Coordinated Motion Function
Outline
User Benefit
Function
One XRC system can control three robots and a number of external axes.
This is a function that controls relative interpolation and speed between 3 robots or
between one robot and external axes.
High Welding Quality + Short Cycle Time
The workpiece can be moved freely by other robot or external axis.
Therefore the robot can weld with the best posture with moving workpiece.
No Wiring for Interlock between Robots
It is no need to make wiring by I/O for interlock of robots
because XRC controller can handle them internally.
System Type
High Safety Level at 3 Robots System
1. Robot+Robot(Jigless) System
2. Robot+External Axis System
The interference between the robots can be set around each tcp points with
spherical area and it is checked automatically.
There is also the function that if the interference occurs, the servo power can be
turned off.(Non-Used Robot Servo Power Off Function)
Smart Robot Program
Coordinated motion is recorded with one instruction set at teaching.
3. 2 Robots+External Axis System
NOP
SMOVL
+MOVJ
...
END
Coordinated Motion Instruction
As soon as the point is taught,
this instruction is set to the job
at once.
Independent Control Function
Function
User Benefit
MOTOMAN XRC can control 3 robots and a number of external axes in one control cabinet.
This function makes it possible that 3 robots or a number of external axes run with each
jobs independently and not synchronously.
Shorten Cycle Time
While one robot is working, the other does not have to wait and can works
independently.
No Interlock between Robots
6 jobs can run at the same time.
It is no need to make wiring by I/O for interlock of robots because XRC controller
can handle them internally
Shorten Workpiece Setting Time
For example...
The workpiece can be set as soon as the robot is ready during other robot is running.
While one robot is handling workpieces which ware welded or will be
welded by the other robot, the other one welds them.
The application of each robots can be not only arc welding + handling but also spot
welding + handling, handling + handling and so on.
It is possible to use this function for the external axis. In this case the motor has to be
Yaskawa’s servo motor.
<Job Sample>
No Waiting Time
It is no need to have the robot waited when there are lot of calculations by arithmetic
instructions because this calculation job can be executed in advance independently.
Simplify Job Construction
The job construction is simple because specific instructions called PSTART and
PWAIT are prepared for this function.
Sub Task 1
Robot A Job
Concurrent Job
Robot 1 Job
Robot 2 Job
NOP
NOP
NOP
*
MOVJ
MOVJ
PSTART SUB1
*
*
PSTART SUB2
END
END
*
PWAIT SUB1
PWAIT SUB2
END
Master Task
Start
Concurrent
Job
Start
Sub Task 2
Robot B Job