=origin_id
\ToolOffs:=[0,0,10];
ELSEIF choice=5 THEN
! Verify that it is possible to back to p2,
IF PathRecValidBwd(\ID:=corner_id) THEN
! Back up to p2
PathRecMoveBwd \ID:=corner_id
\ToolOffs:=[0,0,10];
ENDIF
ENDIF
! Fix the problem
! Verify that there is a path record forward
IF PathRecValidFwd() THEN
! Return to where the path was interrupted
PathRecMoveFwd \ToolOffs:=[0,0,10];
ENDIF
! Restore the path and resume movement
RestoPath;
StartMove;
RETRY;
...
Resume path recorder
If the path recorder is stopped, it can be started again from the same position
without loosing its history.
In the example below, the PathRecMoveBwd instruction will back the robot to p1.
If the robot had been in any other position than p2 when the path recorder was
restarted, this would not have been possible.
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6 Motion functions
6.2.4 Path recorder
Continued
For more information, see the section about PathRecStop in Technical reference
manual - RAPID Instructions, Functions and Data types .
...
MoveL p1, vmax, z50, tool1;
PathRecStart id1;
MoveL p2, vmax, z50, tool1;
PathRecStop;
MoveL p3, vmax, z50, tool1;
MoveL p4, vmax, z50, tool1;
MoveL p2, vmax, z50, tool1;
PathRecStart id2;
MoveL p5, vmax, z50, tool1;
StorePath;
PathRecMoveBwd \ID:=id1;
RestoPath;
...
SyncArc example with coordinated synchronized movement
This is an example on how to use Path Recorder in error handling for a MultiMove
system.
In this example two robots perform arc welding on the same work piece. To make
the example simple and general, we use move instructions instead of weld
instructions. The work object is rotated by a positioner.
For more information on the SyncArc example, see Application manual - MultiMove .
T_ROB1 task program
MODULE module1
VAR syncident sync1;
VAR syncident sync2;
VAR syncident sync3;
PERS tasks all_tasks{3} := [["T_ROB1"],["T_ROB2"],["T_STN1"]];
PERS wobjdata wobj_stn1 := [ FALSE, FALSE, "STN_1",[ [0, 0, 0],
[1, 0, 0 ,0] ], [ [0, 0,250], [1, 0, 0, 0] ] ];
TASK PERS tooldata tool1 := ...
CONST robtarget p100 := ...
CONST robtarget p199 := ...
PROC main()
...
SyncMove;
ENDPROC
PROC SyncMove()
WaitSyncTask sync1, all_tasks;
MoveJ p100, v1000, z50, tool1;
! Start recording
PathRecStart HomeROB1;
MoveL p101, v500, fine, tool1;
SyncMoveOn sync2, all_tasks;
MoveL p102\ID:=10, v300, z10, tool1 \WObj:=wobj_stn1;
MoveC p103, p104\ID:=20, v300, z10, tool1 \WObj:=wobj_stn1;
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Continued
MoveL p105\ID:=30, v300, z10, tool1 \WObj:=wobj_stn1;
MoveC p106, p101\ID:=40, v300, fine, tool1 \WObj:=wobj_stn1;
!Stop recording
PathRecStop \Clear;
SyncMoveOff sync3;
MoveL p199, v1000, fine, tool1;
ERROR
! Weld error in this program task
IF ERRNO = AW_WELD_ERR THEN
gun_cleaning();
ENDIF
UNDO
SyncMoveUndo;
ENDPROC
PROC gun_cleaning()
VAR robtarget p1;
!Store the movement path
IF IsSyncMoveOn() THEN
StorePath \KeepSync;
ELSE
StorePath;
ENDIF
!Move this robot backward to p100.
PathRecMoveBwd \ID:=HomeROB1 \ToolOffs:=[0,0,10];
!Correct the error
MoveJ pclean1 ,v100, fine, tool1;
...
!Move the robot back to p100
MoveJ p100, v100, fine, tool1;
PathRecMoveFwd \ToolOffs:=[0,0,10];
!Restore the path and start the movement
RestoPath;
StartMove;
RETRY;
ENDPROC
ENDMODULE
T_ROB2 task program
MODULE module2
VAR syncident sync1;
VAR syncident sync2;
VAR syncident sync3;
PERS tasks all_tasks{3};
PERS wobjdata wobj_stn1;
TASK PERS tooldata tool2 := ...
CONST robtarget p200 := ...
CONST robtarget p299 := ...
PROC main()
...
