ABB MultiMove - Motion Principles

6 Programming
6.7.4. Motion principles
833HAC021272-001 Revision: H
© Copyright 2004-2008 ABB. All rights reserved.
6.7.4. Motion principles
Robot speeds
When the movements of several robots are synchronized, all robots adjust their speed to finish
their movements simultaneously. This means that the robot movement that takes the longest
time will determine the speed of the other robots.
Example of robot speeds
In this example, the distance between p11 and p12 is 1000 mm and the distance between p21
and p22 is 500 mm. When running the code below, robot1 will move 1000 mm at a speed of
100 mm/s. Since this will take 10 seconds, robot2 will move 500 mm in 10 seconds. The
speed of robot2 will be 50 mm/s (and not 500 mm/s as programmed).
Part of T_ROB1 task program:
MoveJ p11, v1000, fine, tool1;
SyncMoveOn sync1, all_tasks;
MoveL p12\ID:=10, v100, fine, tool1;
Part of T_ROB2 task program:
MoveJ p21, v1000, fine, tool2;
SyncMoveOn sync1, all_tasks;
MoveL p22\ID:=10, v500, fine, tool2;
xx0400000907