Application manual

MultiMove
Trace back information:
Workspace R17-1 version a7
Checked in 2017-03-22
Skribenta version 5.1.011
 Application manual
MultiMove
RobotWare 6.05

Document ID: 3HAC050961-001

Revision: D

© Copyright 2004-2017 ABB. All rights reserved.

The information in this manual is subject to change without notice and should not
be construed as a commitment by ABB. ABB assumes no responsibility for any errors
that may appear in this manual.
Except as may be expressly stated anywhere in this manual, nothing herein shall be
construed as any kind of guarantee or warranty by ABB for losses, damages to
persons or property, fitness for a specific purpose or the like.
In no event shall ABB be liable for incidental or consequential damages arising from
use of this manual and products described herein.
This manual and parts thereof must not be reproduced or copied without ABB's
written permission.
Keep for future reference.
Additional copies of this manual may be obtained from ABB.
Original instructions.

© Copyright 2004-2017 ABB. All rights reserved.

ABB AB, Robotics
Robotics and Motion
Se-721 68 Västerås
Sweden
 Table of contents

Table of contents
Overview of this manual ................................................................................................................... 7
Product documentation, IRC5 .......................................................................................................... 9
Safety ................................................................................................................................................ 11

1 Introduction 13
1.1 About MultiMove ............................................................................................... 13
1.2 Terminology ..................................................................................................... 14
1.3 Example applications ......................................................................................... 15
1.3.1 About the example applications ................................................................. 15
1.3.2 Example "UnsyncArc" .............................................................................. 16
1.3.3 Example "SyncArc" ................................................................................. 17

2 Installation 19
2.1 Hardware installation ......................................................................................... 19
2.1.1 About the hardware installation .................................................................. 19
2.1.2 Connections on the control module ............................................................ 20
2.1.3 Connections on the drive module ............................................................... 25
2.2 Software installation .......................................................................................... 27
2.2.1 Software installation ................................................................................ 27

3 Configuration 29
3.1 Configuration overview ....................................................................................... 29
3.2 System parameters ........................................................................................... 30
3.2.1 Controller topic ...................................................................................... 30
3.2.2 Motion topic ........................................................................................... 32
3.2.3 I/O topic ................................................................................................ 34
3.3 Configuration examples ...................................................................................... 35
3.3.1 Configuration example for "UnsyncArc" ....................................................... 35
3.3.2 Configuration example for "SyncArc" .......................................................... 37
3.3.3 I/O configuration example ......................................................................... 39

4 Calibration 41
4.1 Calibration overview .......................................................................................... 41
4.2 Relative calibration ............................................................................................ 42
4.3 Calibration chains ............................................................................................. 44
4.4 Examples of coordinate systems .......................................................................... 45
4.4.1 Example "UnsyncArc" .............................................................................. 45
4.4.2 Example "SyncArc" ................................................................................. 46

5 User interface specific for MultiMove 47

5.1 FlexPendant for MultiMove system ....................................................................... 47
5.2 Status bar indications ........................................................................................ 48
5.3 Opening the Program Editor ................................................................................ 50
5.4 Production Window ........................................................................................... 51
5.5 Mechanical unit menu ........................................................................................ 52
5.6 Select which tasks to start with START button ........................................................ 53

6 Programming 55
6.1 RAPID components ........................................................................................... 55
6.2 Tasks and programming techniques ..................................................................... 58
6.3 Coordinated work objects ................................................................................... 59
6.4 Independent movements .................................................................................... 60
6.4.1 About independent movements ................................................................. 60
6.4.2 Example "UnsyncArc" with independent movements ..................................... 61

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Table of contents

6.5 Semi coordinated movements ............................................................................. 63

6.5.1 About semi coordinated movements ........................................................... 63
6.5.2 Example "SyncArc" with semi coordinated movements .................................. 64
6.5.3 Considerations and limitations when using semi coordinated movements .......... 69
6.6 Coordinated synchronized movements .................................................................. 71
6.6.1 About coordinated synchronized movements ............................................... 71
6.6.2 Example "SyncArc" with coordinated synchronized movement ........................ 72
6.7 Program execution ............................................................................................ 75
6.7.1 Corner zones .......................................................................................... 75
6.7.2 Synchronization behavior ......................................................................... 77
6.7.3 Dummy instructions ................................................................................. 78
6.7.4 Motion principles ..................................................................................... 79
6.7.5 Modify position ....................................................................................... 80
6.7.6 Moving a program pointer ......................................................................... 81
6.7.7 Tool orientation at circular movements ........................................................ 82
6.7.8 Applications affected by MultiMove ............................................................. 83
6.8 Programming recommendations .......................................................................... 84
6.8.1 Programming recommendations ................................................................ 84

7 RAPID error recovery 87

7.1 Error recovery for MultiMove ............................................................................... 87
7.2 Simple error recovery example ............................................................................ 88
7.3 Asynchronously raised errors ............................................................................. 89
7.4 Example of creating asynchronously raised error .................................................... 91
7.5 Example with movements in error handler ............................................................. 93

8 Running a subset of a MultiMove system 95

8.1 How to continue with one or more drive units inactive. ............................................. 95
8.2 Running a subset in the “Unsync Arc” examples ..................................................... 98

Index 101

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 Overview of this manual

Overview of this manual

About this manual
This manual contains information about the RobotWare optionsMultiMove
Independent and MultiMove Coordinated. The latter includes some extended
functionality. Unless something else is specified, MultiMove refers to both these
options.

Usage
This manual can be used either as a brief description to find out if MultiMove is
the right choice for solving a problem, or as a description of how to use it. This
manual provides information about system parameters and RAPID components
related to MultiMove, and many examples of how to use them. The details regarding
syntax for RAPID components, and similar, are not described here, but can be
found in the respective reference manual.

Who should read this manual?

This manual is mainly intended for robot programmers.

Prerequisites
The reader should...
• be familiar with industrial robots and their terminology.
• be familiar with the RAPID programming language.
• be familiar with system parameters and how to configure them.
• be familiar with the option Multitasking (see Application manual - Engineering
tools).

References

Reference Document ID
Technical reference manual - RAPID overview 3HAC050947-001
Technical reference manual - RAPID Instructions, Functions and 3HAC050917-001
Data types
Technical reference manual - RAPID kernel 3HAC050946-001
Operating manual - IRC5 with FlexPendant 3HAC050941-001
Operating manual - RobotStudio 3HAC032104-001
Product manual - IRC5 3HAC021313-001
Technical reference manual - System parameters 3HAC17076-1
Application manual - Engineering tools 3HAC020434-001
Application manual - Motion functions and events 3HAC18152-1
Application manual - Arc and Arc Sensor 3HAC050988-001
Application manual - Spot options 3HAC050979-001

Continues on next page

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Overview of this manual
Continued

Revisions

Revision Description
- Released with RobotWare 6.0.
A Released with RobotWare 6.01.
• Added information about the Ethernet switch, see Ethernet connections
on page 21.
B Released with RobotWare 6.02.
Section Create a MultiMove system on page 27 updated to use Installation
Manager.
C Released with RobotWare 6.04.
• Minor corrections.
D Released with RobotWare 6.05.
• Minor corrections.

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 Product documentation, IRC5

Product documentation, IRC5

Categories for user documentation from ABB Robotics
The user documentation from ABB Robotics is divided into a number of categories.
This listing is based on the type of information in the documents, regardless of
whether the products are standard or optional.
All documents listed can be ordered from ABB on a DVD. The documents listed
are valid for IRC5 robot systems.

Product manuals
Manipulators, controllers, DressPack/SpotPack, and most other hardware is
delivered with a Product manual that generally contains:
• Safety information.
• Installation and commissioning (descriptions of mechanical installation or
electrical connections).
• Maintenance (descriptions of all required preventive maintenance procedures
including intervals and expected life time of parts).
• Repair (descriptions of all recommended repair procedures including spare
parts).
• Calibration.
• Decommissioning.
• Reference information (safety standards, unit conversions, screw joints, lists
of tools).
• Spare parts list with exploded views (or references to separate spare parts
lists).
• Circuit diagrams (or references to circuit diagrams).

Technical reference manuals

The technical reference manuals describe reference information for robotics
products.
• Technical reference manual - Lubrication in gearboxes: Description of types
and volumes of lubrication for the manipulator gearboxes.
• Technical reference manual - RAPID overview: An overview of the RAPID
programming language.
• Technical reference manual - RAPID Instructions, Functions and Data types:
Description and syntax for all RAPID instructions, functions, and data types.
• Technical reference manual - RAPID kernel: A formal description of the
RAPID programming language.
• Technical reference manual - System parameters: Description of system
parameters and configuration workflows.

Continues on next page

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Product documentation, IRC5
Continued

Application manuals
Specific applications (for example software or hardware options) are described in
Application manuals. An application manual can describe one or several
applications.
An application manual generally contains information about:
• The purpose of the application (what it does and when it is useful).
• What is included (for example cables, I/O boards, RAPID instructions, system
parameters, DVD with PC software).
• How to install included or required hardware.
• How to use the application.
• Examples of how to use the application.

Operating manuals
The operating manuals describe hands-on handling of the products. The manuals
are aimed at those having first-hand operational contact with the product, that is
production cell operators, programmers, and trouble shooters.
The group of manuals includes (among others):
• Operating manual - Emergency safety information
• Operating manual - General safety information
• Operating manual - Getting started, IRC5 and RobotStudio
• Operating manual - IRC5 Integrator's guide
• Operating manual - IRC5 with FlexPendant
• Operating manual - RobotStudio
• Operating manual - Trouble shooting IRC5

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 Safety

Safety
Safety of personnel
A robot is heavy and extremely powerful regardless of its speed. A pause or long
stop in movement can be followed by a fast hazardous movement. Even if a pattern
of movement is predicted, a change in operation can be triggered by an external
signal resulting in an unexpected movement.
Therefore, it is important that all safety regulations are followed when entering
safeguarded space.

Safety regulations
Before beginning work with the robot, make sure you are familiar with the safety
regulations described in the manual Operating manual - General safety information.

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 1 Introduction
1.1 About MultiMove

1 Introduction
1.1 About MultiMove

Purpose
The purpose of MultiMove is to let one controller handle several robots. This does
not only save on hardware costs, it also allows advanced coordination between
different robots and other mechanical units.
Here are some examples of applications:
• Several robots can work on the same moving work object.
• One robot can move a work object while other robots work on it.
• Several robots can cooperate to lift heavy objects.

Included functionality
MultiMove allows up to 6 tasks to be motion tasks (task that has move instructions).
Since no more than 4 drive modules can be used, a controller can handle up to 4
robots. However, additional axes can be handled by separate tasks up to a total
of 6 motion tasks.
Both MultiMove options allow you to implement:
• Independent movements (see Independent movements on page 60)
• Semi coordinated movements (see Semi coordinated movements on page 63)
In addition to what is mentioned above, the option MultiMove Coordinated allows
you to implement:
• Coordinated synchronized movements (see Coordinated synchronized
movements on page 71)

Included options
If you have MultiMove, you automatically have access to some options that are
necessary in order to use MultiMove.
MultiMove always includes the option:
• Multitasking
In addition to what is mentioned above, MultiMove Coordinated includes the option:
• Multiple Axis Positioner

Basic approach
This is the general approach for setting up a MultiMove system.
1 Install hardware and software (see Installation on page 19).
2 Configure system parameters (see Configuration on page 29).
3 Calibrate coordinate systems (see Calibration on page 41).
4 Write RAPID program for each task (see Programming on page 55).

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1 Introduction
1.2 Terminology

1.2 Terminology

About these terms

Some words have a specific meaning when used in this manual. It is important to
understand exactly what is meant by these words. This manual's definition of these
words are listed below.

Term list

Term Explanation
Coordination A robot that is coordinated to a work object will follow the
movements of that work object.
Synchronization Movements that are simultaneous. Synchronization refers
to a similarity in time, not in room coordinates.
Positioner A mechanical unit without TCP, which can only handle joint
movements. A positioner is a mechanical unit, with one or
several axes, that holds and moves a work object.
Robot A mechanical unit with TCP, which can be programmed in
Cartesian coordinates (x, y and z).
Task program The same as a program. It is just a way of specifying that it
is a program for one specific task.