SyncMove;
ENDPROC
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For more information, see the section about PathRecStop in Technical reference
manual - RAPID Instructions, Functions and Data types .
...
MoveL p1, vmax, z50, tool1;
PathRecStart id1;
MoveL p2, vmax, z50, tool1;
PathRecStop;
MoveL p3, vmax, z50, tool1;
MoveL p4, vmax, z50, tool1;
MoveL p2, vmax, z50, tool1;
PathRecStart id2;
MoveL p5, vmax, z50, tool1;
StorePath;
PathRecMoveBwd \ID:=id1;
RestoPath;
...
SyncArc example with coordinated synchronized movement
This is an example on how to use Path Recorder in error handling for a MultiMove
system.
In this example two robots perform arc welding on the same work piece. To make
the example simple and general, we use move instructions instead of weld
instructions. The work object is rotated by a positioner.
For more information on the SyncArc example, see Application manual - MultiMove .
T_ROB1 task program
MODULE module1
VAR syncident sync1;
VAR syncident sync2;
VAR syncident sync3;
PERS tasks all_tasks{3} := [["T_ROB1"],["T_ROB2"],["T_STN1"]];
PERS wobjdata wobj_stn1 := [ FALSE, FALSE, "STN_1",[ [0, 0, 0],
[1, 0, 0 ,0] ], [ [0, 0,250], [1, 0, 0, 0] ] ];
TASK PERS tooldata tool1 := ...
CONST robtarget p100 := ...
CONST robtarget p199 := ...
PROC main()
...
SyncMove;
ENDPROC
PROC SyncMove()
WaitSyncTask sync1, all_tasks;
MoveJ p100, v1000, z50, tool1;
! Start recording
PathRecStart HomeROB1;
MoveL p101, v500, fine, tool1;
SyncMoveOn sync2, all_tasks;
MoveL p102\ID:=10, v300, z10, tool1 \WObj:=wobj_stn1;
MoveC p103, p104\ID:=20, v300, z10, tool1 \WObj:=wobj_stn1;
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Continued
MoveL p105\ID:=30, v300, z10, tool1 \WObj:=wobj_stn1;
MoveC p106, p101\ID:=40, v300, fine, tool1 \WObj:=wobj_stn1;
!Stop recording
PathRecStop \Clear;
SyncMoveOff sync3;
MoveL p199, v1000, fine, tool1;
ERROR
! Weld error in this program task
IF ERRNO = AW_WELD_ERR THEN
gun_cleaning();
ENDIF
UNDO
SyncMoveUndo;
ENDPROC
PROC gun_cleaning()
VAR robtarget p1;
!Store the movement path
IF IsSyncMoveOn() THEN
StorePath \KeepSync;
ELSE
StorePath;
ENDIF
!Move this robot backward to p100.
PathRecMoveBwd \ID:=HomeROB1 \ToolOffs:=[0,0,10];
!Correct the error
MoveJ pclean1 ,v100, fine, tool1;
...
!Move the robot back to p100
MoveJ p100, v100, fine, tool1;
PathRecMoveFwd \ToolOffs:=[0,0,10];
!Restore the path and start the movement
RestoPath;
StartMove;
RETRY;
ENDPROC
ENDMODULE
T_ROB2 task program
MODULE module2
VAR syncident sync1;
VAR syncident sync2;
VAR syncident sync3;
PERS tasks all_tasks{3};
PERS wobjdata wobj_stn1;
TASK PERS tooldata tool2 := ...
CONST robtarget p200 := ...
CONST robtarget p299 := ...
PROC main()
...
SyncMove;
ENDPROC
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Continued
PROC SyncMove()
WaitSyncTask sync1, all_tasks;
MoveJ p200, v1000, z50, tool2;
PathRecStart HomeROB2;
MoveL p201, v500, fine, tool2;
SyncMoveOn sync2, all_tasks;
MoveL p202\ID:=10, v300, z10, tool2 \WObj:=wobj_stn1;
MoveC p203, p204\ID:=20, v300, z10, tool2 \WObj:=wobj_stn1;
MoveL p205\ID:=30, v300, z10, tool2 \WObj:=wobj_stn1;
MoveC p206, p201\ID:=40, v300, fine, tool2 \WObj:=wobj_stn1;
PathRecStop \Clear;
SyncMoveOff sync3;
MoveL p299, v1000, fine, tool2;
ERROR
IF ERRNO = ERR_PATH_STOP THEN
gun_move_out();
ENDIF
UNDO
SyncMoveUndo;
ENDPROC
PROC gun_move_out()
IF IsSyncMoveOn() THEN
StorePath \KeepSync;
ELSE
StorePath;
ENDIF
! Move this robot backward to p201
PathRecMoveBwd \ToolOffs:=[0,0,10];
! Wait for the other gun to get clean
PathRecMoveFwd \ToolOffs:=[0,0,10];
!Restore the path and start the movement
RestoPath;
StartMove;
RETRY;
ENDPROC
ENDMODULE
T_STN1 task program
MODULE module3
VAR syncident sync1;
VAR syncident sync2;
VAR syncident sync3;
PERS tasks all_tasks{3};
CONST jointtarget angle_neg20 :=[ [ 9E9, 9E9, 9E9, 9E9, 9E9,
9E9], [ -20, 9E9, 9E9, 9E9, 9E9, 9E9] ];
...
