Wobj in Handle Robot for multimove

Robot Controller
1

Hello!

Following the Multimove manual, in the example synspot, which Wobj is used by the Handle robot for its routine in the task T_HANDLEROB?

In wich Wobj are created the target “CONST rob…”? I donA’t underestand this step… This is the example in the manual: Thank you!

T_HANDLEROB task program
MODULE module2
VAR syncident sync1;
VAR syncident sync2;
PERS tasks motion_tasks{2} :=
[[“T_PROCROB”],[“T_HANDLEROB”]];
PERS tooldata grip1 := …
CONST robtarget p21 := …
…
CONST robtarget p23 :=
…

2

Dear c6rv6ra,

I could not understand exactly what is your problem, but I have hera a working cell with two coordinated IRB 1600 robots. I rebember I had quite a hard time to get coordination working properly. The manual did not help me so much. Thus I’ll paste here the definition of my wobjs, so you can compare with yours.
Here it is:

Master robot (Rob_1): moves along the wobj (Robot is not holding workpiece, a fixed coordinated system is used and this wobj ins not subordinated to other unit’s coordination)
PERS wobjdata wSNews02_R1:=[FALSE,TRUE,“”,[[1347,0,0],[0.50833,0.508325,-0.491536,-0.491528]],[[-0.0009375,-0.00280142,0.000715256],[1,-3.06331E-06,-2.29495E-06,-1.10501E-05]]];

Slave robot (ROB_2): just follows what master does (Also not holding the workpiece, but this one is a moving wobj. So it is necessary to define who is holding this wobj, that’s why ROB_1 is specified in the ufmec field. Once one robot is in front of the other, the xyz coords and quaternions definition must be set to represent that.)
PERS wobjdata w_SNews03_R2:=[FALSE,FALSE,“ROB_1”,[[0,0,0],[1,0,0,0]],[[0,0,400],[0.000000, 0.382683, -0.923880, 0.000000]]];

I hope that helps you anyway
Leo

3

Dear Leonardo

Thank you for your answer. I finally finished my assignement sucessfuly.
I donA’t remember very well but I think I created a fixed workobjet for the workpiece robot, and this robot was holding the workobject of the other robot, which works with the workpiece.

In my case, one robot holded a workpiece and the other robot worked on it.

I didnA’t underestand completely how multimove menu works and its requirements in that moment.

Otherwise, your answer will be usefull for many people will come here to read. Thank you!