Process synchronization instructions are used to synchronize processes between robots in a Multi-arm environment.
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 25, " Schedule and Robot Combinations " . See Figure 101, " SYNC_SCHED " for an example of how to use the instruction in a program.
Table 25. 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 |
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 102, " INPOS " for an example of how to use the INPOS instruction in a program.
The INPOS instruction cannot be combined with an Application instruction.
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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 103, " PR_STRT[n] " for an example of how to use the INPOS instruction in a program.
The PR_STRT instruction can be combined with an Application instruction.
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 104, " PR_END[n] " for an example of how to use the INPOS instruction in a program.
The PR_END instruction can be combined with an Application instruction.
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 105, " PR_SYNC[n] " for an example of how to use the INPOS instruction in a program.
The PR_SYNC instruction can be combined with an Application instruction.