Synchronization

SyncStart

SyncStart

Description: This primitive starts the sync motion of the robot. When the project runs this primitive, the robot will wait until the workpiece reaches the sync start position to begin synchronized motion with the workpiece.
Example Usage: This primitive is used to synchronize the robot’s motion with that of the workpiece in applications that use mechanical handling equipment to move materials or objects from one point to another such as a conveyor. It must be used together with primitive [SyncEnd].

Input Parameter	Description	Type	Unit	Default Value & Range
syncDevice*	Device with which the robot maintains synchronized motion	TYPE	none	[Conveyor-ModbusTCP-1 Conveyor-ModbusTCP-2 Conveyor-ModbusTCP-3 Conveyor-SerialPort-1 Conveyor-SerialPort-2 Conveyor-SerialPort-3]
teachCoord*	The reference coordinate system in which the workpiece is located during teaching.	COORD	m-deg	[world*]
trackVel	The robot tracks the workpiece at this speed until its motion is synchronized with that of the workpiece. Note: Setting this value too low may cause the robot to fail to synchronize with the workpiece.	DOUBLE	m/s	1.0 ∈ [0.1 … 2.2]
trackAcc	The robot’s acceleration while tracking workpieces.	DOUBLE	m/s^2	3.0 ∈ [0.1 … 3.0]

*Parameters marked with an asterisk must be assigned a value prior to executing the primitive.

*Coordinate System Definition

Coordinate	Definition	Value Format
world	WORLD coordinate system, which is a fixed Cartesian coordinate system located at the center of the robot base	X Y Z Rx Ry Rz WORLD WORLD_ORIGIN
work	WORK coordinate system, which defines the position of the workpiece relative to the WORLD coordinate system	X Y Z Rx Ry Rz WORK WorkCoordName
tcp	TCP coordinate system, which is located at the Tool Center Point relative to the center of robot flange	X Y Z Rx Ry Rz TCP ONLINE
tcp_start	The fixed coordinate system which is located at the initial TCP pose of the primitive	X Y Z Rx Ry Rz TCP START
traj_start	The offset of a waypoint relative to the initial TCP pose in the TCP coordinate system	X Y Z Rx Ry Rz TRAJ START
traj_goal	The offset of a waypoint relative to the target TCP pose in the TCP coordinate system	X Y Z Rx Ry Rz TRAJ GOAL
traj_prev	The offset of a waypoint relative to the previous waypoint in the TCP coordinate system	X Y Z Rx Ry Rz TRAJ PREVIOUSWAYPOINT

You can use the simplified value format above to describe a waypoint, while the complete description of a Cartesian waypoint is: X Y Z Rx Ry Rz ReferenceCoordinate A1 A2 A3 A4 A5 A6 A7 E1 E2 E3 E4 E5 E6. A1 to A7 are the preferred joint positions of the robot; X1 to X6 are the target positions of external axes. The additional data can be added if necessary.
Add “:” to separate the waypoints. For example: 0.2 0 0.3 0 180 0 WORLD WORLD_ORIGIN : 0.2 0.1 0.3 0 180 0 WORLD WORLD_ORIGIN.

State Parameter	Description	Type	Unit
terminated	The termination flag of the primitive. It is set to true if the primitive is terminated.	BOOL	none
timePeriod	The time spent on running the current primitive.	DOUBLE	s
workpieceDetected	Flag to indicate if the workpiece has been detected	BOOL	none

Output Parameter	Description	Type	Unit
tcpPoseOut	The TCP pose when the primitive is terminated. It is represented in the world coordinate system.	COORD	m-deg

State Parameter	Condition	Value
workpieceDetected	=	1

SyncEnd

Description: This primitive stops the sync motion of the robot. When the project runs this primitive, the robot will no longer maintain synchronized motion with the workpiece.
Example Usage: Use this primitive to end the robot’s synchronized motion at the end of the synchronization task. It must be used together with primitive [SyncStart].

Input Parameter	Description	Type	Unit	Default Value & Range
syncDevice*	Device with which the robot maintains synchronized motion	TYPE	none	[Conveyor-ModbusTCP-1 Conveyor-ModbusTCP-2 Conveyor-ModbusTCP-3 Conveyor-SerialPort-1 Conveyor-SerialPort-2 Conveyor-SerialPort-3]

*Parameters marked with an asterisk must be assigned a value prior to executing the primitive.

State Parameter	Description	Type	Unit
terminated	The termination flag of the primitive. It is set to true if the primitive is terminated.	BOOL	none
timePeriod	The time spent on running the current primitive.	DOUBLE	s

Output Parameter	Description	Type	Unit
tcpPoseOut	The TCP pose when the primitive is terminated. It is represented in the world coordinate system.	COORD	m-deg

State Parameter	Condition	Value
terminated	=	1

SyncHold

Description: This primitive keeps the robot relatively stationary with respect to the workpiece on the mechanical handling equipment.
Example Usage: Use this primitive to put the robot in a standby state in the synchronization task. Note: The primitive [Hold] cannot be used in the synchronization task, and this primitive should be used as an alternative.

State Parameter	Description	Type	Unit
terminated	The termination flag of the primitive. It is set to true if the primitive is terminated.	BOOL	none
timePeriod	The time spent on running the current primitive.	DOUBLE	s

Output Parameter	Description	Type	Unit
tcpPoseOut	The TCP pose when the primitive is terminated. It is represented in the world coordinate system.	COORD	m-deg

State Parameter	Condition	Value
timePeriod	>	1.0