
6 Programming
6.4.2. Example "UnsyncArc" with independent movements
61
3HAC021272-001 Revision: H
© Copyri
ght
200
4-2008 ABB.
All rights reserved.
6.4.2. Example "UnsyncArc" with independent movements
Program description
In this example, one robot welds a circle on one object while the other robot welds a square
on another object.
NOTE!
To make the example simple and general, ordinary move instructions (e.g.
MoveL
) are used
instead of weld instructions (e.g.
ArcL
). For more information about arc welding, see
Application manual - Arc and Arc Sensor.
Illustration
xx0300000603
T_ROB1 task program
MODULE module1
TASK PERS wobjdata wobj1 :=
[ FALSE, TRUE, "",
[ [500, -200, 1000], [1, 0, 0 ,0] ],
[ [100, 200, 100], [1, 0, 0, 0] ] ];
TASK PERS tooldata tool1 := ...
CONST robtarget p11 := ...
...
CONST robtarget p14 := ...
A
Robot 1
B
Robot 2
Continues on next page
Содержание MultiMove
Страница 1: ...Application manual MultiMove Robot Controller RobotWare 5 0 ...
Страница 2: ......
Страница 12: ...Safety 3HAC021272 001 Revision H 10 Copyright 2004 2008 ABB All rights reserved ...
Страница 48: ...4 Calibration 4 4 3 Example SyncSpot 3HAC021272 001 Revision H 46 Copyright 2004 2008 ABB All rights reserved ...
Страница 109: ......