CONST jointtarget angle_340 :=[ [ 9E9, 9E9, 9E9, 9E9, 9E9, 9E9],[
340, 9E9, 9E9, 9E9,9E9, 9E9] ];
PROC main()
...
SyncMove;
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MoveL p105\ID:=30, v300, z10, tool1 \WObj:=wobj_stn1;
MoveC p106, p101\ID:=40, v300, fine, tool1 \WObj:=wobj_stn1;
!Stop recording
PathRecStop \Clear;
SyncMoveOff sync3;
MoveL p199, v1000, fine, tool1;
ERROR
! Weld error in this program task
IF ERRNO = AW_WELD_ERR THEN
gun_cleaning();
ENDIF
UNDO
SyncMoveUndo;
ENDPROC
PROC gun_cleaning()
VAR robtarget p1;
!Store the movement path
IF IsSyncMoveOn() THEN
StorePath \KeepSync;
ELSE
StorePath;
ENDIF
!Move this robot backward to p100.
PathRecMoveBwd \ID:=HomeROB1 \ToolOffs:=[0,0,10];
!Correct the error
MoveJ pclean1 ,v100, fine, tool1;
...
!Move the robot back to p100
MoveJ p100, v100, fine, tool1;
PathRecMoveFwd \ToolOffs:=[0,0,10];
!Restore the path and start the movement
RestoPath;
StartMove;
RETRY;
ENDPROC
ENDMODULE
T_ROB2 task program
MODULE module2
VAR syncident sync1;
VAR syncident sync2;
VAR syncident sync3;
PERS tasks all_tasks{3};
PERS wobjdata wobj_stn1;
TASK PERS tooldata tool2 := ...
CONST robtarget p200 := ...
CONST robtarget p299 := ...
PROC main()
...
SyncMove;
ENDPROC
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Continued
PROC SyncMove()
WaitSyncTask sync1, all_tasks;
MoveJ p200, v1000, z50, tool2;
PathRecStart HomeROB2;
MoveL p201, v500, fine, tool2;
SyncMoveOn sync2, all_tasks;
MoveL p202\ID:=10, v300, z10, tool2 \WObj:=wobj_stn1;
MoveC p203, p204\ID:=20, v300, z10, tool2 \WObj:=wobj_stn1;
MoveL p205\ID:=30, v300, z10, tool2 \WObj:=wobj_stn1;
MoveC p206, p201\ID:=40, v300, fine, tool2 \WObj:=wobj_stn1;
PathRecStop \Clear;
SyncMoveOff sync3;
MoveL p299, v1000, fine, tool2;
ERROR
IF ERRNO = ERR_PATH_STOP THEN
gun_move_out();
ENDIF
UNDO
SyncMoveUndo;
ENDPROC
PROC gun_move_out()
IF IsSyncMoveOn() THEN
StorePath \KeepSync;
ELSE
StorePath;
ENDIF
! Move this robot backward to p201
PathRecMoveBwd \ToolOffs:=[0,0,10];
! Wait for the other gun to get clean
PathRecMoveFwd \ToolOffs:=[0,0,10];
!Restore the path and start the movement
RestoPath;
StartMove;
RETRY;
ENDPROC
ENDMODULE
T_STN1 task program
MODULE module3
VAR syncident sync1;
VAR syncident sync2;
VAR syncident sync3;
PERS tasks all_tasks{3};
CONST jointtarget angle_neg20 :=[ [ 9E9, 9E9, 9E9, 9E9, 9E9,
9E9], [ -20, 9E9, 9E9, 9E9, 9E9, 9E9] ];
...
