6 Programming
6.4.1. About independent movements
3HAC021272-001 Revision: H60
© Copyright 2004-2008 ABB. All rights reserved.
6.4 Independent movements
6.4.1. About independent movements
What is independent movements
If the different task programs, and their robots, work independently, no synchronization or
coordination is needed. Each task program is then written as if it was the program for a single
robot system.
Other dependencies than movements
Sometimes, even if the movements do not need to be coordinated, the task programs can have
dependencies. For example, if one robot leaves an object that a second robot will pick up, the
first robot must finish with the object before the second robot can grab it.
These interactions can be solved with:
• the instruction
WaitSyncTask
• I/O signals
• persistent variables together with
WaitUntil
See the section about Multitasking in Application manual - Engineering tools.
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