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SyncTime
Function
This command allows different motion commands on multiple robots to operate synchronously.
This option is available to the following motion commands.
Approach, Depart, Draw, Drive, DriveA, Move, Rotate, RotateH
This option is available in Ver.1.9.* or higher.
Syntax
SyncTime (Motion command), (Motion command)[, (Motion command)[, (Motion command)]]
[, Next]
Guaranteed Entry
- Motion command
Specify the robot name with the form of "Robot*." before the motion command.
For detail of each command, refer to the manual of respective command.
Example
SyncTime (Robot0.Move P,P0,Speed=40), (Robot1.Move P,P1,Speed=70),NextNote that you cannot specify multiple target positions in series. Next option is not available.
Example
In the following example, "P" and "P5" are invalid.SyncTime(Robot0.Move P,P[2],P[5],Speed=30,Next),(Robot1.Move P,P1),Next
Description
This command allows different motion commands on multiple robots to operate synchronously.
To execute this command, controls of all specified robots must be obtained.
Related Terms
Attention
- If one of the motion option from Time, Speed, Accel, or Decel are used, a robot motion with the motion option may take longer time. As a result, robots may not behave as you have specified with SyncTime command because robots synchronize with the most slowest robot.
- This option is not available to ArchMove.
- An error occurs if the pass start displacement of the motion commands that move synchronously are different.
Example
However, the combination of @P, @numeric value, and @0 will work properly.SyncTime ( Robot0.Move P, @P P1 ), ( Robot1.Move P, @e P2 )
Example
Also, the combination between @E and @C will work properly.SyncTime ( Robot0.Move P, @P P1 ), ( Robot1.Move P, @0 P2 )
Example
SyncTime ( Robot0.Move P, @c P1 ), ( Robot1.Move P, @e P2 )
Example
Robot0.TakeArm 'Obtain the control of Robot0
Robot1.TakeArm 'Obtain the control of Robot1
SyncTime (Robot0.Move P,P0,Speed=40), (Robot1.Move P,P1,Speed=70),Next