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 1 Introduction
1.3.1 About the example applications

1.3 Example applications

1.3.1 About the example applications

Three consistent examples

In this manual there are many examples (for configuration, RAPID code etc.). Every
example is created for one of three physical robot systems. These example robot
system setups are called "UnsyncArc", "SyncArc" and "SyncSpot" and will help
you understand what kind of robot system an example is made for. The examples
are also consistent, i.e. the RAPID code example for "SyncSpot" is made for a
robot system configured as the configuration example for "SyncSpot".

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1 Introduction
1.3.2 Example "UnsyncArc"

1.3.2 Example "UnsyncArc"

About example "UnsyncArc"

In this example, two robots work independently on one work piece for each robot.
They do not cooperate in any way and do not have to wait for each other.

Illustration

xx0300000590

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 1 Introduction
1.3.3 Example "SyncArc"

1.3.3 Example "SyncArc"

About example "SyncArc"

In this example, two robots perform arc welding on the same work piece. The work
object is rotated by a positioner.

Illustration

xx0300000594

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 2 Installation
2.1.1 About the hardware installation

2 Installation
2.1 Hardware installation

2.1.1 About the hardware installation

Overview
A controller that handles several robots needs extra drive modules (one drive
module per robot). Up to four drive modules can be used, including the one
assembled with the control module.

xx0400001042

One Ethernet cable and one safety signal cable for each additional drive module
must be connected to the control module. A MultiMove control module is equipped
with an extra Ethernet switch to communicate with the additional drive modules.
This manual only describes what is specific for a MultiMove installation. For more
information about installation and commissioning of the controller, see Product
manual - IRC5.

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2 Installation
2.1.2 Connections on the control module

2.1.2 Connections on the control module

Connect drive modules to the control module

At delivery, both the Ethernet cable and the safety signal cable are connected to
the drive module. They are also attached to a shield plate that fits in the slot of the
control module.
Remove the cover from an empty slot and fit the shield plate of the communication
cables in its place. Connect the Ethernet cable according to Ethernet connections
on page 21 and safety signal cable according to Safety signal connections on
page 23.

DSQC1000
A B C D

xx1400000408

A MultiMove Ethernet switch DSQC1007 (3HAC045976-001)

B Main computer DSQC1000
C Panel board DSQC 643
D Slots for inserting communication cables into the control cabinet

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 2 Installation
2.1.2 Connections on the control module
Continued

DSQC 639

xx0600002780

A Front view of single cabinet controller

B Back view of single cabinet controller
C Robot communication card
D Ethernet card (only present if more than one drive module is used)
E Panel board
F Slots for inserting communication cables into the control cabinet

Ethernet connections
Connect the Ethernet cables according to the following figure:

Note

It is important that the right drive module is connected to the right Ethernet
connection. If the order of the Ethernet connections do not match the selections
made in Installation Manager (see Create a MultiMove system on page 27), the
robot configuration will not correlate to the correct robot.

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2 Installation
2.1.2 Connections on the control module
Continued

DSQC1000

E 5

D 4

C 3

B 2

A 1

xx1400000409

A Ethernet connection to drive module #1 (already connected at delivery)

B Ethernet connection to drive module #2
C Ethernet connection to drive module #3
D Ethernet connection to drive module #4
E Ethernet connection between the MultiMove switch and the main computer
(already connected at delivery)

Note

The Ethernet switch is mandatory for MultiMove, also when running MultiMove
with only one axis computer in the system. For example, when running MultiMove
on one robot together with a positioner or additional axes.

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 2 Installation
2.1.2 Connections on the control module
Continued

DSQC 639

xx0400001141

A Robot communication card

B Ethernet card
C Ethernet connection to drive module #1 (already connected at delivery)
D Ethernet connection to drive module #2
E Ethernet connection to drive module #3
F Ethernet connection to drive module #4

Safety signal connections

The safety signal cable from a drive unit is connected to the Panel board according
to the following figure:

xx0400001295

X7 Connector for safety signal cable to drive module #1(already connected at deliv-
ery)

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2 Installation
2.1.2 Connections on the control module
Continued

X8 Connector for safety signal cable to drive module #2

X14 Connector for safety signal cable to drive module #3
X17 Connector for safety signal cable to drive module #4

Remove the jumper connector and replace it with the safety signal cable.

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 2 Installation
2.1.3 Connections on the drive module

2.1.3 Connections on the drive module

Already connected at delivery

When a MultiMove system is delivered from ABB, the Ethernet cable and the safety
signal cable are already connected to the drive module. You only need to know
how these cables are connected if you are going to change the hardware
configuration or replace parts.

Connect the cables from the control module

B
xx0600002787

A Ethernet connection
B Contactor interface board

Connect the Ethernet cable to the Ethernet connection marked Computer module
link. Connect the safety signal cable according to Safety signal connection on
page 26.

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2 Installation
2.1.3 Connections on the drive module
Continued

Safety signal connection

The safety signal cable is connected to the Contactor interface board (A43),
connector X1. There is also a connector that needs to be connected to a cable with
a connector marked K41.X1.

A43

K41.X1

X1

xx0600002786

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 2 Installation
2.2.1 Software installation

2.2 Software installation

2.2.1 Software installation

Install RobotStudio and RobotWare

Installation of RobotStudio and RobotWare on a PC is described in Operating
manual - Getting started, IRC5 and RobotStudio.

Create a MultiMove system

Creating a new system is described in Operating manual - RobotStudio. Select the
MultiMove option under System Options.
What is specific for a MultiMove system is that in the tab Drive Modules, one robot
should be selected for each drive module.

xx1500000865

A One tab for each drive module

Automatic configurations at installation

When creating a system, some configurations are automatically set up according
to information from your license. For each robot, the following are created:
• Task
• Mechanical Unit Group
• Mechanical Unit
• Motion Planner
For more information about these system parameter types, see System parameters
on page 30.

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2 Installation
2.2.1 Software installation
Continued

CAUTION

A motion planner (type Motion Planner), created by the installation process, is

configured to optimize the movement for its specific robot. If the default
configuration is changed so that a robot uses the wrong motion planner, the
robot motion will be affected.

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 3 Configuration
3.1 Configuration overview

3 Configuration
3.1 Configuration overview

About the system parameters

This chapter contains a brief description of each parameter that is specific for
MultiMove. Parameters that are used the same way as for a single robot system
are not mentioned here.
For more information about system parameters, see Technical reference
manual - System parameters.

About the examples

The first three examples cover the topics Controller and Motion, since these are
related to the physical constellation of the robot system. The last example covers
the topic I/O System, which is handled similarly regardless of the robot system.

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3 Configuration
3.2.1 Controller topic

3.2 System parameters

3.2.1 Controller topic

Task
These parameters belong to the type Task in the topic Controller:
Parameter Description
Task The name of the task.
Note that the name of the task must be unique. This means that it cannot
have the same name as the mechanical unit, and no variable in the
RAPID program can have the same name.
Type Controls the start/stop and system restart behavior:
• NORMAL - The task program is manually started and stopped
(e.g. from the FlexPendant). The task stops at emergency stop.
• STATIC - At a restart the task program continues from where it
was. The task program cannot be stopped from the FlexPendant
or by emergency stop.
• SEMISTATIC - The task program starts from the beginning at re-
start. The task program cannot be stopped from the FlexPendant
or by emergency stop.
A task that controls a mechanical unit must be of the type NORMAL.
MotionTask Indicates whether the task program can control a mechanical unit with
RAPID move instructions.
Use Mechanical Defines which mechanical unit group is used for the task.
Unit Group Use Mechanical Unit Group refers to the parameter Name for the type
Mechanical Unit Group.
A motion task (MotionTask set to Yes) controls the mechanical units in
the mechanical unit group. A non-motion task (MotionTask set to No)
will still be able to read values (e.g. the TCP position) for the active
mechanical units in the mechanical unit group.
Note that Use Mechanical Unit Group must be defined for all tasks, even
if the task does not control any mechanical unit.

Mechanical Unit Group

A mechanical unit group must contain at least one mechanical unit, robot or other
mechanical unit (i.e. both Robot and Mech Unit 1 cannot be left empty).
These parameters belong to the type Mechanical Unit Group in the topic Controller:
Parameter Description
Name The name of the mechanical unit group.
Robot Specifies the robot (with TCP), if there is any, in the mechanical unit group.
Robot refers to the parameter Name for the type Mechanical Unit in the
topic Motion.
Mech Unit 1 Specifies a mechanical unit without TCP, if there is any, in the mechanical
unit group.
Mech Unit 1 refers to the parameter Name for the type Mechanical Unit in
the topic Motion.
Mech Unit 2 Specifies the second mechanical unit without TCP, if there are more than
one, in the mechanical unit group.
Mech Unit 2 refers to the parameter Name for the type Mechanical Unit
in the topic Motion.

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 3 Configuration
3.2.1 Controller topic
Continued

Parameter Description
Mech Unit 3 Specifies the third mechanical unit without TCP, if there are more than two,
in the mechanical unit group.
Mech Unit 3 refers to the parameter Name for the type Mechanical Unit
in the topic Motion.
Mech Unit 4 Specifies the forth mechanical unit without TCP, if there are more than
three, in the mechanical unit group.
Mech Unit 4 refers to the parameter Name for the type Mechanical Unit in
the topic Motion.
Mech Unit 5 Specifies the fifth mechanical unit without TCP, if there are more than four,
in the mechanical unit group.
Mech Unit 5 refers to the parameter Name for the type Mechanical Unit in
the topic Motion.
Mech Unit 6 Specifies the sixth mechanical unit without TCP, if there are more than
five, in the mechanical unit group.
Mech Unit 6 refers to the parameter Name for the type Mechanical Unit in
the topic Motion.
Use Motion Defines which motion planner is used for calculating the movements of
Planner this mechanical unit group.
Use Motion Planner refers to the parameter Name for the type Motion
Planner in the topic Motion.

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3 Configuration
3.2.2 Motion topic

3.2.2 Motion topic

Drive Module User Data

If a drive module should be disconnected without disturbing robots and additional
axes connected to other drive modules in the robot system, then use the Drive
Module Disconnect function.
This parameter belongs to the type Drive Module User Data in the topic Motion.
Parameter Description
Allow Drive Module Discon- Set Allow Drive Module Disconnect to TRUE to disconnect the
nect drive module.

Mechanical Unit
No parameters of type Mechanical Unit can be edited for a robot. They can only
be edited for additional axes.
These parameters belong to the type Mechanical Unit in the topic Motion:
Parameter Description
Name The name of the mechanical unit.
Allow move of user frame Indicates if the mechanical unit should be allowed to move user
frames.
Activate at Start Up Indicates if the mechanical unit should be active when the con-
troller starts up.
In a single robot system, the robot is always active. In a Mul-
tiMove system, any mechanical unit (including robots) can be
inactive at start up and be activated later.
Deactivation Forbidden Indicates if it should be possible to deactivate the mechanical
unit.
In a single robot system it is not possible to deactivate a robot.
In a MultiMove system, one robot can be deactivated while an-
other is still active.

Motion Planner
A motion planner calculates the movements of a mechanical unit group. When
several tasks are in synchronized movement mode they use the same motion
planner (the first of the involved motion planners), see pictures in the following
examples.
At installation a Motion Planner is set up for each robot. The Motion Planner is
configured to optimize the motion for that specific robot. Do not change connection
between robot and Motion Planner.
These parameters belong to the type Motion Planner in the topic Motion:
Parameter Description
Name The name of the motion planner.

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 3 Configuration
3.2.2 Motion topic
Continued

Parameter Description
Speed Control Warning In synchronized movement mode, the speed of one robot can
be slower than the programmed speed. This is because another
robot might limit the speed (e.g. if the other robot has a longer
path). If Speed Control Warning is set to Yes, a warning will be
given when the robot moves slower than the programmed speed,
in relation to the work object.
Speed Control Warning is only used to supervise TCP speed,
i.e. the speed of an additional axis is not supervised.
Speed Control Percent If Speed Control Warning is set to Yes, a warning will be issued
when the actual speed is slower than this percentage of the
programmed speed.

