HOME
ID : 1997
Multi Robot
Cooperative control function provides two types of robot operation. One is the operation where multiple robots move synchronously, the other is that robots move asynchronously to achieve one operation together.
Moving multiple robots asynchronously with a common controller will make easy to find exclusive control and operation flow.
Declaring Robots
To move multiple robots with one program file, add "Robot*." to motion commands so as to specify the robot to be moved.
For about available motion commands, refer to "Command".
Example
'Program to move Robot0 and Robot1 together
Robot0.TakeArm 'Obtain the control of Robot0
Robot1.TakeArm 'Obtain the control of Robot1
Robot0.Move P, P1 'Move Robot0 to P1
Robot1.Move P, P2 'Move Robot1 to P1
"Robot*" is an embedded object.
If "Robot*." is omitted, a default robot will be operated.
When "Robot*." is omitted, a warning message appears at compiling. If the recurring message disturbs the operation, you can change the setting not to recur the message from the program parameter 308:Robot number default compiler output.
Default Robot
A default robot is set to Robot0 in the initial setting. You can change it with "#pragma Optimize ("DefaultRobot", <Robot number>)" command.
For example, assuming that you intend to move only one slave robot with one program file, you normally have to add "Robot.*" to a motion command. However, setting a default robot to the slave robot beforehand, you do not need to declare the robot in the program.
Example
'Program to move Robot1 only
#Pragma Optimize( "DefaultRobot", 1 )
TakeArm
Move P, P1
ID : 1997