ABB MultiMove, Руководство по применению

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1 Introduction
1.1. About MultiMove
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1 Introduction
1.1. About MultiMove
Purpose
The purpose of MultiMove is to let one controller handle several robots. This does not only
save on hardware costs, it also allows advanced coordination between different robots and
other mechanical units.
Here are some examples of applications:
•
Several robots can work on the same moving work object.
• One robot can move a work object while other robots work on it.
•
Several robots can cooperate to lift heavy objects.
Included functionality
MultiMove allows up to 6 tasks to be motion tasks (task that has move instructions). Since no
more than 4 drive modules can be used, a controller can handle up to 4 robots. However,
additional axes can be handled by separate tasks up to a total of 6 motion tasks.
Both MultiMove options allow you to implement:
• Independent movements (see Independent movements on page 60 )
•
Semi coordinated movements (see Semi coordinated movements on page 63 )
In addition to what is mentioned above, the option MultiMove Coordinated allows you to
implement:
•
Coordinated synchronized movements (see Coordinated synchronized movements on
page 69 )
Included options
If you have MultiMove, you automatically have access to some options that are necessary in
order to use MultiMove.
MultiMove always includes the option:
•
Multitasking
In addition to what is mentioned above, MultiMove Coordinated includes the option:
•
Multiple Axis Positioner
Basic approach
This is the general approach for setting up a MultiMove system.
1. Install hardware and software (see Installation on page 17 ).
2. Configure system parameters (see Configuration on page 25 ).
3. Calibrate coordinate systems (see Calibration on page 39 ).
4. Write RAPID program for each task (see Programming on page 55 ).