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3 Configuration
3.2.3 I/O topic

3.2.3 I/O topic

Systems with several robots

Configuring I/O for a system with several robots is usually no different from a single
robot system. However, for some system inputs and system outputs there is a
need to specify which task or which robot it refers to. This is a description of the
system parameters used to specify which task a system input is valid for, or which
robot a system output is valid for. It is also explained when they have to be used.
For more information, see Technical reference manual - System parameters.

System Input
These parameters belong to the type System Input in the topic I/O.
Parameter Description
Argument 2 Specifies which task this system input should affect.
If the parameter Action is set to Interrupt or Load and Start, then Argument
2 must specify a task. All other values for Action results in a system input
that is valid for all tasks, and Argument 2 is not required.
Argument 2 refers to the parameter Task for the type Task.

System Output
These parameters belong to the type System Output in the topic I/O.
Parameter Description
Argument Specifies which mechanical unit the system output refers to.
If the parameter Status is set to TCP Speed, TCP Speed Reference or
Mechanical Unit Active, then Argument must specify a mechanical unit.
For all other values for Status the system output does not refer to a single
robot, and Argument is not required.
Argument refers to the parameter Name for the type Mechanical Unit in
the topic Motion.

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 3 Configuration
3.3.1 Configuration example for "UnsyncArc"

3.3 Configuration examples

3.3.1 Configuration example for "UnsyncArc"

About this example

This is an example of how to configure example "UnsyncArc", two independent
robots. The robots are handled by one task each.

Task

Task Type MotionTask Use Mechanical Unit Group

T_ROB1 NORMAL Yes rob1
T_ROB2 NORMAL Yes rob2

Mechanical Unit Group

Name Robot Mech Unit 1 Use Motion Planner

rob1 ROB_1 motion_planner_1
rob2 ROB_2 motion_planner_2

Motion Planner

Name Speed Control Warning

motion_planner_1 No
motion_planner_2 No

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3 Configuration
3.3.1 Configuration example for "UnsyncArc"
Continued

Illustration

en0400000773

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 3 Configuration
3.3.2 Configuration example for "SyncArc"

3.3.2 Configuration example for "SyncArc"

About this example

This is an example of how to configure example "SyncArc", two robots and a
positioner. These three mechanical units are handled by one task each.

Task

Task Type MotionTask Use Mechanical Unit Group

T_ROB1 NORMAL Yes rob1
T_ROB2 NORMAL Yes rob2
T_STN1 NORMAL Yes stn1

Mechanical Unit Group

Name Robot Mech Unit 1 Use Motion Planner

rob1 ROB_1 motion_planner_1
rob2 ROB_2 motion_planner_2
stn1 STN_1 motion_planner_3

Motion Planner

Name Speed Control Warning Speed Control Percent

motion_planner_1 Yes 90
motion_planner_2 Yes 90
motion_planner_3 No

Mechanical Unit

Name Allow move of user Activate at Start Up Deactivation Forbidden

frame
ROB_1 Yes Yes Yes
ROB_2 Yes Yes Yes
STN_1 Yes Yes No

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3 Configuration
3.3.2 Configuration example for "SyncArc"
Continued

Illustration

en0400000774

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 3 Configuration
3.3.3 I/O configuration example

3.3.3 I/O configuration example

About this example

This is an example of how to configure some I/O signals that require an argument
for task or robot. This example is based on the example "SyncArc".
The input signal di_position is set up to interrupt the program execution and
call the routine SetStartPosition in the task T_STN1. The output signal
ao_speed1 is configured to indicate the speed of robot 1, and ao_speed2 to
indicate the speed of robot 2.

System Input

Signal Name Action Argument Argument 2

di_position Interrupt SetStartPosition T_STN1

System Output

Status Signal Name Argument

TCP Speed ao_speed1 ROB_1
TCP Speed ao_speed2 ROB_2

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This page is intentionally left blank
 4 Calibration
4.1 Calibration overview

4 Calibration
4.1 Calibration overview

Two types of calibration

There are two types of calibration that must be done for a robot system:
1 Joint calibration ensures that all axes are in correct position. Normally this
is done before delivery of a new robot and only requires recalibration after
repairing the robot. For more information, see the product manual for the
respective robot.
2 Calibration of coordinate systems must be made when the robot is in place.
A brief description of what coordinate systems to calibrate and in which order
is presented below.

Calibrate coordinate systems

First of all you must decide what coordinate systems to use and how to place their
origins and directions. For examples of suitable coordinate systems, see Examples
of coordinate systems on page 45.
The coordinate systems are then calibrated in the following order:
Action
1 Calibrate the tool. This includes calibration of TCP and load data. For description
of how to calibrate the tool, see Operating manual - IRC5 Integrator's guide.
2 Calibrate the base coordinate system, relative to the world coordinate system, for
all the robots. For description of how to calibrate the base coordinate system for
a robot, see Operating manual - IRC5 Integrator's guide.
If one robot already has a calibrated base coordinate system, the base coordinate
system for another robot can be calibrated by letting the TCPs of the two robots
meet at several points. This method is described in Relative calibration on page 42.
3 Calibrate the base coordinate systems, relative to the world coordinate system,
for the positioners. For description of how to calibrate the base coordinate system
for a positioner, see Application manual - Additional axes and stand alone controller.
4 Calibrate a user coordinate system, relative to the world coordinate system. For
description of how to calibrate a user coordinate system, see Operating manu-
al - IRC5 Integrator's guide.
5 Calibrate an object coordinate system, relative to the user coordinate system. For
description of how to calibrate an object coordinate system, see Operating manu-
al - IRC5 Integrator's guide.

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4 Calibration
4.2 Relative calibration

4.2 Relative calibration

What is relative calibration

Relative calibration is used to calibrate the base coordinate system of one robot,
using a robot that is already calibrated. This calibration method can only be used
for a MultiMove system where two robots are placed close enough to have some
part of their working areas in common.
If one robot has a base coordinate system that is identical with the world coordinate
system, this robot can be used as a reference for another robot. If no robot has a
base coordinate system that is identical with the world coordinate system, the base
coordinate system for one robot must be calibrated first. For information about
other calibration methods, see Operating manual - IRC5 Integrator's guide.

How to perform relative calibration

The tools for both robots must be correctly calibrated before using relative
calibration, and those tools must be active during calibration.
Action Info/illustration
1 In the ABB menu, select Calibration.
2 Tap on the robot you want to calib-
rate.
3 If present, tap Manual Method (Ad-
vanced).
4 Tap Base Frame.

en0400000790

5 Tap Relative n points.

6 If you have more than two robots, you
must select which robot to use as
reference.
If you only have two robots, this step
is skipped.

Continues on next page

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 4 Calibration
4.2 Relative calibration
Continued

Action Info/illustration
7 The calibration can be performed with
between 3 and 10 points. Select how
many you want to use in Number of
Points.
To get adequate accuracy, at least 5
points is recommended.

en0400000791

8 Select Point 1.
9 Jog the robot you want to calibrate
and the reference robot so that both
TCPs are in the same point.
xx0400000785

10 Tap on Modify Position.

11 Repeat step 7-9 for all the points.
Make sure that the points are spread
out in both x, y and z coordinates. If,
for example, all point are at the same
height, the z coordinate will be poorly
calibrated.
12 Tap OK. The calibration result is shown.
13 Tap OK to accept the calibration.
14 Restart the controller.

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4 Calibration
4.3 Calibration chains

4.3 Calibration chains

Avoid long chains of calibrations

If a robot that is calibrated with relative calibration acts as reference in the next
calibration, the inaccuracies in the calibrations are added for the last robot.

Example
You have four robots, where robot 1 holds a work piece that robots 2, 3 and 4 work
on.

xx0400000901

Calibrate robot 2, 3 and 4 against robot 1.

If you would use robot 1 as reference for robot 2, robot 2 as reference for robot 3
and robot 3 as reference for robot 4, the accuracy for robot 4 would be poor.

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 4 Calibration
4.4.1 Example "UnsyncArc"

4.4 Examples of coordinate systems

4.4.1 Example "UnsyncArc"

About this example

In this example, the world coordinate system and the base coordinate system for
robot 1 (A) are identical.
The base coordinate system for robot 2 (B) is defined. Both robots have a user
coordinate system with the origin in a table corner. An object coordinate system
is defined for each robot's work object.

Illustration

xx0300000591

Coordinate systems

Item Description
A Robot 1
B Robot 2
1 World coordinate system
2 Base coordinate system for robot 1
3 Base coordinate system for robot 2
4 User coordinate system for both robots
5 Object coordinate system for robot 1
6 Object coordinate system for robot 2

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4 Calibration
4.4.2 Example "SyncArc"

4.4.2 Example "SyncArc"

About this example

In this example, the world coordinate system and the base coordinate system for
robot 1 (A) are identical.
The base coordinate system for robot 2 (B) is defined. A user coordinate system
is defined to be connected to the rotating axis of the positioner. An object coordinate
system is defined to be fixed to the work object held by the positioner.

Illustration

xx0300000595

Coordinate systems

Item Description
A Robot 1
B Robot 2
1 World coordinate system
2 Base coordinate system for robot 1
3 Base coordinate system for robot 2
4 Base coordinate system for positioner
5 User coordinate system for both robots
6 Object coordinate system for both robots

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 5 User interface specific for MultiMove
5.1 FlexPendant for MultiMove system

5 User interface specific for MultiMove

5.1 FlexPendant for MultiMove system

About FlexPendant for MultiMove system

Working with the FlexPendant in a MultiMove system is not very different from a
single robot system. This chapter will explain a few things that are specific for a
MultiMove system. For general information about the FlexPendant, see Operating
manual - IRC5 with FlexPendant.

What is specific for MultiMove?

Some things that are specific for MultiMove are:
• The status bar shows which robots (and additional axes) are coordinated.
See Status bar indications on page 48.
• When opening the program editor, you must select a task. See Opening the
Program Editor on page 50.
• The Production window contains tabs for different tasks. See Production
Window on page 51.
• The mechanical unit menu can contain several robots. See Mechanical unit
menu on page 52.
• You can select which tasks to execute at start. See Select which tasks to
start with START button on page 53.
• There is an additional method for calibrating a robot base frame, relative
calibration. See Relative calibration on page 42.

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5 User interface specific for MultiMove
5.2 Status bar indications

5.2 Status bar indications

Symbol descriptions
On the right side of the status bar, at the top of the FlexPendant, there are symbols
for the mechanical units in the system.
Symbol Description
A robot that is not the selected mechanical unit, or coordinated with the se-
lected mechanical unit. Jogging will not move this robot.

xx0400001165

A robot that is the selected mechanical unit, or coordinated with the selected
mechanical unit. Jogging will move this robot (together with any other coordin-
ated mechanical units).

xx0400001166

A robot belonging to an inactive task. For deactivation of tasks, see Select

which tasks to start with START button on page 53.

xx0400001167

An additional axis that is not the selected mechanical unit, or coordinated

with the selected mechanical unit. Jogging will not move this additional axis.

xx0400001168

An additional axis that is the selected mechanical unit, or coordinated with

the selected mechanical unit. Jogging will move this additional axis (together
with any other coordinated mechanical units).
xx0400001169

An additional axis that is not active. Either the mechanical unit is deactivated,
or the task inactive.

xx0400001170

Example

en0400001158

This is an example of a MultiMove system with 4 robots and 2 additional axes,

where...
• robot 1 belongs to a task that is inactive.
• robot 2 is not selected or coordinated with the selected unit (not affected by
jogging).

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 5 User interface specific for MultiMove
5.2 Status bar indications
Continued

• additional axis 1 is selected mechanical unit and robot 3 and 4 are coordinated
with additional axis 1. Any jogging at this point will move these three
mechanical units.
• additional axis 2 is deactivated, or its task inactive.

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5 User interface specific for MultiMove
5.3 Opening the Program Editor

5.3 Opening the Program Editor

Select task
When opening the Program Editor for a system with more than one task, a list of
all the tasks will be displayed. By tapping the task you want, the program code for
that task is displayed.
For a system with only one task, this list is never shown. The program code is
shown directly.

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 5 User interface specific for MultiMove
5.4 Production Window

5.4 Production Window

The graphical display

In a system with more than one motion task there will be one tab for each motion
task. By tapping a tab, you can see the program code for that task and where the
program pointer and motion pointer are in that task.

en0400000796

Move program pointer

If you tap Move PP To Main, the program pointer will be moved to main for all
motion task programs.

