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SyncMove Option (Cooperative Control Function Option)

Function

This option is used for the cooperative control function operation. When this option is enabled, the follower robot automatically follows the motion of the leader robot.

This option is available to the following motion commands.

Approach, Depart, Draw, Move, Rotate, RotateH

This option is available in Ver.1.9.* or higher.

Syntax

[Robot*.]Motion command , SyncMove = (Follower robot number[,Follower robot number[,Follower robot number]])
If the system uses one follower robot only, you do not need to enclose the follower robot number with round brackets. 
[Robot*.]Motion command , SyncMove = Follower robot number

Guaranteed Entry

Motion command

Enter a motion command. For detail of each command, refer to the manual of respective command.

Example

Robot0.Move L, p0, SyncMove=Robot1

Note that you cannot specify multiple target positions in series. PTP interpolation method is not available.

Example
In the following example, "P5" are invalid.

Robot0.Move L,P[2],P[5],Speed=30,Next, SyncMove=Robot1

In the following example, "P" are invalid. 

Robot0.Move P,P[2],Speed=30,Next, SyncMove=Robot1
Follower robot number
Specify the followers robot as Robot1, Robot2, to RobotN.
Sample code
Robot0.Move L, P0, SyncMove=(Robot1)
or
Robot0.Move L, P0, SyncMove=Robot1

Description

When this option is enabled, follower robots move with keeping the specified relative coordinates against the leader robot. Because the follower robot automatically adjusts its position according to the motion of the leader robot, you can easily specify the workpiece transport route without specifying the follower's motion.

Before this operation, make sure to set the base coordinates of both the leader and follower robots. This option does not work properly if base coordinates settings are incorrect.

To execute a command with this option, controls of all specified robots must be obtained.

Related Terms

SyncTime

Attention

  • This option is not available to ArchMove.
  • Motion command in non-coordinate operation and motion command in coordinate operation cannot be connected with pass motion.
    Move P, @P P0‘Fail to specify @P (pass motion). Execution error will occur at the next line.
    Robot0.Move L, P0, SyncMove = Robot1

Example

Robot0.takearm	'Obtain the control of Robot0
Robot1.Takearm	'Obtain the control of Robot1
Robot0.Move L, p0, SyncMove=Robot1

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