ABB MultiMove, Руководство по применению

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6 Programming
6.6.2. Example "SyncArc" with coordinated synchronized movement
3HAC021272-001 Revision: H 70
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6.6.2. Example "SyncArc" with coordinated synchronized movement
Program description
In this example, we want both robots to weld all the way around the object.
The robot TCPs are programmed to make circular paths relative to the work object. However,
since the work object is rotating, the robots will almost stand still while the work object is
turning.
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
xx0300000597
T_ROB1 task program
MODULE module1
VAR syncident sync1;
VAR syncident sync2;
VAR syncident sync3;
PERS tasks all_tasks{3} :=
[["T_ROB1"],["T_ROB2"],["T_STN1"]];
PERS wobjdata wobj_stn1 :=
[ FALSE, FALSE, "STN_1",
[ [0, 0, 0], [1, 0, 0 ,0] ],
[ [0, 0, 250], [1, 0, 0, 0] ] ];
A Robot 1
B Robot 2
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