37. PROCESS SYNCHRONIZATION

Process synchronization instructions are used to synchronize processes between robots in a Multi-arm environment.

SYNC_SCHED[seq_n]

The SYNC_SCHED instruction sets the synchronization schedule number.

The synchronization schedule number must be defined by this instruction prior to using INPOS/PR_STRT/PR_END/ or PR_SYNC instructions.

The SYNC_SCHED instruction sets the synchronization schedule number for the proceeding process synchronization instructions. The schedule defines the robots to be synchronized. Use the schedule combinations defined in Table 45, " Schedule and Robot Combinations " . See Figure 232, " SYNC_SCHED " for an example of how to use the instruction in a program.

Table 45. Schedule and Robot Combinations

Schedule # Robot #s
1 Robot #1 and #2
2 Robot #2 and #3
3 Robot #1 and #2
4 Robot #1, #2, and #3
5 Robot #1 and #3
6 Robot #2 and #3
7 Robot #1, #2, and #3
8 Robot #1, #2, #3, and #4
9 Robot #1 and #4
10 Robot #2 and #4
11 Robot #1, #2, and #4
12 Robot #3 and #4
13 Robot #1, #3, and #4
14 Robot #2, #3, and #4
15 Robot #1, #2, #3, and #4
16 Robot #1, #2, #3, #4, and #5
17 Robot #1 and #5
18 Robot #2 and #5
19 Robot #1, #2, and #5
20 Robot #3 and #5
21 Robot #1, #3, and #5
22 Robot #2, #3, and #5
23 Robot #1, #2, #3, and #5
24 Robot #4 and #5
25 Robot #1, #4, and #5
26 Robot #2, #4, and #5
27 Robot #1, #2, #4, and #5
28 Robot #3, #4, and #5
29 Robot #1, #3, #4, and #5
30 Robot #2, #3, #4, and #5
31 Robot #1, #2, #3, #4, and #5

Figure 232. SYNC_SCHED

SYNC_SCHED[sch_n]

INPOS[n]

The INPOS instruction indicates the master signal slave, and waits for PR_END. INPOS is used on a Master robot as a motion option only. The seq_n indicates the sequence number. The seq_n must match between robots and be the same for the PR_START and PR_END instructions. See Figure 233, " INPOS " for an example of how to use the INPOS instruction in a program.

Figure 233. INPOS

INPOS[n]

Note

The INPOS instruction cannot be combined with an Application instruction.

se

PR_STRT[n]

This instruction waits for a Master INPOS before application processing. PR_STRT is used on a slave robot only as a motion option. PR_STRT must be followed by a PR_END instruction. See Figure 234, " PR_STRT[n] " for an example of how to use the INPOS instruction in a program.

Note

The PR_STRT instruction can be combined with an Application instruction.

Figure 234. PR_STRT[n]

PR_STRT[n] 

PR_END[n]

This instruction signals the master after application processing. PR_END is used on a slave robot only as a motion option. PR_END must be used after a PR_START instruction. See Figure 235, " PR_END[n] " for an example of how to use the INPOS instruction in a program.

Note

The PR_END instruction can be combined with an Application instruction.

Figure 235. PR_END[n]

PR_END[n]

PR_SYNC[n]

PR_SYNC is used on a slave robot only as a motion option. PR_SYNC is equivalent to a PR_STRT and PR_END on one line. See Figure 236, " PR_SYNC[n] " for an example of how to use the INPOS instruction in a program.

Note

The PR_SYNC instruction can be combined with an Application instruction.

Figure 236. PR_SYNC[n]

PR_SYNC[n]