Example for multimove with 2+ robots and 2+ external axes?

RobotStudio
41

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.

42

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?

43

So we just confirmed: 2 robot on 1 track is official unsupported.

44

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.
45

hm, another dead end?
What is people’s experience with ros solvers and external axes?

46

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.

47

Hi, I am workig on the system that is close enough. Could you please help me?

48

Can you describe exactly what is the system you need help with?

49

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.