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5 User interface specific for MultiMove
5.5 Mechanical unit menu

5.5 Mechanical unit menu

The graphical display

In the QuickSet menu, tap the Mechanical unit menu button. All mechanical units
will be shown.

en0400000789

The selected mechanical unit is highlighted with a frame around it.

Any mechanical unit that is coordinated with the selected unit will be indicated with
a flashing frame and the text Coord.

Jogging coordinated or uncoordinated

Jogging a mechanical unit will automatically move all units that are coordinated
with it.
In the example above, jogging STN_1 will move ROB_1 and ROB_2 as well, since
they are coordinated with STN_1 (the work object wobj_stn1 is moved by STN_1).
To be able to jog STN_1 without moving the robots, change the coordinate system
for the robots to world coordinates or change the work object for the robots to
wobj0. For more information about work objects being coordinated with a
mechanical unit, see Coordinated work objects on page 59.

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 5 User interface specific for MultiMove
5.6 Select which tasks to start with START button

5.6 Select which tasks to start with START button

Background
The default behavior is that the programs of all NORMAL tasks are started
simultaneously when pressing the START button. However, not all NORMAL task
programs need to run at the same time. It is possible to select which of the NORMAL
task programs will start when pressing the START button.
If All Tasks is selected in the Task Panel Settings, the programs of all STATIC
and SEMISTATIC tasks with TrustLevel set to NoSafety can be selected to be
started with the START button, forward stepped with the FWD button, backward
stepped with the BWD button, and stopped with the STOP button.
If Task Panel Settings is set to Only Normal tasks, all STATIC and SEMISTATIC
tasks are greyed out and cannot be selected in the task panel, Quickset menu (see
Operating manual - IRC5 with FlexPendant, section Quickset menu). All STATIC
and SEMISTATIC tasks will be started if the start button is pressed.
If Task Panel Settings is set to All tasks, STATIC and SEMISTATIC tasks with
TrustLevelNoSafety can be selected in the task panel. All selected STATIC and
SEMISTATIC tasks can be stopped, stepped, and started. .
A STATIC or SEMISTATIC task, not selected in the task panel, can still be executing.
This is not possible for a NORMAL task.
Run Mode is always continuous for STATIC and SEMISTATIC tasks. The Run Mode
setting in the Quickset menu is only applicable for NORMAL tasks (see Operating
manual - IRC5 with FlexPendant, section Quickset menu).
This will only work in manual mode, no STATIC or SEMISTATIC task can be started,
stepped, or stopped in auto mode.

Task Panel Settings

To start the Task Panel Settings, tap the ABB menu, and then Control Panel,
FlexPendant and Task Panel Settings.

Selecting tasks
Use this procedure to select which of the tasks are to be started with the START
button.
Action
1 Set the controller to manual mode.
2 On the FlexPendant, tap the QuickSet button and then the tasks panel button to show
all tasks.
If Task Panel Settings is set to Only Normal tasks, all STATIC and SEMISTATIC tasks
are greyed out and cannot be selected.
If Task Panel Settings is set to All tasks, STATIC and SEMISTATIC tasks with Trust-
LevelNoSafety can be selected, while STATIC and SEMISTATIC tasks with TrustLevel
set to other values are grayed out and cannot be selected.
3 Select the check boxes for the tasks whose program should be started by the START
button.

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5 User interface specific for MultiMove
5.6 Select which tasks to start with START button
Continued

Resetting debug settings in manual mode

Use this procedure to resume normal execution manual mode.
Action
1 Select Only Normal tasks in the Task Panel Settings.
2 Press START button.
All STATIC and SEMISTATIC will run continuously and not be stopped by the STOP
button or emergency stop.

Switching to auto mode

When switching to auto mode, all STATIC and SEMISTATIC tasks will be deselected
from the tasks panel. The stopped STATIC and SEMISTATIC tasks will start next
time any of the START, FWD or BWD button are pressed. These tasks will then
run continuously forward and not be stopped by the STOP button or emergency
stop.
What happens with NORMAL tasks that has been deselected in the tasks panel
depends on the system parameter Reset in type Auto Condition Reset in topic
Controller. If Reset is set to Yes, all NORMAL tasks will be selected in the tasks
panel and be started with the START button. If Reset is set to No, only those
NORMAL tasks selected in tasks panel will be started by the START button.

Note

Note that changing the value of the system parameter Reset will affect all the
debug resettings (for example speed override and simulated I/O). For more
information, see Technical reference manual - System parameters, section Auto
Condition Reset.

Restarting the controller

If the controller is restarted, all NORMAL tasks will keep their status while all
STATIC and SEMISTATIC tasks will be deselected from the tasks panel. As the
controller starts up all STATIC and SEMISTATIC tasks will be started and then run
continuously.

Deselect task in synchronized mode

If a task is in a synchronized mode, that is program pointer between SyncMoveOn
and SyncMoveOff, the task can be deselected but not reselected. The task cannot
be selected until the synchronization is terminated. If the execution continues, the
synchronization will eventually be terminated for the other tasks, but not for the
deselected task. The synchronization can be terminated for this task by moving
the program pointer to main or to a routine.
If the system parameter Reset is set to Yes, any attempt to change to Auto mode
will fail while a deselected task is in synchronized mode. Changing to Auto mode
should make all NORMAL tasks selected, and when this is not possible it is not
possible to change to Auto mode.

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 6 Programming
6.1 RAPID components

6 Programming
6.1 RAPID components

Data types
This is a brief description of each data type in MultiMove. For more information,
see the respective data type in Technical reference manual - RAPID Instructions,
Functions and Data types.
Data type Description
syncident A variable of the data type syncident is used to identify which
WaitSyncTask, SyncMoveOn or SyncMoveOff instructions, in the differ-
ent task programs, should be synchronized with each other.
The name of the syncident variable must be the same in all task pro-
grams.
Declare syncident variables globally in each task. Do not reuse a
syncident variable (each WaitSyncTask, SyncMoveOn and
SyncMoveOff in a task program should have a unique syncident).
tasks A persistent variable of the data type tasks contains names of the tasks
that will be synchronized with WaitSyncTask or SyncMoveOn.
The tasks variable must be declared as system global (persistent)
variable, with the same name and the same content in all task programs.
identno A numeric value or a variable of type identno is used in the argument
ID of any move instructions executed between the SyncMoveOn and
SyncMoveOff instructions.

System data
System data is predefined, internal data of the robot. A system data can be read,
but not changed, from a RAPID program. For more information, see Technical
reference manual - RAPID Instructions, Functions and Data types.
System data Description
ROB_ID Reference to the robot (if any) controlled by the task.
If used from a task that does not control a robot, an error will occur. Al-
ways use TaskRunRob() to check this before using ROB_ID.

Instructions
This is a brief description of each instruction in MultiMove. For more information,
see the respective instruction in Technical reference manual - RAPID Instructions,
Functions and Data types.
Instruction Description
WaitSyncTask WaitSyncTask is used to synchronize several task programs at a special
point in the program.
A WaitSyncTask instruction will wait for the other task programs. When
all task programs have reached the WaitSyncTask instruction, they
will continue their execution.

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6 Programming
6.1 RAPID components
Continued

Instruction Description
SyncMoveOn SyncMoveOn is used to start synchronized movement mode.
A SyncMoveOn instruction will wait for the other task programs. When
all task programs have reached the SyncMoveOn, they will continue
their execution in synchronized movement mode. The move instructions
in the different task programs are executed simultaneously, until the
instruction SyncMoveOff is executed.
A stop point must be programmed before the SyncMoveOn instruction.
SyncMoveOff SyncMoveOff is used to end synchronized movement mode.
A SyncMoveOff instruction will wait for the other task programs. When
all task programs have reached the SyncMoveOff, they will continue
their execution in unsynchronized mode.
A stop point must be programmed before the SyncMoveOff instruction.
SyncMoveUndo SyncMoveUndo is used to turn off synchronized movements, even if not
all the other task programs execute the SyncMoveUndo instruction.
SyncMoveUndo is intended for UNDO handlers. When the program
pointer is moved from the procedure, SyncMoveUndo is used to turn off
the synchronization.
MoveExtJ MoveExtJ (Move External Joints) moves one or several mechanical
units without TCP.
MoveExtJ is used to move additional axes, in a task without any robot.

Functions
This is a brief description of each function in MultiMove. For more information, see
the respective function in Technical reference manual - RAPID Instructions,
Functions and Data types.
Function Description
IsSyncMoveOn IsSyncMoveOn is used to tell if the mechanical unit group is in synchron-
ized movement mode.
A task that does not control any mechanical unit can find out if the
mechanical units defined in the parameter Use Mechanical Unit Group
are in synchronized movement mode.
RobName RobName is used to get the name of the robot controlled by the task. It
returns the mechanical unit name as a string. If called from a task that
does not control a robot, an empty string is returned.

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 6 Programming
6.1 RAPID components
Continued

Synchronizing argument
This is a brief description of the arguments used by move instructions to facilitate
the synchronization between tasks. For more information, see any move instruction
in Technical reference manual - RAPID Instructions, Functions and Data types.
Argument Description
ID All move instructions executed between the SyncMoveOn and SyncMoveOff
instructions must have the argument ID specified. The ID argument must
be the same for all the move instructions (in each task program) that should
execute simultaneously.
The ID argument can be a numeric value or a syncident variable.
The purpose of ID is to support the operator by making it easier to see which
move instructions that are synchronized with each other. Make sure an ID
value is not used for more than one move instruction, between the same
SyncMoveOn and SyncMoveOff instructions. It is also helpful for the oper-
ator if the ID values are ascending for consecutive move instructions (e.g.
10, 20, 30, ...).
Move instructions that are not between the SyncMoveOn and SyncMoveOff
instructions must not have the argument ID.

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6 Programming
6.2 Tasks and programming techniques

6.2 Tasks and programming techniques

Different tasks
Each task program can handle the movements for one robot and up to 6 additional
axes. Several tasks can be used, each containing a program quite similar to the
program of the main task in a single robot application. For more information about
the tasks, see the section about Multitasking in Application manual - Controller
software IRC5.

One task program per robot

Each task program can only handle one TCP. This means that you must have one
task for each robot.

Additional axes in separate tasks

Additional axes that move a work object can be handled by the same task program
as one of the robots. However, if the additional axes should be able to move
independent of the robots, it is best to let a separate task program handle the
additional axes.

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 6 Programming
6.3 Coordinated work objects

6.3 Coordinated work objects

About work objects

This section will only describe how to make a work object coordinated with a
mechanical unit. For a detailed description of work objects, see wobjdata - Work
object data in Technical reference manual - RAPID Instructions, Functions and
Data types.

What determines coordination?

When declaring a work object, the second attribute (ufprog) and the third attribute
(ufmec) determine if the work object is coordinated to any mechanical unit.

robhold
robhold defines if the work object is held by the robot in this task.
robhold is normally set to FALSE. The task of the robot that holds the work object
(where robhold would be set to TRUE) does not have to declare it unless a
stationary tool is used.

ufprog
If the work object is stationary, ufprog is set to TRUE.
If the work object can be moved by any mechanical unit, ufprog is set to FALSE.

ufmec
ufmec is set to the name of the mechanical unit that moves the work object.
If ufprog is set to TRUE, ufmec can be left as an empty string (no mechanical unit
can move the work object).

Example 1
This is an example of a work object that can be moved by a mechanical unit with
the name STN_1:
PERS wobjdata wobj_stn1 := [FALSE, FALSE, "STN_1",
[[0,0,0],[1,0,0,0]], [[0,0,250],[1,0,0,0]]];

Example 2
Robot ROB_1 is welding a part that is hold by robot ROB_2. The workobject is moved
by robot ROB_2.
When declaring the work object in ROB_1, the robhold argument must be set to
FALSE, since robhold TRUE is only used for stationary tools. For ROB_2, any work
object can be active since it is only the joint angles of ROB_2 that coordinates the
work object for ROB_1.
PERS wobjdata wobj_rob1 := [FALSE, FALSE, "ROB_2",
[[0,0,0],[1,0,0,0]], [[0,0,250],[1,0,0,0]]];

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6 Programming
6.4.1 About independent movements

6.4 Independent movements

6.4.1 About independent movements

What is independent movements

If the different task programs, and their robots, work independently, no
synchronization or coordination is needed. Each task program is then written as
if it was the program for a single robot system.

