6 Programming
6.6.3. Example "SyncSpot" with coordinated synchronized movement
3HAC021272-001 Revision: H
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6.6.3. Example "SyncSpot" with coordinated synchronized movement
Program description
In this example, one robot should move an object linearly while the other robot performs spot
welding at two points on the object.
Note that the handle robot's linear movement from p21 to p23 is made in two instructions.
Since the process robot executes two instructions during this movement, the handle robot
must also execute two instructions. The point p22 is inserted so that the process robot can go
to p12 while the handle robot goes to p22, and the process robot go to p13 while the handle
robot goes to p23.
While the robots move, information about the robot positions should be written to the
FlexPendant. The position of the handle robot, in world coordinates, is read every 0.5 seconds
by the T_READHANDLE task. When the process robot is in synchronized movement mode,
its position, in object coordinates, is read by the T_READPROC task.
NOTE!
To make the example simple and general, ordinary move instructions (e.g.
MoveL
) are used
instead of weld instructions (e.g.
SpotL
). For more information about spot welding, see
Application manual - Spot options.
Illustration
xx0300000607
A
Process robot
B
Handle robot
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