6 Programming
6.5.1. About semi coordinated movements
63
3HAC021272-001 Revision: H
© Copyri
ght
200
4-2008 ABB.
All rights reserved.
6.5 Semi coordinated movements
6.5.1. About semi coordinated movements
What is semi coordinated movements
Several robots can work with the same work object, without synchronized movements, as
long as the work object is not moving.
A positioner can move the work object when the robots are not coordinated to it, and the
robots can be coordinated to the work object when it is not moving. Switching between
moving the object and coordinating the robots is called semi coordinated movements.
Implementation
Semi coordinated movements require some synchronization between the task programs (e.g.
a WaitSyncTask instruction). The positioner must know when the work object can be moved,
and the robots must know when they can work on the work object. However, it is not required
that every move instruction is synchronized.
Advantages
The advantage is that each robot can work independently with the work object. If the different
robots perform very different assignments, this may save cycle time compared to letting all
the robot movements be synchronized.
