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New Dual-Robot Function ​

First set up two robots (different types are also acceptable) ​

Dual-Robot Linkage Mode Configuration ​

  1. Linkage mode requires Robot 1 and Robot 2 to each calibrate their tool hands

  2. Settings / Robot Parameters / Calibrate World Coordinate System

Reference Robot: As a reference, generally the master robot.

Calibration Robot: Calibrated relative to the reference robot, generally the slave robot.

Error: Error should generally not exceed 10, otherwise recalibration is needed.

  1. Click [Calibrate] to enter the calibration interface

Modify: Click modify to calibrate

Clear: Clear calibration parameters

Calculate: Calculate calibration results

Note: Calibration point selection is generally 6 or 9 points, which is the average of x, y, z. For example, moving x 3 times, y 3 times, z 3 times equals 9 points. Theoretically, more points result in greater accuracy.

  1. After calibration is complete, in the calibration robot's Settings / User Coordinate Calibration interface, select [Linkage Coordinate System] for [Type], [Robot], and select [1] for the number

User coordinates set as linkage coordinate system are in linkage mode; selecting other settings for static coordinate system is single-robot mode.

  1. After setup, switch to Robot 1, power on and jog Robot 1. At this time, Robot 2 will also follow Robot 1's movement.

In linkage mode, Robot 2 will follow Robot 1's trajectory direction while moving along its taught trajectory.

Robot movement effect in linkage mode is shown in the figure.

Run Mode Linkage ​

Prerequisites: Robot 1 is the reference robot, Robot 2 is the calibration robot

  1. Create Robot1 and Robot2 job files

  2. Insert motion instructions in Robot 1.

  3. Insert user coordinate switch in Robot 2 (the switched coordinate is the linkage user coordinate.)

Because at this time, switching user coordinates in Robot 2 will execute immediately, Robot 2 will end the program. Three methods can be used to maintain linkage with Robot 1.

a. Robot 2 enables loop mode

b. Estimate Robot 1's motion time and add a delay instruction

c. Use multi-machine coordination instructions, inserting wait synchronization points in both Robot 1 and Robot 2.

  1. Robot1 and Robot2 servo ready

  2. Switch to run mode and select RobotAll

  3. At this point, you enter the multi-machine dedicated interface. Click Start to begin.

Interface Button Functions

Select Program: Select the job files to run for Robot 1 and Robot 2

Start: Start running the selected program for Robot 1/Robot 2

Stop: Stop Robot 1/Robot 2

Servo Stop/Servo Ready: Stop or ready the servo for Robot 1/Robot 2

Clear Error: Clear errors for Robot 1/Robot 2

To start both robots simultaneously, press [Start] on the teach pendant.

To pause both robots simultaneously, press [Stop] on the teach pendant.

To individually start Robot 1, click [Robot 1], then click [Start] as shown in the figure. Robot 1 starts working. Click [Stop] to pause Robot 1.

To individually start Robot 2, first click [Robot 2], then click [Start]. Robot 2 starts working. Click [Stop] to pause Robot 2.

Prerequisites: Robot 1 is the reference robot, Robot 2 is the calibration robot

  1. Create Robot1 and Robot2 job files.

  2. Insert the required motion instructions for each single machine, ensuring the last instruction on both sides is the dual-robot start point. Robot 2 must ensure the linkage user coordinate system is not in use during machine operation.

  3. Due to speed differences, Robot 1 and 2 may not arrive at the dual-robot start point simultaneously. Insert multi-machine coordination instructions, adding wait synchronization points in both Robot 1 and 2. This ensures both machines start dual-robot state simultaneously.

  4. Insert motion instructions in Robot 1.

  5. Insert user coordinate switch in Robot 2 (the switched coordinate is the linkage user coordinate.)

  6. After the dual-robot section ends, insert multi-machine coordination instructions, adding wait synchronization points in both Robot 1 and 2. Before the synchronization points is dual-robot motion.

  7. Switch to single machine: Robot 1 inserts instructions normally; Robot 2 inserts user coordinate system switch (this user coordinate system must be a static user coordinate system), then inserts motion instructions normally.

  8. Robot1 and Robot2 servo ready

  9. Switch to run mode and select RobotAll

  10. At this point, you enter the multi-machine dedicated interface. Click Start to begin.

Reference job file examples are as follows:

Robot 1:

Robot 2:

Dual-Robot with External Axis Motion ​

AI Retrieval Q&A (Q&A for Retrieval) ​

What operation needs to be completed first for dual-robot linkage mode configuration?

A: First, calibrate the tool hands of Robot 1 and Robot 2 separately, then enter the [Settings / Robot Parameters / Calibrate World Coordinate System] interface, distinguish the reference robot (master) and calibration robot (slave), and perform world coordinate system calibration. The calibration error must be controlled within 10, otherwise recalibration is needed.

In dual-robot linkage mode, how to switch to single-robot mode?

A: In the calibration robot's (usually Robot 2) [Settings / User Coordinate Calibration] interface, switch [Type] from [Linkage Coordinate System] to another static coordinate system to switch to single-robot mode. To reconnect, switch back to [Linkage Coordinate System] and complete the related configuration.