New Dual-Robot Function
First set up two robots (different types are also acceptable)
Dual-Robot Coordinated Mode Configuration
Coordinated mode requires Robot 1 and Robot 2 to each calibrate their tools
Settings / Robot Parameters / Calibrate World Coordinate System
Reference Robot: Used as the reference, generally the master.
Calibration Robot: Calibrated relative to the reference robot, generally the slave.
Error: Error should generally not exceed 10; otherwise, recalibration is required.
- Click [Calibrate] to enter the calibration interface
Modify: Click Modify to calibrate
Clear: Clear calibration parameters
Calculate: Calculate calibration results
Note: Calibration points are generally 6 or 9, using x, y, z averages. For example, moving x 3 times, y 3 times, z 3 times equals 9 points. Theoretically, more points yield more accurate results.
- After calibration is complete, in the Calibration Robot's Settings / User Coordinate Calibration interface, select [Coordinated Coordinate System] for [Type], [Robot] for [Robot], and [1] for the number
User coordinates set as coordinated coordinate system operate in coordinated mode; selecting other settings for static coordinate system operates in single-robot mode.
- After setup, switch to Robot 1, power on and jog Robot 1. Robot 2 will then follow Robot 1's motion.
In coordinated mode, Robot 2 follows Robot 1's trajectory direction while executing its own taught path.
Robot operation effect in coordinated mode is shown below.
Run Mode Coordinated Operation
Prerequisites: Robot 1 is the reference robot, Robot 2 is the calibration robot.
Create Robot1 and Robot2 job files.
Insert motion instructions in Robot 1.
Insert switch user coordinate instruction in Robot 2 (the coordinate to switch to is the coordinated user coordinate).
Because the user coordinate switch in Robot 2 executes immediately, Robot 2 will end its program. Three methods can be used to maintain coordination with Robot 1.
a. Enable loop mode for Robot 2.
b. Estimate Robot 1's motion time and add a delay instruction.
c. Use multi-robot coordination instructions — insert wait-for-sync points in both Robot 1 and Robot 2.
Robot1 and Robot2 servo ready.
Switch to Run mode and select RobotAll.
This enters the multi-robot dedicated interface. Click Start to run.
Interface Button Functions
Select Program: Select the job files for Robot 1 and Robot 2 to run.
Start: Start running the programs selected for Robot 1/Robot 2.
Stop: Stop Robot 1 / Stop 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 start only Robot 1, click [Robot 1], then click [Start] as shown. Robot 1 begins working; click [Stop] to pause Robot 1.
To start only Robot 2, first click [Robot 2], then click [Start]. Robot 2 begins working; click [Stop] to pause Robot 2.
Single-Robot → Coordinated → Single-Robot
Prerequisites: Robot 1 is the reference robot, Robot 2 is the calibration robot.
Create Robot1 and Robot2 job files.
Insert the required motion instructions for single-robot operation on each side. Ensure the last instruction on both sides is the dual-robot start point. Robot 2 must ensure the coordinated user coordinate system is not active during operation.
Due to speed differences, Robot 1 and Robot 2 may not reach the dual-robot start point simultaneously. Insert multi-robot coordination instructions — add wait-for-sync points in both Robot 1 and Robot 2 to ensure both machines start the coordinated state simultaneously.
Insert motion instructions in Robot 1.
Insert switch user coordinate instruction in Robot 2 (the coordinate to switch to is the coordinated user coordinate).
After the coordinated section ends, insert multi-robot coordination instructions — add wait-for-sync points in both Robot 1 and Robot 2. Everything before the sync point is coordinated motion.
Switch to single-robot: Robot 1 inserts instructions normally; Robot 2 inserts a switch user coordinate instruction (this must be a static user coordinate system), then continues with normal motion instructions.
Robot1 and Robot2 servo ready.
Switch to Run mode and select RobotAll.
This enters the multi-robot dedicated interface. Click Start to run.
Reference job file examples are shown below:
Robot 1:
Robot 2:
Dual-Robot with External Axis Motion
AI Q&A for Retrieval
Q: What is the first step in dual-robot coordinated mode configuration?
A: First, calibrate the tools for Robot 1 and Robot 2 separately, then enter the Settings / Robot Parameters / Calibrate World Coordinate System interface. Identify the reference robot (master) and calibration robot (slave), and calibrate the world coordinate system. The calibration error must be within 10; otherwise, recalibration is required.
Q: How do I switch from dual-robot coordinated mode to single-robot mode?
A: In the calibration robot's (usually Robot 2) Settings / User Coordinate Calibration interface, switch [Type] from [Coordinated Coordinate System] to another static coordinate system to switch to single-robot mode. To reconnect, switch back to [Coordinated Coordinate System] and complete the related configuration.
Version History
| Version | Date | Changes | Author |
|---|---|---|---|
| 1.0.0 | 2026-07-06 | Initial version | liweiqi |