# Example for multimove with 2+ robots and 2+ external axes? **URL:** \ **Category:** RobotStudio\ **Created:** [May 24, 2019, 8:03am UTC](https://tech-community.robotics.abb.com/t/example-for-multimove-with-2-robots-and-2-external-axes/8851 "2019-05-24T08:03:35Z")\ **Posts on this page:** 9\ **Page:** 3
**Author:** ![graemepaulin](https://avatars.discourse-cdn.com/v4/letter/g/258eb7/32.png) [@graemepaulin](https://tech-community.robotics.abb.com/u/graemepaulin)\ **Post date:** [January 8, 2020, 6:28pm UTC](https://tech-community.robotics.abb.com/t/example-for-multimove-with-2-robots-and-2-external-axes/8851/41 "2020-01-08T18:28:24Z")
Send your ABB contact an email asking them to raise a customer complaint for xxx (stating what the issue is). They will then raise a complaint case and you will receive a case number, contact details, etc to be able to follow up on the resolution of your complaint. ---
**Author:** ![kschmid](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/kschmid/32/105_2.png) [@kschmid](https://tech-community.robotics.abb.com/u/kschmid)\ **Post date:** [January 8, 2020, 10:28pm UTC](https://tech-community.robotics.abb.com/t/example-for-multimove-with-2-robots-and-2-external-axes/8851/42 "2020-01-08T22:28:19Z")
Thanks. Abb is now suggesting for us to change the already build hardware design to work around their software’s limitations. Basically split up the shared axis. Not the best timing now. As a software developer it is not easy to understand if this is a software or hardware limitation in first place. What do people think? ---
**Author:** ![kschmid](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/kschmid/32/105_2.png) [@kschmid](https://tech-community.robotics.abb.com/u/kschmid)\ **Post date:** [January 16, 2020, 12:13am UTC](https://tech-community.robotics.abb.com/t/example-for-multimove-with-2-robots-and-2-external-axes/8851/43 "2020-01-16T00:13:07Z")
So we just confirmed: 2 robot on 1 track is official unsupported. ---
**Author:** ![kschmid](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/kschmid/32/105_2.png) [@kschmid](https://tech-community.robotics.abb.com/u/kschmid)\ **Post date:** [January 22, 2020, 5:06am UTC](https://tech-community.robotics.abb.com/t/example-for-multimove-with-2-robots-and-2-external-axes/8851/44 "2020-01-22T05:06:07Z")
Here is the latest idea, has somebody tried something similar or knows how to do it? Sweden has suggested the following to try. ROB1. The robot which builds up the structure works like a normal robot on a track motion in world coordinate system.. This could be a challenge to handle but it should be pretty straight forward. ROB1 has a base frame moved by the track motion. - ROB2. The robot which applies the finishing layer is programmed in a coordinate system handled by ROB1 i.e. the coordinates is not in world coordinate system but in coordinates that’s related to ROB1. ROB2 has a fixed base frame relative ROB1. ---
**Author:** ![kschmid](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/kschmid/32/105_2.png) [@kschmid](https://tech-community.robotics.abb.com/u/kschmid)\ **Post date:** [January 28, 2020, 1:29am UTC](https://tech-community.robotics.abb.com/t/example-for-multimove-with-2-robots-and-2-external-axes/8851/45 "2020-01-28T01:29:34Z")
hm, another dead end? What is people’s experience with ros solvers and external axes? ---
**Author:** ![kschmid](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/kschmid/32/105_2.png) [@kschmid](https://tech-community.robotics.abb.com/u/kschmid)\ **Post date:** [January 28, 2020, 6:21am UTC](https://tech-community.robotics.abb.com/t/example-for-multimove-with-2-robots-and-2-external-axes/8851/46 "2020-01-28T06:21:40Z")
Alright, another failed attempt. Sad but I think we go it alone since support seems to be genuinely unable to handle a question like that. ---
**Author:** ![DPatel](https://avatars.discourse-cdn.com/v4/letter/d/e5b9ba/32.png) [@DPatel](https://tech-community.robotics.abb.com/u/DPatel)\ **Post date:** [July 29, 2020, 10:06am UTC](https://tech-community.robotics.abb.com/t/example-for-multimove-with-2-robots-and-2-external-axes/8851/47 "2020-07-29T10:06:41Z")
> [@lemster68](#): > > So you want to share an axis between two robots? I did that years ago. The axis needs its own task, and the two robots take turns with coordinated motion. UNLESS, you mean share at the same time. It might be doable in the same fashion. Hi, I am workig on the system that is close enough. Could you please help me? ---
**Author:** ![lemster68](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/lemster68/32/1945_2.png) [@lemster68](https://tech-community.robotics.abb.com/u/lemster68)\ **Post date:** [July 29, 2020, 12:46pm UTC](https://tech-community.robotics.abb.com/t/example-for-multimove-with-2-robots-and-2-external-axes/8851/48 "2020-07-29T12:46:02Z")
Can you describe exactly what is the system you need help with? ---
**Author:** ![DPatel](https://avatars.discourse-cdn.com/v4/letter/d/e5b9ba/32.png) [@DPatel](https://tech-community.robotics.abb.com/u/DPatel)\ **Post date:** [August 3, 2020, 5:54am UTC](https://tech-community.robotics.abb.com/t/example-for-multimove-with-2-robots-and-2-external-axes/8851/49 "2020-08-03T05:54:16Z")
I am working with two mig welding robots (IRB 1660ID). I have a two fixures (MTD 250) and one turn table (MID 1000) rotating axis. i have three different tasks each one for robot and sepearet task for external axis. As i have 604-2 Multimove Independent installed with the controller. I want to work in a manner that ROB\_1 And ROB\_2 work on particular fixure at the same time for the different weld positions obviously for cycle time. Now i came to know from the manual that 604-2 Multimove independent does not includes SyncMoveOn instruction so i was wondering how i am going to make both the robots work at the same time on the same fixure? Also how to sync turntable and fixures so that they can do their part while the ongoing process. [Previous page](https://tech-community.robotics.abb.com/t/example-for-multimove-with-2-robots-and-2-external-axes/8851.md?page=2)