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ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 165 | 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... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 166 | 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 avail... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 167 | 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 conta... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 168 | 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 pre... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 169 | 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, t... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 170 | 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 descr... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 171 | •
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 pzon... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 172 | 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
pro... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 173 | 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 th... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 174 | 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 b... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 175 | 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. Th... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 176 | Tip
Wrist movement is not limited to circular arcs only: If the targets of MoveC are
collinear, then a straight line will be achieved.
Application manual - Controller software IRC5
175
3HAC050798-001 Revision: V
© Copyright 2014-2025 ABB. All rights reserved.
3 Motion performance
3.5.2 Cut plane frame
Continued
3.5.... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 177 | 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 m... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 178 | 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... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 179 | ! 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 O... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 180 | 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... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 181 | This page is intentionally left blank
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 co... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 182 | 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 differenc... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 183 | 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... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 184 | 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,... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 185 | 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
184
Application manual - Controller software IRC5
3HAC050798-001 Revision: V
© Copyright 2014-2025 ABB. All r... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 186 | 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 Sens... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 187 | 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 S... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 188 | 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. T... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 189 | 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 P... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 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 f... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 191 | 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.
... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 192 | 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 f... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 193 | 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... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 194 | 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.
Applicati... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 195 | 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... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 196 | 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
Installatio... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 197 | 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 a... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 198 | 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 inst... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 199 | 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 DeactUni... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 200 | 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 synchroni... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 201 | 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, too... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 202 | !Exit coordinated motion
MoveL p40, v1000, fine, tool1;
!Stop the synchronized motion
SyncToSensor SSYNC1\Off;
MoveL p0, v1000, fine;
!Deactivate sensor
DeactUnit SSYNC1;
Application manual - Controller software IRC5
201
3HAC050798-001 Revision: V
© Copyright 2014-2025 ABB. All rights reserved.
4 Motion coordination
4.... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 203 | 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 exi... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 204 | 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 Synchroniz... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 205 | 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... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 206 | 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 m... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 207 | 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 swi... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 208 | 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 ... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 209 | 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 Cl... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 210 | 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 rel... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 211 | 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 ins... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 212 | 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 .
Application manual - ... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 213 | 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 syn... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 214 | 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
C... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 215 | 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... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 216 | Value
EIO_SIGNAL/Parameters
do1Sync2
Name
DO
SignalType
MASTER1
Unit
50
UnitMap
Application manual - Controller software IRC5
215
3HAC050798-001 Revision: V
© Copyright 2014-2025 ABB. All rights reserved.
4 Motion coordination
4.1.10.3 Master robot configuration parameters
Continued
4.1.10.4 Slave robot configuration ... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 217 | 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_spee... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 218 | 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_S... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 219 | 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
UnitM... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 220 | 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... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 221 | 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... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 222 | 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;
robpo... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 223 | 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... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 224 | 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 wit... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 225 | 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 Pro... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 226 | 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... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 227 | 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 requir... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 228 | 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 wit... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 229 | 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 Interfac... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 230 | 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... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 231 | 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... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 232 | 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... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 233 | 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 tr... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 234 | 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 paramet... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 235 | 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. Sin... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 236 | 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
DropSenso... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 237 | This page is intentionally left blank
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... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 238 | 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... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 239 | 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. Th... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 240 | 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 any... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 241 | 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 give... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 242 | 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
manu... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 243 | 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 join... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 244 | 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).
•... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 245 | 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... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 246 | 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
Pa... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 247 | 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 instructi... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 248 | 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 fi... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 249 | !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 ... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 250 | 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 recr... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 251 | 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.
pa... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 252 | 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 e... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 253 | ...
!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 ... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 254 | 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 ... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 255 | 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... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 256 | 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 clea... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 257 | 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 independen... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 258 | 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 wit... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 259 | 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 \Cle... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 260 | 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:=... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 261 | 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;
PathRec... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 262 | 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
P... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 263 | 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:=wo... |
ABB_Application_Manual_Controller_Software_IRC5 | https://www.uzivatelskadokumentace.cz/Controllers/RobotWare/en/3HAC050798-001.pdf | 264 | ...
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;
PathRecSt... |
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