CONST jointtarget angle_340 :=[ [ 9E9, 9E9, 9E9, 9E9, 9E9, 9E9],[
340, 9E9, 9E9, 9E9,9E9, 9E9] ];
PROC main()
...
SyncMove;
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Continued
...
ENDPROC
PROC SyncMove()
WaitSyncTask sync1, all_tasks;
MoveExtJ angle_neg20, vrot50, fine;
PathRecStart HomeSTN1;
SyncMoveOn sync2, all_tasks;
MoveExtJ angle_20\ID:=10, vrot100, z10;
MoveExtJ angle_160\ID:=20, vrot100, z10;
MoveExtJ angle_200\ID:=30, vrot100, z10;
MoveExtJ angle_340\ID:=40, vrot100, fine;
PathRecStop \Clear;
SyncMoveOff sync3;
ERROR
IF ERRNO = ERR_PATH_STOP THEN
gun_move_out();
ENDIF
UNDO
SyncMoveUndo;
ENDPROC
PROC gun_move_out()
!Store the movement
IF IsSyncMoveOn() THEN
StorePath \KeepSync;
ELSE
StorePath;
ENDIF
!Move the manipulator backward to angle_neg 20
PathRecMoveBwd \ToolOffs:=[0,0,0];
...
!Wait for the gun to get clean
PathRecMoveFwd \ToolOffs:=[0,0,0];
RestoPath;
StartMove;
RETRY;
ENDPROC
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PROC SyncMove()
WaitSyncTask sync1, all_tasks;
MoveJ p200, v1000, z50, tool2;
PathRecStart HomeROB2;
MoveL p201, v500, fine, tool2;
SyncMoveOn sync2, all_tasks;
MoveL p202\ID:=10, v300, z10, tool2 \WObj:=wobj_stn1;
MoveC p203, p204\ID:=20, v300, z10, tool2 \WObj:=wobj_stn1;
MoveL p205\ID:=30, v300, z10, tool2 \WObj:=wobj_stn1;
MoveC p206, p201\ID:=40, v300, fine, tool2 \WObj:=wobj_stn1;
PathRecStop \Clear;
SyncMoveOff sync3;
MoveL p299, v1000, fine, tool2;
ERROR
IF ERRNO = ERR_PATH_STOP THEN
gun_move_out();
ENDIF
UNDO
SyncMoveUndo;
ENDPROC
PROC gun_move_out()
IF IsSyncMoveOn() THEN
StorePath \KeepSync;
ELSE
StorePath;
ENDIF
! Move this robot backward to p201
PathRecMoveBwd \ToolOffs:=[0,0,10];
! Wait for the other gun to get clean
PathRecMoveFwd \ToolOffs:=[0,0,10];
!Restore the path and start the movement
RestoPath;
StartMove;
RETRY;
ENDPROC
ENDMODULE
T_STN1 task program
MODULE module3
VAR syncident sync1;
VAR syncident sync2;
VAR syncident sync3;
PERS tasks all_tasks{3};
CONST jointtarget angle_neg20 :=[ [ 9E9, 9E9, 9E9, 9E9, 9E9,
9E9], [ -20, 9E9, 9E9, 9E9, 9E9, 9E9] ];
...
CONST jointtarget angle_340 :=[ [ 9E9, 9E9, 9E9, 9E9, 9E9, 9E9],[
340, 9E9, 9E9, 9E9,9E9, 9E9] ];
PROC main()
...
SyncMove;
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Continued
...
ENDPROC
PROC SyncMove()
WaitSyncTask sync1, all_tasks;
MoveExtJ angle_neg20, vrot50, fine;
PathRecStart HomeSTN1;
SyncMoveOn sync2, all_tasks;
MoveExtJ angle_20\ID:=10, vrot100, z10;
MoveExtJ angle_160\ID:=20, vrot100, z10;
MoveExtJ angle_200\ID:=30, vrot100, z10;
MoveExtJ angle_340\ID:=40, vrot100, fine;
PathRecStop \Clear;
SyncMoveOff sync3;
ERROR
IF ERRNO = ERR_PATH_STOP THEN
gun_move_out();
ENDIF
UNDO
SyncMoveUndo;
ENDPROC
PROC gun_move_out()
!Store the movement
IF IsSyncMoveOn() THEN
StorePath \KeepSync;
ELSE
StorePath;
ENDIF
!Move the manipulator backward to angle_neg 20
PathRecMoveBwd \ToolOffs:=[0,0,0];
...
