# Working with 2 robots and 1 external axle

**URL:** <https://tech-community.robotics.abb.com/t/working-with-2-robots-and-1-external-axle/5472>\
**Category:** RobotStudio\
**Created:** [April 22, 2013, 2:14pm UTC](https://tech-community.robotics.abb.com/t/working-with-2-robots-and-1-external-axle/5472 "2013-04-22T14:14:08Z")\
**Posts on this page:** 6\
**Page:** 1

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**Author:** ![WindesheimStudent](https://avatars.discourse-cdn.com/v4/letter/w/7cd45c/32.png) [@WindesheimStudent](https://tech-community.robotics.abb.com/u/WindesheimStudent)\
**Post date:** [April 22, 2013, 2:14pm UTC](https://tech-community.robotics.abb.com/t/working-with-2-robots-and-1-external-axle/5472/1 "2013-04-22T14:14:08Z")

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Hello again,

thank you very much for answering my last [question](http://forums.robotstudio.com/discussion/7911/external-axis-wizard-guideusage)!

How ever, I have another question: What are some idea’s to get two robot to work with one external axle?

There are two robots that need to weld under four different angles. To do so I need to turn a mold (with the external axle) to predetermined angles. I’ve made a station with three tasks (two for the robots and one for the axle).

I was wondering if you could set me of the right direction. I’ve considered the following:

- Setting a global variable high at the start of the procedure and turning the axle to the predefined setting.

- Controlling the axle with one robot and align the procedures.

- Time the procedures out and turn the axle after that. (Kind of dumb option and I dislike it.)  
I’m not expecting a working solution just a nudge, or shove, in the right direction 😃

With kind regards,

Leo

PS. If you need any extra information feel free to ask and I’ll get back to you as soon as possible

 ![RobotSystemSetup.png](https://europe1.discourse-cdn.com/flex005/uploads/robotics1/original/1X/bcc1c7ba3cfe44da91bdc77f9dcffb0a3c0e4129.png)

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**Author:** ![Anders\_S](https://avatars.discourse-cdn.com/v4/letter/a/ce7236/32.png) [@Anders\_S](https://tech-community.robotics.abb.com/u/Anders_S)\
**Post date:** [April 23, 2013, 7:16am UTC](https://tech-community.robotics.abb.com/t/working-with-2-robots-and-1-external-axle/5472/2 "2013-04-23T07:16:53Z")

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Hi,

I suggest that you use a MultiMove coordinated system with three motion tasks. Then can you use the MultiMove instructions “WaitSyncTask” etc. for handshaking, and the two robots can weld at the same time coordinated against the positioner.

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**Author:** ![PerSvensson](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/persvensson/32/1040_2.png) [@PerSvensson](https://tech-community.robotics.abb.com/u/PerSvensson)\
**Post date:** [April 24, 2013, 7:14am UTC](https://tech-community.robotics.abb.com/t/working-with-2-robots-and-1-external-axle/5472/3 "2013-04-24T07:14:15Z")

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Hi  
Take a look at the pack&go station Demo Exhaust Pipe2 supplied with the RS installation, can be found in "…\documents\RobotStudio\Stations. It use the multimove instructions to syncronize movements between robots and positioner.  
To look at is  
SyncMoveOn  
SyncMoveOff  
WaitSyncTask

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**Author:** ![WindesheimStudent](https://avatars.discourse-cdn.com/v4/letter/w/7cd45c/32.png) [@WindesheimStudent](https://tech-community.robotics.abb.com/u/WindesheimStudent)\
**Post date:** [April 24, 2013, 10:21am UTC](https://tech-community.robotics.abb.com/t/working-with-2-robots-and-1-external-axle/5472/4 "2013-04-24T10:21:23Z")

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Wow! That demo is exactly what I needed.

Thank you very much

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**Author:** ![GerbenW](https://avatars.discourse-cdn.com/v4/letter/g/54ee81/32.png) [@GerbenW](https://tech-community.robotics.abb.com/u/GerbenW)\
**Post date:** [April 24, 2013, 1:57pm UTC](https://tech-community.robotics.abb.com/t/working-with-2-robots-and-1-external-axle/5472/5 "2013-04-24T13:57:00Z")

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Hello,  
I work on this project with “WindesheimStudent”. But I have a question about the sync. If I add the SyncMoveOn, SyncMoveOff and WaitSyncTask. You have to fill in a SyncID and a Tasklist, but these fields still stays empty.

Kinds Regards,

Gerben

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**Author:** ![KgaOfflineCenter](https://avatars.discourse-cdn.com/v4/letter/k/3bc359/32.png) [@KgaOfflineCenter](https://tech-community.robotics.abb.com/u/KgaOfflineCenter)\
**Post date:** [April 25, 2013, 7:01am UTC](https://tech-community.robotics.abb.com/t/working-with-2-robots-and-1-external-axle/5472/6 "2013-04-25T07:01:58Z")

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Hi,  
The Demo was made in “ArcWeld PowerPac” a powerpac for arc welding. In this software you can create SyncID:s and Tasklist.

![](http://forums.robotstudio.com/utility/thumbnail/19/~cf/FileUpload/b9/9f03105374e273f801f28da16ac68c.jpg)

You can also create these instructions from RobotStudio/MultiMove/Tools:

![](http://forums.robotstudio.com/utility/thumbnail/20/~cf/FileUpload/81/e2ab139da7538abfb232c64c74baaf.jpg)

Best regards / Henrik