ABB MultiMove, Руководство по применению

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6 Programming
6.6.1. About coordinated synchronized movements
69 3HAC021272-001 Revision: H
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6.6 Coordinated synchronized movements
6.6.1. About coordinated synchronized movements
What is coordinated synchronized movements
Several robots can work with the same moving work object.
The positioner or robot that holds the work object and the robots that work with the work
object must have synchronized movements. This means that the RAPID task programs, that
handle one mechanical unit each, execute their move instructions simultaneously.
Implementation
The synchronized movement mode is started by executing a
SyncMoveOn
instruction in each
task program. The synchronized movement mode is ended by executing a
SyncMoveOff
instruction in each task program. The number of executed move instruction between
SyncMoveOn
and
SyncMoveOff
has to be the same for all task programs.
Advantages
Coordinated synchronized movements usually save cycle time since the robots do not have
to wait while the work object is being moved. It also allows robots to cooperate in ways that
would otherwise be difficult or impossible to achieve.
Limitations
Coordinated synchronized movements can only be used if you have the RobotWare option
MultiMove Coordinated.