Synchronization In Multi-Robot Operation - Yamaha DRCX User Manual

8-5 Sample Programs
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8-5-21 Synchronization in multi-robot operation

This sample program uses two single-axis robots for multi-task operation. One robot repeatedly
moves between two points while the other robot moves at a certain pitch. In this case, each robot
simultaneously starts to move from the start positions P0 and P10.
X-axis
P0
Memory input/output
DO100 X-axis
DO101 Y-axis
■ Teaching each point of P0, P1 and P10 to P15 should be completed beforehand in PNT
(point) mode. (Y-axis data at P0 and P1 and X-axis data at P10 to P15 can be any value
since they are not used.)
Program
[NO0]
001: TON 1,
002: L 0
003: DRVA 1,
004: DO 100, 1
005: WAIT 101, 1
006: DO 100, 0
007: DRVA 1,
008: JMP 0,
[NO1]
001: L 0
002: DRVA 2,
003: DO 101, 1
004: WAIT 100, 1
005: DO 1O1, 0
006: P 11
007: CALL 2,
008: JMP 0,
[NO2]
001: DRVA 2,
002: P+
Y-axis
P1
P10
1: Standby 0: Moving
1: Standby 0: Moving
Comment
; Starts program NO1 as task 1
1, 0
; Label definition
100 ; X-axis robot moves to P0
0,
; X-axis robot reaches start point start position
; Waits until Y-axis robot moves to start position
; X-axis robot is moving
100 ; X-axis robot moves to P1
1,
; Returns to L0
0
; Label definition
100 ; Y-axis robot moves to P10
10,
; Y-axis robot reaches start position
; Waits until X-axis moves to start position
; Y-axis robot is moving
; Sets point variable to 11
; Calls subroutine NO2 five times
5
; Returns to L0
1
100 ; Y-axis robot moves to P11 to P15
P,
; Point variable increment
P15
P14
P13
P12
P11