Other dependencies than movements

Sometimes, even if the movements do not need to be coordinated, the task
programs can have dependencies. For example, if one robot leaves an object that
a second robot will pick up, the first robot must finish with the object before the
second robot can grab it.
These interactions can be solved with:
• the instruction WaitSyncTask
• I/O signals
• persistent variables together with WaitUntil
See the section about Multitasking in Application manual - Controller software
IRC5.

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 6 Programming
6.4.2 Example "UnsyncArc" with independent movements

6.4.2 Example "UnsyncArc" with independent movements

Program description
In this example, one robot welds a circle on one object while the other robot welds
a square on another object.

Note

To make the example simple and general, ordinary move instructions (e.g. MoveL)
are used instead of weld instructions (e.g. ArcL). For more information about
arc welding, see Application manual - Arc and Arc Sensor.

Illustration

xx0300000603

A Robot 1
B Robot 2

T_ROB1 task program

MODULE module1
TASK PERS wobjdata wobj1 :=
[ FALSE, TRUE, "",
[ [500, -200, 1000], [1, 0, 0 ,0] ],
[ [100, 200, 100], [1, 0, 0, 0] ] ];
TASK PERS tooldata tool1 := ...
CONST robtarget p11 := ...
...

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6 Programming
6.4.2 Example "UnsyncArc" with independent movements
Continued

CONST robtarget p14 := ...

PROC main()
...
IndependentMove;
...
ENDPROC

PROC IndependentMove()
MoveL p11, v500, fine, tool1\WObj:=wobj1;
MoveC p12, p13, v500, z10, tool1\WObj:=wobj1;
MoveC p14, p11, v500, fine, tool1\WObj:=wobj1;
ENDPROC
ENDMODULE

T_ROB2 task program

MODULE module2
TASK PERS wobjdata wobj2 :=
[ FALSE, TRUE, "",
[ [500, -200, 1000], [1, 0, 0 ,0] ],
[ [100, 1200, 100], [1, 0, 0, 0] ] ];
TASK PERS tooldata tool2 := ...
CONST robtarget p21 := ...
...
CONST robtarget p24 := ...

PROC main()
...
IndependentMove;
...
ENDPROC

PROC IndependentMove()
MoveL p21, v500, fine, tool2\WObj:=wobj2;
MoveL p22, v500, z10, tool2\WObj:=wobj2;
MoveL p23, v500, z10, tool2\WObj:=wobj2;
MoveL p24, v500, z10, tool2\WObj:=wobj2;
MoveL p21, v500, fine, tool2\WObj:=wobj2;
ENDPROC
ENDMODULE

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 6 Programming
6.5.1 About semi coordinated movements

6.5 Semi coordinated movements

6.5.1 About semi coordinated movements

What is semi coordinated movements

Several robots can work with the same work object, without synchronized
movements, as long as the work object is not moving.
A positioner can move the work object when the robots are not coordinated to it,
and the robots can be coordinated to the work object when it is not moving.
Switching between moving the object and coordinating the robots is called semi
coordinated movements.

Implementation
Semi coordinated movements require some synchronization between the task
programs (e.g. a WaitSyncTask instruction). The positioner must know when the
work object can be moved, and the robots must know when they can work on the
work object. However, it is not required that every move instruction is synchronized.

Advantages
The advantage is that each robot can work independently with the work object. If
the different robots perform very different assignments, this may save cycle time
compared to letting all the robot movements be synchronized.

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6 Programming
6.5.2 Example "SyncArc" with semi coordinated movements

6.5.2 Example "SyncArc" with semi coordinated movements

Program description
In this example, we want to accomplish the welding of a small square and a long
line on one side of the object. On another side of the object we want to make a
square and a circle.
The positioner will first position the work object with the first side up, while the
robots wait. Robot 1 will then weld a line at the same time as robot 2 welds a square.
When the robots are done with the first welding operations, they wait while the
positioner turns the work object so the second side is upwards. Robot 1 will then
weld a circle at the same time as robot 2 welds a square.

WARNING

If the movement of the work object and the robot is not separated with
WaitSyncTask and stop points the following can occur:
• the mechanical units controlled by the different tasks can collide
• the robot is stepping backwards in the wrong direction
• the movement or restart instruction can be blocked.

Note

To make the example simple and general, ordinary move instructions (e.g. MoveL)
are used instead of weld instructions (e.g. ArcL). For more information about
arc welding, see Application manual - Arc and Arc Sensor.

Continues on next page

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 6 Programming
6.5.2 Example "SyncArc" with semi coordinated movements
Continued

Illustration

xx0300000596

A Robot 1
B Robot 2

T_ROB1 task program

MODULE module1
VAR syncident sync1;
VAR syncident sync2;
VAR syncident sync3;
VAR syncident sync4;
PERS tasks all_tasks{3} := [["T_ROB1"],["T_ROB2"],["T_STN1"]];
PERS wobjdata wobj_stn1 := [ FALSE, FALSE, "STN_1", [ [0, 0, 0],
[1, 0, 0 ,0] ], [ [0, 0, 250], [1, 0, 0, 0] ] ];
TASK PERS tooldata tool1 := ...

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6 Programming
6.5.2 Example "SyncArc" with semi coordinated movements
Continued

CONST robtarget p11 := ...

...
CONST robtarget p17 := ...

PROC main()
...
SemiSyncMove;
...
ENDPROC

PROC SemiSyncMove()
! Wait for the positioner
WaitSyncTask sync1, all_tasks;
MoveL p11, v1000, fine, tool1 \WObj:=wobj_stn1;
MoveL p12, v300, fine, tool1 \WObj:=wobj_stn1;
! Move away from the object
MoveL p13, v1000, fine, tool1;
! Sync to let positioner move
WaitSyncTask sync2, all_tasks;
! Wait for the positioner
WaitSyncTask sync3, all_tasks;
MoveL p14, v1000, fine, tool1 \WObj:=wobj_stn1;
MoveC p15, p16, v300, z10, tool1 \WObj:=wobj_stn1;
MoveC p17, p14, v300, fine, tool1 \WObj:=wobj_stn1;
WaitSyncTask sync4, all_tasks;
MoveL p13, v1000, fine, tool1;
ENDPROC
ENDMODULE

T_ROB2 task program

MODULE module2
VAR syncident sync1;
VAR syncident sync2;
VAR syncident sync3;
VAR syncident sync4;
PERS tasks all_tasks{3} := [["T_ROB1"],["T_ROB2"],["T_STN1"]];
PERS wobjdata wobj_stn1 := [ FALSE, FALSE, "STN_1", [ [0, 0, 0],
[1, 0, 0 ,0] ], [ [0, 0, 250], [1, 0, 0, 0] ] ];
TASK PERS tooldata tool2 := ...
CONST robtarget p21 := ...
...
CONST robtarget p29 := ...

PROC main()
...
SemiSyncMove;
...
ENDPROC

PROC SemiSyncMove()
! Wait for the positioner

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 6 Programming
6.5.2 Example "SyncArc" with semi coordinated movements
Continued

WaitSyncTask sync1, all_tasks;

MoveL p21, v1000, fine, tool2 \WObj:=wobj_stn1;
MoveL p22, v300, z10, tool2 \WObj:=wobj_stn1;
MoveL p23, v300, z10, tool2 \WObj:=wobj_stn1;
MoveL p24, v300, z10, tool2 \WObj:=wobj_stn1;
MoveL p21, v300, fine, tool2 \WObj:=wobj_stn1;
! Move away from the object
MoveL p25, v1000, fine, tool2;
! Sync to let positioner move
WaitSyncTask sync2, all_tasks;
! Wait for the positioner
WaitSyncTask sync3, all_tasks;
MoveL p26, v1000, fine, tool2 \WObj:=wobj_stn1;
MoveL p27, v300, z10, tool2 \WObj:=wobj_stn1;
MoveL p28, v300, z10, tool2 \WObj:=wobj_stn1;
MoveL p29, v300, z10, tool2 \WObj:=wobj_stn1;
MoveL p26, v300, fine, tool2 \WObj:=wobj_stn1;
WaitSyncTask sync4, all_tasks;
MoveL p25, v1000, fine, tool2;
ENDPROC
ENDMODULE

T_STN1 task program

MODULE module3
VAR syncident sync1;
VAR syncident sync2;
VAR syncident sync3;
VAR syncident sync4;
PERS tasks all_tasks{3} := [["T_ROB1"],["T_ROB2"],["T_STN1"]];
CONST jointtarget angle_0 := [ [ 9E9, 9E9, 9E9, 9E9, 9E9, 9E9],
[ 0, 9E9, 9E9, 9E9, 9E9, 9E9] ];
CONST jointtarget angle_neg90 := [ [ 9E9, 9E9, 9E9, 9E9, 9E9,
9E9], [ -90, 9E9, 9E9, 9E9, 9E9, 9E9] ];

PROC main()
...
SemiSyncMove;
...
ENDPROC

PROC SemiSyncMove()
! Move to the wanted frame position. A movement of the
! positioner is always required before the first semi-
! coordinated movement.
MoveExtJ angle_0, vrot50, fine;
! Sync to let the robots move
WaitSyncTask sync1, all_tasks;
! Wait for the robots
WaitSyncTask sync2, all_tasks;
MoveExtJ angle_neg90, vrot50, fine;
WaitSyncTask sync3, all_tasks;

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6 Programming
6.5.2 Example "SyncArc" with semi coordinated movements
Continued

WaitSyncTask sync4, all_tasks;

ENDPROC
ENDMODULE

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 6 Programming
6.5.3 Considerations and limitations when using semi coordinated movements

6.5.3 Considerations and limitations when using semi coordinated movements

Stand still in known position

The unit that controls the frame should stand still in a known position. To get a
known position, order a movement to a finepoint.

Activate task
The unit that controls the frame should be activated in the task selection panel on
the FlexPendant (see Selecting tasks on page 53).

Finepoints and WaitSyncTask before and after semi coordinated movement

The semi coordinated movement shall be separated with finepoints and
WaitSyncTask instructions before and after the movement.

Dealing with a cleared path

When any of the instructions listed below is used, the path is removed and the
position cannot be read by the other tasks.
• ActUnit
• DeactUnit
• ClearPath
• SyncMoveOn
• SyncMoveoff
• SyncMoveSuspend
• SyncMoveResume
After any of these instructions, order a movement to a wanted position for the unit
that controls the frame and insert a WaitSyncTask instruction before the
semicoordinated movement.
Before changing to synchronized movement with SyncMoveOn or SyncMoveResume,
the semi coordinated movement must be ended with a finepoint and a
WaitSyncTask.

Example with semi coordinated and coordinated movement

!Example with semicoordinated and synchronized movement
!Program example in task T_ROB1
PERS tasks task_list{2} := [ ["T_ROB1"], ["T_ROB2"] ];
PERS wobjdata rob2_obj:= [FALSE,FALSE,"ROB_2",
[[0,0,0],[1,0,0,0]],[[155.241,-51.5938,57.6297],
[0.493981,0.506191,-0.501597,0.49815]]];
VAR syncident sync0;
VAR syncident sync1;
VAR syncident sync2;
VAR syncident sync3;
VAR syncident sync4;

PROC main()
...
WaitSyncTask sync0, task_list;
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6 Programming
6.5.3 Considerations and limitations when using semi coordinated movements
Continued

MoveL p1_90, v100, fine, tcp1 \WObj:= rob2_obj;

WaitSyncTask sync1, task_list;
SyncMoveOn sync2, task_list;
MoveL p1_100 \ID:=10, v100, fine, tcp1 \WObj:= rob2_obj;
SyncMoveOff sync3;
!Wait until the movement has been finished in T_ROB2
WaitSyncTask sync3, task_list;
!Now a semicoordinated movement can be performed
MoveL p1_120, v100, z10, tcp1 \WObj:= rob2_obj;
MoveL p1_130, v100, fine, tcp1 \WObj:= rob2_obj;
WaitSyncTask sync4, task_list;
...
ENDPROC

!Program example in task T_ROB2

PERS tasks task_list{2} := [ ["T_ROB1"], ["T_ROB2"] ];
VAR syncident sync0;
VAR syncident sync1;
VAR syncident sync2;
VAR syncident sync3;
VAR syncident sync4;

PROC main()
...
MoveL p_fine, v1000, fine, tcp2;
WaitSyncTask sync0, task_list;
!Wait until the movement in T_ROB1 task is finished
WaitSyncTask sync1, task_list;
SyncMoveOn sync2, task_list;
MoveL p2_100 \ID:=10, v100, fine, tcp2;
SyncMoveOff sync3;
!The path has been removed at SyncMoveOff
!Perform a movement to wanted position for the object to
!make the position available for other tasks
MoveL p2_100, v100, fine, tcp2;
WaitSyncTask sync3, task_list;
WaitSyncTask sync4, task_list;
MoveL p2_110, v100, z10, tcp2;
...
ENDPROC
When switching between semicoordinated to synchronized movement, a
WaitSyncTask is needed (when using identity sync1).
When switching between synchronized to semicoordinated movement, the task
that move the work object (rob2_obj) needs to move to the desired position. After
that a WaitSyncTask is needed (identity sync3) before the semicoordinated
movement can be performed.