!Wait for the gun to get clean
PathRecMoveFwd \ToolOffs:=[0,0,0];
RestoPath;
StartMove;
RETRY;
ENDPROC
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6.2.4 Path recorder
Continued
6.3 Path Offset [612-1]
6.3.1 Overview
Purpose
The purpose of Path Offset is to be able to make online adjustments of the robot
path according to input from sensors. With the set of instructions that Path Offset
offers, the robot path can be compared and adjusted with the input from sensors.
What is included
The RobotWare option Path Offset gives you access to:
•
the data type corrdescr
•
the instructions CorrCon , CorrDiscon , CorrClear and CorrWrite
•
the function CorrRead
Basic approach
This is the general approach for setting up Path Offset. For a detailed example of
how this is done, see Code example on page 268 .
1
Declare the correction generator.
2
Connect the correction generator.
3
Define a trap routine that determines the offset and writes it to the correction
generator.
4
Define an interrupt to frequently call the trap routine.
5
Call a move instruction using the correction. The path will be repeatedly
corrected.
Note
The instruction CorrWrite is intended with low speed and moderate values of
correction. Too aggressive values will be clamped. The correction values should
be tested in RobotStudio to confirm the performance.
Note
If two or more move instructions are called after each other with the \Corr switch,
it is important to know that all \Corr offsets are reset each time the robot starts
from a finepoint. So, when using finepoints, on the second Move instruction the
controller does not know that the path already has an offset. To avoid any strange
behavior it is recommended only to use zones together with the \Corr switch
and avoid finepoints.
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...
ENDPROC
PROC SyncMove()
WaitSyncTask sync1, all_tasks;
MoveExtJ angle_neg20, vrot50, fine;
PathRecStart HomeSTN1;
SyncMoveOn sync2, all_tasks;
MoveExtJ angle_20\ID:=10, vrot100, z10;
MoveExtJ angle_160\ID:=20, vrot100, z10;
MoveExtJ angle_200\ID:=30, vrot100, z10;
MoveExtJ angle_340\ID:=40, vrot100, fine;
PathRecStop \Clear;
SyncMoveOff sync3;
ERROR
IF ERRNO = ERR_PATH_STOP THEN
gun_move_out();
ENDIF
UNDO
SyncMoveUndo;
ENDPROC
PROC gun_move_out()
!Store the movement
IF IsSyncMoveOn() THEN
StorePath \KeepSync;
ELSE
StorePath;
ENDIF
!Move the manipulator backward to angle_neg 20
PathRecMoveBwd \ToolOffs:=[0,0,0];
...
!Wait for the gun to get clean
PathRecMoveFwd \ToolOffs:=[0,0,0];
RestoPath;
StartMove;
RETRY;
ENDPROC
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6 Motion functions
6.2.4 Path recorder
Continued
6.3 Path Offset [612-1]
6.3.1 Overview
Purpose
The purpose of Path Offset is to be able to make online adjustments of the robot
path according to input from sensors. With the set of instructions that Path Offset
offers, the robot path can be compared and adjusted with the input from sensors.
What is included
The RobotWare option Path Offset gives you access to:
•
the data type corrdescr
•
the instructions CorrCon , CorrDiscon , CorrClear and CorrWrite
•
the function CorrRead
Basic approach
This is the general approach for setting up Path Offset. For a detailed example of
how this is done, see Code example on page 268 .
1
Declare the correction generator.
2
Connect the correction generator.
3
Define a trap routine that determines the offset and writes it to the correction
generator.
4
Define an interrupt to frequently call the trap routine.
5
Call a move instruction using the correction. The path will be repeatedly
corrected.
Note
The instruction CorrWrite is intended with low speed and moderate values of
correction. Too aggressive values will be clamped. The correction values should
be tested in RobotStudio to confirm the performance.
Note
If two or more move instructions are called after each other with the \Corr switch,
it is important to know that all \Corr offsets are reset each time the robot starts
from a finepoint. So, when using finepoints, on the second Move instruction the
controller does not know that the path already has an offset. To avoid any strange
behavior it is recommended only to use zones together with the \Corr switch
and avoid finepoints.
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Limitations
It is possible to connect several correction generators at the same time (for instance
one for corrections along the Z axis and one for corrections along the Y axis).
However, it is not possible to connect more than 5 correction generators at the
same time.
After a controller restart, the correction generators have to be defined once again.
The definitions and connections do not survive a controller restart.
The instructions can only be used in motion tasks.
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6.3.1 Overview
Continued
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