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 6 Programming
6.6.1 About coordinated synchronized movements

6.6 Coordinated synchronized movements

6.6.1 About coordinated synchronized movements

What is coordinated synchronized movements

Several robots can work with the same moving work object.
The positioner or robot that holds the work object and the robots that work with
the work object must have synchronized movements. This means that the RAPID
task programs, that handle one mechanical unit each, execute their move
instructions simultaneously.

Implementation
The synchronized movement mode is started by executing a SyncMoveOn
instruction in each task program. The synchronized movement mode is ended by
executing a SyncMoveOff instruction in each task program. The number of
executed move instruction between SyncMoveOn and SyncMoveOff has to be the
same for all task programs.

Advantages
Coordinated synchronized movements usually save cycle time since the robots
do not have to wait while the work object is being moved. It also allows robots to
cooperate in ways that would otherwise be difficult or impossible to achieve.

Limitations
Coordinated synchronized movements can only be used if you have the RobotWare
option MultiMove Coordinated.

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6 Programming
6.6.2 Example "SyncArc" with coordinated synchronized movement

6.6.2 Example "SyncArc" with coordinated synchronized movement

Program description
In this example, we want both robots to weld all the way around the object.
The robot TCPs are programmed to make circular paths relative to the work object.
However, since the work object is rotating, the robots will almost stand still while
the work object is turning.

Note

To make the example simple and general, ordinary move instructions (e.g. MoveL)
are used instead of weld instructions (e.g. ArcL). For more information about
arc welding, see Application manual - Arc and Arc Sensor.

Illustration

xx0300000597

A Robot 1
B Robot 2

T_ROB1 task program

MODULE module1
VAR syncident sync1;
VAR syncident sync2;
VAR syncident sync3;
PERS tasks all_tasks{3} := [["T_ROB1"],["T_ROB2"],["T_STN1"]];
PERS wobjdata wobj_stn1 := [ FALSE, FALSE, "STN_1", [ [0, 0, 0],
[1, 0, 0 ,0] ], [ [0, 0, 250], [1, 0, 0, 0] ] ];
TASK PERS tooldata tool1 := ...

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 6 Programming
6.6.2 Example "SyncArc" with coordinated synchronized movement
Continued

CONST robtarget p100 := ...

...
CONST robtarget p199 := ...

PROC main()
...
SyncMove;
...
ENDPROC

PROC SyncMove()
MoveJ p100, v1000, z50, tool1;
WaitSyncTask sync1, all_tasks;
MoveL p101, v500, fine, tool1 \WObj:=wobj_stn1;
SyncMoveOn sync2, all_tasks;
MoveL p102\ID:=10, v300, z10, tool1 \WObj:=wobj_stn1;
MoveC p103, p104\ID:=20, v300, z10, tool1 \WObj:=wobj_stn1;
MoveL p105\ID:=30, v300, z10, tool1 \WObj:=wobj_stn1;
MoveC p106, p101\ID:=40, v300, fine, tool1 \WObj:=wobj_stn1;
SyncMoveOff sync3;
MoveL p199, v1000, fine, tool1;
UNDO
SyncMoveUndo;
ENDPROC
ENDMODULE

T_ROB2 task program

MODULE module2
VAR syncident sync1;
VAR syncident sync2;
VAR syncident sync3;
PERS tasks all_tasks{3} := [["T_ROB1"],["T_ROB2"],["T_STN1"]];
PERS wobjdata wobj_stn1 := [ FALSE, FALSE, "STN_1", [ [0, 0, 0],
[1, 0, 0 ,0] ], [ [0, 0, 250], [1, 0, 0, 0] ] ];
TASK PERS tooldata tool2 := ...
CONST robtarget p200 := ...
...
CONST robtarget p299 := ...

PROC main()
...
SyncMove;
...
ENDPROC

PROC SyncMove()
MoveJ p200, v1000, z50, tool2;
WaitSyncTask sync1, all_tasks;
MoveL p201, v500, fine, tool2 \WObj:=wobj_stn1;
SyncMoveOn sync2, all_tasks;
MoveL p202\ID:=10, v300, z10, tool2 \WObj:=wobj_stn1;

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6 Programming
6.6.2 Example "SyncArc" with coordinated synchronized movement
Continued

MoveC p203, p204\ID:=20, v300, z10, tool2 \WObj:=wobj_stn1;

MoveL p205\ID:=30, v300, z10, tool2 \WObj:=wobj_stn1;
MoveC p206, p201\ID:=40, v300, fine, tool2 \WObj:=wobj_stn1;
SyncMoveOff sync3;
MoveL p299, v1000, fine, tool2;
UNDO
SyncMoveUndo;
ENDPROC
ENDMODULE

T_STN1 task program

MODULE module3
VAR syncident sync1;
VAR syncident sync2;
VAR syncident sync3;
PERS tasks all_tasks{3} := [["T_ROB1"],["T_ROB2"],["T_STN1"]];
CONST jointtarget angle_neg20 := [ [ 9E9, 9E9, 9E9, 9E9, 9E9,
9E9], [ -20, 9E9, 9E9, 9E9, 9E9, 9E9] ];
...
CONST jointtarget angle_340 := [ [ 9E9, 9E9, 9E9, 9E9, 9E9, 9E9],
[ 340, 9E9, 9E9, 9E9, 9E9, 9E9] ];

PROC main()
...
SyncMove;
...
ENDPROC

PROC SyncMove()
MoveExtJ angle_neg20, vrot50, fine;
WaitSyncTask sync1, all_tasks;
! Wait for the robots
SyncMoveOn sync2, all_tasks;
MoveExtJ angle_20\ID:=10, vrot100, z10;
MoveExtJ angle_160\ID:=20, vrot100, z10;
MoveExtJ angle_200\ID:=30, vrot100, z10;
MoveExtJ angle_340\ID:=40, vrot100, fine;
SyncMoveOff sync3;
UNDO
SyncMoveUndo;
ENDPROC
ENDMODULE

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 6 Programming
6.7.1 Corner zones

6.7 Program execution

6.7.1 Corner zones

Corner zones and WaitSyncTask

Corner zones can be used when synchronizing several task programs with
WaitSyncTask.

Corner zones and synchronized movements

Stop points must be used both before starting the synchronized movements with
SyncMoveOn and before ending it with SyncMoveOff. All other move instructions
between SyncMoveOn and SyncMoveOff can, on the other hand, use corner zones.

Dependences between synchronized instructions

In synchronized movements mode, all or none of the simultaneous move
instructions must be programmed with corner zones. This means that the move
instructions with the same ID must either all have corner zones, or all have stop
points. If a move instruction with a corner zone and a move instruction with a stop
point are synchronously executed in their respective task program, an error will
occur.
Synchronously executed move instructions can have corner zones of different
sizes (e.g. one use z10 and one use z50).

Corner zones converted to stop points

A corner zone will become a stop point if the task program has to wait for another
task program. This can happen if WaitSyncTask is executed in a corner zone, but
one task program reaches this instruction later than the others.

Example with corner zones

Given the RAPID code below, the following will happen:
• If robot1 reaches p11 at approximately the same time as robot2 reaches p21,
both robots will be synchronized in corner zones (p11 and p21).
• If robot1 reaches p11 before robot2 reaches p21, p11 will become a stop
point.
• If robot2 reaches p21 before robot1 reaches p11, p21 will become a stop
point.
Note that both move instructions with corner zones and move instructions with
stop points can be used in each task. You just have to make sure that the
instructions with the same ID in both task programs are of the same type. The
instructions before SyncMoveOn and SyncMoveOff must have stop points.

Part of T_ROB1 task program:

MoveL p11, v500, z50, tool1;
WaitSyncTask sync1, all_tasks;
MoveL p12, v500, fine, tool1;
SyncMoveOn sync2, all_tasks;

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6 Programming
6.7.1 Corner zones
Continued

MoveL p13\ID:=10, v500, z50, tool1 \WObj:=wobj_stn1;

MoveL p14\ID:=20, v500, fine, tool1 \WObj:=wobj_stn1;
SyncMoveOff sync3;
MoveL p15, v500, fine, tool1;

Part of T_ROB2 task program:

MoveL p21, v500, z50, tool2;
WaitSyncTask sync1, all_tasks;
MoveL p22, v500, fine, tool2;
SyncMoveOn sync2, all_tasks;
MoveL p23\ID:=10, v500, z10, tool2 \WObj:=wobj_stn1;
MoveL p24\ID:=20, v500, fine, tool2 \WObj:=wobj_stn1;
SyncMoveOff sync3;
MoveL p25, v500, fine, tool2;

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 6 Programming
6.7.2 Synchronization behavior

6.7.2 Synchronization behavior

Synchronization point
When one task program reaches a synchronization point, it will wait until all task
programs have reached the same synchronization point.
Synchronization points are:
• all WaitSyncTask instructions
• all SyncMoveOn instructions
• all SyncMoveOff instructions
• all move instructions between SyncMoveOn and SyncMoveOff
When one task program reaches a WaitSyncTask, SyncMoveOn or SyncMoveOff
instruction, it will wait until all task programs have reached the instruction with the
same syncident variable.
All move instructions between SyncMoveOn and SyncMoveOff must use the
argument ID. When a task program reaches such a move instruction, it will wait
until all task programs have reached the move instruction with the ID argument
set to the same value.

Other instructions than movements

All synchronized task programs must execute the same number of move instructions
between the SyncMoveOn and SyncMoveOff instructions. This does not affect
functions or other instructions than move instructions. It is possible to have any
number of functions and instructions that are not move instructions.

Example
In this example both task programs execute two move instructions, but one of the
tasks executes other instructions and functions.
Robot 2 will wait and not move to p21 until robot 1 starts to move towards p11.
Since SyncMoveOff is a synchronization point, both tasks will wait for di1 to
become 1 before executing SyncMoveOff.

Part of T_ROB2 task program:

SyncMoveOn sync1, all_tasks;
time := CTime();
Write log, "Synchronization started "\NoNewLine;
Write log, time;
MoveL p11\ID:=10, v500, fine, tool1 \WObj:=wobj_stn1;
Set do1;
MoveC p12, p13\ID:=20, v500, fine, tool1 \WObj:=wobj_stn1;
WaitDI di1, 1;
SyncMoveOff sync2;

Part of T_ROB2 task program:

SyncMoveOn sync1, all_tasks;
MoveJ p21\ID:=10, v500, fine, tool2 \WObj:=wobj_stn1;
MoveL p22\ID:=20, v500, fine, tool2 \WObj:=wobj_stn1;
SyncMoveOff sync2;

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6 Programming
6.7.3 Dummy instructions

6.7.3 Dummy instructions

About dummy instructions

The same number of move instructions must be executed between SyncMoveOn
and SyncMoveOff in all task programs. If a move instruction is only executed
under certain circumstances, the number of move instructions may differ from the
other task programs. This can be solved by adding a move instruction to the point
where the robot already is (a dummy instruction) for the case where the original
move instruction is not executed.

Example with dummy move instructions

In this example, the task program needs to execute two move instructions if di1 is
set to 1. If di1 is 0, two move instructions are executed that move the robot to the
position where it already is (dummy instructions).

Part of a task program

SyncMoveOn sync1, all_tasks;
MoveL p1\ID:=10, v500, fine, tool1 \WObj:=wobj_stn1;
IF di1=1 THEN
! Instructions executed under certain conditions
MoveL p2\ID:=20, v500, fine, tool1 \WObj:=wobj_stn1;
MoveL p1\ID:=30, v500, fine, tool1 \WObj:=wobj_stn1;
ELSE
! Add dummy move instructions
MoveL p1\ID:=20, v500, fine, tool1 \WObj:=wobj_stn1;
MoveL p1\ID:=30, v500, fine, tool1 \WObj:=wobj_stn1;
ENDIF
SyncMoveOff sync2;

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 6 Programming
6.7.4 Motion principles

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;

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6 Programming
6.7.5 Modify position

6.7.5 Modify position

About modifying positions

A programmed position can be modified from the FlexPendant, see Production
Window on page 51.

Modify position in unsynchronized mode

When the movements of the different tasks are unsynchronized, the position of
each mechanical unit is modified individually.

Modify position in synchronized movement mode

Modifying positions while in synchronized movement mode (when the execution
is between a SyncMoveOn and SyncMoveOff instruction) behaves differently
depending on if it is done from the Production Window or the Program Editor.
In the Production Window, the position will be modified for all tasks in synchronized
movement mode. Circle points cannot be modified from the Production Window
while in synchronized movement mode, thus if the marked point is a circle point,
the function to modify position from the Production Window will not be enabled.
In the Production Window, the position can only be modified for the current move
instruction (where the motion pointer is).
In the Program Editor, the position will be modified only for the task program
currently open in that editor window.
See also example on circular movement in the description of modifying positions
in Operating manual - IRC5 with FlexPendant.

Modify circular position in synchronized movement mode

CirPoint

T1

CirPoint

T2

T3

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 6 Programming
6.7.6 Moving a program pointer

6.7.6 Moving a program pointer

Moving PP in unsynchronized mode

When none of the tasks are in synchronized movement mode, a program pointer
in one task can be moved without affecting the other tasks.

Moving PP in synchronized movement mode

If the program pointer is moved for one task, the program pointers for all tasks in
synchronized movement mode are lost. This is the case even if the task where the
program pointer is moved is not in synchronized movement mode. Even if a task
is inactive, moving its program pointer will affect the program pointers of all tasks
in synchronized movement mode.

Example
In this example, there are three tasks. Task2 and Task3 are in synchronized
movement mode, while Task1 works independently. In this situation, the user taps
Move PP to Main for Task1.
The program pointers for Task2 and Task3 will be lost.

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6 Programming
6.7.7 Tool orientation at circular movements

6.7.7 Tool orientation at circular movements

Coordinated circular move instructions

There is a risk for incorrect tool orientation if two coordinated task programs both
perform synchronized circular move instructions. If one robot holds a work object
that another robot is working on, the circle interpolation affects both robots. The
circle point should be reached at the same time for both circle paths to avoid
incorrect orientation of the tool.

Example

xx0400000717

If p12 would be in the beginning of its circular path (closer to p11 than p13) and
p22 would be in the end of its circular path (closer to p23 than p21) then the tool
orientation could become wrong. If p12 and p22 are in the same relative position
on the path (percentage of the path length) the tool orientation will remain correct.

Tip

By modifying the position for both robots circle point at the same time, you make
sure the tool orientation stays correct. This means that, in the example, you
should step through the program and then modify p12 and p22 at the same time.

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 6 Programming
6.7.8 Applications affected by MultiMove

6.7.8 Applications affected by MultiMove

Collision Detection
If collision is detected for one robot, all robots are stopped. Even if the robots are
run individually, all robots behave as if it had collided.
One reason for this behavior is that when a collision is detected, there is a big risk
that it was two robots that collided. Another reason is that if one robot stops and
another continues, this might cause another collision.

World Zones
A world zone declared in one task program is only valid for the mechanical units
that belong to that task. For a world zone to affect all mechanical units, it must be
declared in all task programs.

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6 Programming
6.8.1 Programming recommendations

6.8 Programming recommendations

6.8.1 Programming recommendations

Declare syncident globally in task

By declaring all variables of the data type syncident globally in the task program,
there is no risk of having two syncident with the same name in the same task
program.

Do not reuse syncident

A syncident variable is used as an argument for all WaitSyncTask, SyncMoveOn
and SyncMoveOff instructions, so that the operator can distinguish which
instructions are executed simultaneously in the different task programs. If one
syncident variable would be used as argument for more than one instruction per
task, that instruction would no longer be uniquely identified. To make sure your
program code is understandable, never reuse a syncident variable.

Declaring tools, work objects and payloads

Declaring a variable as TASK PERS will make it persistent in the task program, but
not shared between tasks. By declaring tools, work objects and payloads as task
persistent, you do not have to keep track of whether the variable name is used in
other tasks. If tools, work objects and payloads are declared as TASK PERS, the
names do not have to be changed if the program is copied or mirrored to another
task.
A work object that is used by several task programs is preferably declared as PERS.
A tool can be declared as PERS if a background task needs to read the robot
position.

Changing a PERS
A globally declared PERS will keep its value even if a new declaration of the same
PERS is loaded. The value of the PERS that was first loaded will be preserved as
long as there is any reference to that PERS.
If you want to replace all the task programs with new programs where the values
of the PERS is different, remove all task programs first and then load all the new
task programs. That way the old value of the PERS will be lost when all declarations
of it are removed.
Changing the value of a PERS from the Data Variable view on the FlexPendant and
saving the program, will update the PERS in a correct way.

Use SyncMoveUndo
Always use an UNDO handler with a SyncMoveUndo instruction in any procedure
that has synchronized movements (i.e. that has a SyncMoveOn instruction).
After a SyncMoveOn instruction, the movements in the task program are
synchronized with movements in other task programs. If the program pointer is
then manually moved before the SyncMoveOff instruction is executed, the

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 6 Programming
6.8.1 Programming recommendations
Continued

movements will still be synchronized. This can be avoided by having an UNDO

handler that includes a SyncMoveUndo instruction.
When the program pointer is manually moved out of a procedure, the UNDO handler
for that procedure is called. The SyncMoveUndo instruction will end the
synchronization if the movements currently are synchronized. If the movements
are not synchronized when the program pointer is moved, SyncMoveUndo will do
nothing. It is, in other words, never any disadvantage in using SyncMoveUndo, but
very useful if the program pointer is moved.
For more information about UNDO handlers, see Technical reference manual - RAPID
overview.

Coordinating against a work object

Coordinating against a work object moved by a mechanical unit in another task
can be done in two ways:
• All move instructions coordinated with the work object must be executed
when the work object is standing still. See Semi coordinated movements on
page 63.
• The robot that is coordinated with the work object and the mechanical unit
that moves the work object must be in synchronized movement mode. See
Coordinated synchronized movements on page 71.
It is not possible to coordinate against a moving work object, controlled from
another task, without being in synchronized movement mode.

Common work area

If two robots use the same work area, without being in synchronized movement
mode, precautions must be taken to avoid collisions. Make sure that only one of
the robots is in the common area at a time by using one of the following:
• WaitSyncTask
• World Zones
• I/O signal

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 7 RAPID error recovery
7.1 Error recovery for MultiMove

7 RAPID error recovery

7.1 Error recovery for MultiMove

Error in unsynchronized mode

If an error occurs during unsynchronized mode, it is handled just like in a single
robot system. No other task program is affected by the error.

Error in synchronized movement mode

If an error occurs during synchronized movement mode, the task program with the
error will stop with an error code, just like in a single robot system. Because of the
synchronization, the other tasks will not continue to move. When the error has
been resolved the movement can continue in all task programs.

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7 RAPID error recovery
7.2 Simple error recovery example

7.2 Simple error recovery example

About this example

In this example, a division with zero causes an error during synchronized movement
mode. Since the error handler can resolve the error without any motion instructions,
the error handler does not have to consider the synchronization. The synchronized
movement mode is active the whole time and the second move instruction is started
for both robots as soon as the error handler has finished. If no other error can
occur, the T_HANDLEROB task program does not need to have an error handler.

T_PROCROB task program

...
SyncMoveOn, sync1, motion_tasks;
MoveL p101\ID:=10, v100, z10, gun2 \WObj:=wobj_handlerob;
a:=3;
b:=0;
c:=a/b;
MoveL p102\ID:=20, v100, fine, gun2 \WObj:=wobj_handlerob;
SyncMoveOff sync2;
...
ERROR
IF ERRNO = ERR_DIVZERO THEN
b:=1;
RETRY;
ENDIF

T_HANDLEROB task program

...
SyncMoveOn, sync1, motion_tasks;
MoveL p201\ID:=10, v100, z10, grip1;
MoveL p202\ID:=20, v100, fine, grip1;
SyncMoveOff sync2;
...

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 7 RAPID error recovery
7.3 Asynchronously raised errors

7.3 Asynchronously raised errors

What is an asynchronously raised error

Asynchronously raised errors can be raised by another instruction than the
instruction where the program pointer is. This means that an asynchronous error
can be raised while the robot is in the middle of a path movement. For more
information about asynchronously raised errors, see Technical reference
manual - RAPID kernel.
The technique with asynchronously raised errors allows a failing instruction in one
task program to raise an error in all other task programs with synchronized
movements.

How to raise an asynchronous error

The instruction ProcerrRecovery will raise the error ERR_PATH_STOP and stop
the movement for all task programs with synchronized movements.
Asynchronous errors can also be raised by process instructions (e.g. ArcL). These
can raise one error code (describing the cause of the error) in the task program
where the error occurred, and raise the error ERR_PATH_STOP in the other task
programs with synchronized movements.

The task programs without errors

If two task programs run synchronized move instructions and one of them raise
an asynchronous error, the movements will stop for both tasks. The task program
where nothing went wrong will then get the error ERR_PATH_STOP. This error must
be handled by an error handler. The error handler can handle ERR_PATH_STOP by
just waiting for the other task to solve its problems and then resume the movements.
By using the instruction StartMoveRetry, the execution will continue when all
tasks reach this instruction.

Independent movements in the error handler

If the error handler in one task program needs to execute a move instruction, the
synchronization must be suspended first.
The synchronization is automatically suspended by the StorePath instruction.
All tasks with synchronized movements must execute a StorePath instruction
before the synchronization is turned off and the execution can continue.
The instruction RestoPath will restore synchronization to the mode it had before
StorePath. All task programs with synchronized movements must execute the
RestoPath instruction in their error handlers before the synchronization is resumed
and the execution can continue.
Between the instructions StorePath and RestoPath, the failing task program
can move independently to solve its problem. Since RestoPath works as a
synchronization point, the other task programs will wait at this point until the
problem has been resolved.
If the task program is not in synchronized movements mode, StorePath and
RestoPath act just like they do in a single robot system. This means that the same

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7 RAPID error recovery
7.3 Asynchronously raised errors
Continued

error handler code can handle errors that occur both in synchronized movements
mode and unsynchronized mode.
StorePath and RestoPath require the option Path Recovery. For more information
about StorePath and RestoPath, see Application manual - Controller software
IRC5.

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 7 RAPID error recovery
7.4 Example of creating asynchronously raised error

7.4 Example of creating asynchronously raised error

About this example

In this example, a process is started by setting do_myproc to 1. The process is
then supervised and the signal di_proc_sup is set to 1 if the process fails.
If a process failure occurs during a robot movement, an interrupt calls a trap routine.
The instruction ProcerrRecovery will stop the movement and raise the error
ERR_PATH_STOP in all task programs with synchronized movements.
The T_HANDLEROB task program must have an error handler that restarts the
movement when the error has been resolved in the T_PROCROB task program. This
only requires one instruction, StartMoveRetry.

T_PROCROB task program

VAR intnum proc_sup_int;

PROC main()
...
SyncMoveOn, sync1, motion_tasks;
my_proc_on;
MoveL p101\ID:=10, v100, z10, gun1 \WObj:=wobj_handlerob;
MoveL p102\ID:=20, v100, fine, gun1 \WObj:=wobj_handlerob;
my_proc_off;
SyncMoveOff sync2;
...

ERROR
IF ERRNO = ERR_PATH_STOP THEN
my_proc_on;
StartMoveRetry;
ENDIF
ENDPROC

TRAP iprocfail
my_proc_off;
ProcerrRecovery \SyncLastMoveInst;
RETURN;
ENDTRAP

PROC my_proc_on()
SetDO do_myproc, 1;
CONNECT proc_sup_int WITH iprocfail;
ISignalDI di_proc_sup, 1, proc_sup_int;
ENDPROC

PROC my_proc_off()
SetDO do_myproc, 0;
IDelete proc_sup_int;
ENDPROC

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7 RAPID error recovery
7.4 Example of creating asynchronously raised error
Continued

T_HANDLEROB task program

PROC main()
...
SyncMoveOn, sync1, motion_tasks;
MoveL p201\ID:=10, v100, z10, grip1;
MoveL p202\ID:=20, v100, fine, grip1;
SyncMoveOff sync2;
...

ERROR
IF ERRNO = ERR_PATH_STOP THEN
StartMoveRetry;
ENDIF
ENDPROC

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 7 RAPID error recovery
7.5 Example with movements in error handler

7.5 Example with movements in error handler

About this example

In this example, an asynchronous error can occur that requires the robot to move
to another position to resolve the error. The synchronization is suspended by using
StorePath in all tasks with synchronized movements, and restored by using
RestoPath.
The instruction ArcL is used in this example. This instruction handles the process
for arc welding as well as acts as a move instruction. To understand this example,
all you need to know is that it is a move instruction (similar to MoveL) which can
result in asynchronous process errors. For more information about ArcL, see
Application manual - Arc and Arc Sensor and Technical reference manual - RAPID
Instructions, Functions and Data types.

Note

Note that the T_STN1 task program must have the instructions StorePath and
RestoPath, even if there is no code between these instructions. No task program
continues to execute its error handler until all task programs execute the
StorePath instruction.

T_ROB1 task program

...
SyncMoveOn, sync1, all_tasks;
ArcL p101\ID:=10, v100, seam1, weld1, weave1, z10, gun1
\WObj:=wobj_stn1;
...
ERROR
IF ERRNO=AW_WELD_ERR OR ERRNO=ERR_PATH_STOP THEN
StorePath;
IF ERRNO=AW_WELD_ERR THEN
gun_cleaning;
ENDIF
RestoPath;
StartMoveRetry;
ENDIF
...
PROC gun_cleaning()
VAR robtarget p199;
p199 := CRobT(\Tool:=gun1 \WObj:=wobj0);
MoveL pclean, v100, fine, gun1;
...
MoveL p199, v100, fine, gun1;
ENDPROC

T_ROB2 task program

...
SyncMoveOn, sync1, all_tasks;

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7 RAPID error recovery
7.5 Example with movements in error handler
Continued

ArcL p201\ID:=10, v100, seam2, weld2, weave2, z10, gun2

\WObj:=wobj_stn1;
...
ERROR
IF ERRNO=AW_WELD_ERR OR ERRNO=ERR_PATH_STOP THEN
StorePath;
IF ERRNO=AW_WELD_ERR THEN
gun_cleaning;
ENDIF
RestoPath;
StartMoveRetry;
ENDIF
...
PROC gun_cleaning()
VAR robtarget p299;
p299 := CRobT(\Tool:=gun2 \WObj:=wobj0);
MoveL pclean, v100, fine, gun2;
...
MoveL p299, v100, fine, gun2;
ENDPROC

T_STN1 task program

...
SyncMoveOn, sync1, all_tasks;
MoveExtJ angle_20\ID:=10, vrot50, z10;
...
ERROR
IF ERRNO=ERR_PATH_STOP THEN
StorePath;
RestoPath;
StartMoveRetry;
ENDIF
...

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 8 Running a subset of a MultiMove system
8.1 How to continue with one or more drive units inactive.

8 Running a subset of a MultiMove system

8.1 How to continue with one or more drive units inactive.

Overview
It is possible to disconnect a drive module and continue working, for example:
• if a drive module is required elsewhere due to failure or similar.
• for tuning purposes during commissioning, for instance programming one
robot at a time while the others are temporarily shut down.
Make sure the application allows work to continue without this drive module, by
using the procedure Continue with the Drive Module Disconnect function on
page 95.
But if one of the following conditions are fulfilled then Continue with alternative
configuration on page 96.
• The first alternative fails.
• The limit switches are used on the robot.
• The drive module needs to be moved (e.g. for repair or installation in another
cell).

Tip

Sometimes it is necessary to change the program and/or configuration so that

the application will work with one less drive module.

Continue with the Drive Module Disconnect function

This procedure shows how to let the functional robots continue with their
applications without changing the configuration. This requires that the functional
robots have no dependencies to the disconnected robot, or additional axes
connected to the same drive module.
This is a brief description how to disconnect the drive module, for more detailed
information see Product manual - IRC5, section Connections - Connection of the
Drive Module Disconnect.
Action Info/illustration
1 Make sure that the system parameter
Allow_Drive_Module_Disconnect
is set to true.
2 Switch to manual mode.
3 Make sure the controller is in Motors Off
state.

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8 Running a subset of a MultiMove system
8.1 How to continue with one or more drive units inactive.
Continued

Action Info/illustration
4 Remove the connector from X22 in the
drive module. When the connector is
removed the following message appears
on the Flex Pendant: Event Message
50320, Drive Module Disconnected.

xx0500001599

5 The system now acts as if none of the

mechanical units connected to this drive
module exists.

Note

Depending on the type of failure, this method may not always succeed. For
example if there is an error in the axis computer. In that case, continue with the
alternative configuration.

Continue with alternative configuration

This procedure shows how to let the functional robots continue with their
applications but with changes in the standard configuration.
Action Info/illustration
1 Restart the controller using the restart mode Start Boot
Application.
2 Switch off the controller.
3 Localize the Ethernet connection cable of the drive See Ethernet connections on
module you wish to disconnect. Remove it from the robot page 21.
communication card in the control module.
Note that the drive module's ethernet cables should be
connected in the following order. So that there is no gap
in this order:
• AXC1 on the Robot communication card
• ETHERNET 1 on the Ethernet card
• ETHERNET 2 on the Ethernet card
• ETHERNET 3 on the Ethernet card
4 Locate the safety signal connection cable of the drive See Ethernet connections on
module you wish to disconnect. Remove it from the page 21.
panel board in the control module and replace it with a
jumper connector. Move the safety signal connection
cables so that there are no gaps in the following order
X7, X8, X14 and X17.

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 8 Running a subset of a MultiMove system
8.1 How to continue with one or more drive units inactive.
Continued

Action Info/illustration
5 Switch on the power to the controller.
6 Select a new robot system that is configured without the
disconnected mechanical unit.
Note that the configuration has to be in accordance with
the connections in step 3.

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8 Running a subset of a MultiMove system
8.2 Running a subset in the “Unsync Arc” examples

8.2 Running a subset in the “Unsync Arc” examples

Example with Drive Module Disconnect

In this example the configuration is according to “UnsyncArc”, and an error occurs
on the process equipment on robot 1. The function Drive Module Disconnect is
configured and there are no limit switches on the robots. Robot 2 should continue
its work.
Action Info/illustration
1 Make sure that the system parameter
Allow_Drive_Module_Disconnect
is set to true.
2 Switch to manual mode.
3 Make sure the controller is in Motors Off
state.
4 Remove the connector from X22 in drive
module 1.

xx0500001599

5 The system now acts as if robot 1 does

not exist. It is now safe to continue
working with robot 2.

Example without Drive Module Disconnect

In this example limit switches are used on the robots. The configuration is according
to “UnsyncArc”, and an error occurs on robot 1. Robot 2 should continue its work.
Action Info/illustration
1 Restart the controller using the restart mode Start Boot
Application.
2 Switch off the controller.
3 Remove the Ethernet connection of drive module 1 from See Ethernet connections on
the robot communication card in the control module and page 21.
replace it with a jumper connector. Move the Ethernet
connection of drive module 2 from the Ethernet card to
the robot communication card.

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 8 Running a subset of a MultiMove system
8.2 Running a subset in the “Unsync Arc” examples
Continued

Action Info/illustration
4 Remove the safety signal connection of drive module 1 See Ethernet connections on
from X7 on the panel board in the control module. Move page 21.
the safety signal connection of drive module 2 from X8
to X7. Then push the jumper connector in the X8 connect-
or.
5 Switch on the power to the controller.
6 Select a new robot system that is configured without
robot 1.
Note that the configuration has to be in accordance with
the connections in step 3. I.e. the remaining robot will
be referred to as robot 1.

Tip

The same actions can be taken if the axis computer fails, or other failure that
cannot be helped with Drive Module Disconnect.

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This page is intentionally left blank
 Index

Index J
jogging, 48, 52
A M
Activate at Start Up, 32, 37 Mechanical Unit, 32, 37
Allow Drive Module Disconnect, 32 Mechanical Unit Group, 30, 35, 37
Allow move of user frame, 32, 37 mechanical unit menu, 52
Argument, 34, 39 modify position, 80
Argument 2, 34, 39 Motion, 32
asynchronously raised errors, 89 Motion Planner, 32, 35, 37
Auto mode, 54 MotionTask, 30, 35, 37
motion tasks, 13
B Motion topic, 32
base coordinate system, 45–46
MoveExtJ, 56
C move instructions, 78
calibration, 41 Move PP To Main, 51
circular movements, 82
Collision Detection, 83
N
NORMAL, 30
configuration, 29
controller, 19 O
Controller, 30 object coordinate system, 45–46
Controller topic, 30 options, 7, 13
control module, 20
coordinated, 52 P
coordinated synchronized movements, 71 PERS, 84
coordinated work object, 59 positioner, 14
coordinate systems, 41, 45 ProcerrRecovery, 89, 91
coordination, 14 Production window, 51
corner zones, 75 program example, 61, 64, 72
create MultiMove system, 27 programming, 55
D R
data types, 55 RAPID, 55
deactivate tasks, 53 RAPID example, 61, 64, 72
Deactivation Forbidden, 32, 37 relative calibration, 42
drive module, 25 Relative n points, 42
Drive Module Disconnect, 95 RestoPath, 89, 93
drive modules, 19 robot, 14
Drive Module User Data, 32 robot speed, 79
dummy instructions, 78
S
E safety, 11
ERR_PATH_STOP, 89 Safety signal connections, 23, 26
error recovery, 87 select tasks, 53
Ethernet connections, 21 semi coordinated movements, 63
example applications, 15 SEMISTATIC, 30
speed, 79
F Speed Control Percent, 33, 37
failure in the hardware, 95 Speed Control Warning, 33, 35, 37
FlexPendant, 47 STATIC, 30
functions, 56 status bar, 48
stop points, 75
H StorePath, 89, 93
hardware, 19
SyncArc, 17, 37, 46, 64, 72
hardware failure, 95
synchronization, 14, 63, 77
I synchronizing argument, 57
I/O, 34 syncident, 55, 84
I/O topic, 34 SyncMoveOff, 56, 71
ID, 57 SyncMoveOn, 56, 71
identno, 55 SyncMoveUndo, 56, 84
independent movements, 60 System Input, 34, 39
installation, 19 System Output, 34, 39
instructions, 55 system parameters, 30
IsSyncMoveOn, 56
T
Task, 30, 35, 37

Application manual - MultiMove 101

3HAC050961-001 Revision: D
© Copyright 2004-2017 ABB. All rights reserved.
Index

TASK PERS, 84 Use Motion Planner, 31, 35, 37

task program, 14 user coordinate system, 45–46
tasks, 53, 55, 58 user interface, 47
tool orientation, 82
Type, 30, 35, 37 W
WaitSyncTask, 55, 63
U work object, 59
UNDO, 84 world coordinate system, 45–46
UnsyncArc, 16, 35, 45, 61, 98 World Zones, 83
Use Mechanical Unit Group, 30, 35, 37

102 Application manual - MultiMove

3HAC050961-001 Revision: D
© Copyright 2004-2017 ABB. All rights reserved.
Contact us

3HAC050961-001, Rev D, en
ABB AB, Robotics
Robotics and Motion
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Telephone: +86 21 6105 6666

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Telephone: +1 248 391 9000

www.abb.com/robotics