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Coordinated Motion Function. Outline. Function. User Benefit. One XRC system can control three robots and a number of external axes. . High Welding Quality + Short Cycle Time.

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Coordinated Motion Function

Outline

Function

User Benefit

One XRC system can control three robots and a number of external axes.

High Welding Quality + Short Cycle Time

This is a function that controls relative interpolation and speed between 3 robots or between one robot and external axes.

The workpiece can be moved freely by other robot or external axis. Therefore the robot can weld with the best posture with moving workpiece.

No Wiring for Interlock between Robots

It is no need to make wiring by I/O for interlock of robots because XRC controller can handle them internally.

System Type

High Safety Level at 3 Robots System

1. Robot+Robot(Jigless) System

2. Robot+External Axis System

The interference between the robots can be set around each tcp points with spherical area and it is checked automatically.

There is also the function that if the interference occurs, the servo power can be turned off.(Non-Used Robot Servo Power Off Function)

Smart Robot Program

Coordinated motion is recorded with one instruction set at teaching.

NOP

SMOVL

+MOVJ

...

END

Coordinated Motion Instruction

3. 2 Robots+External Axis System

As soon as the point is taught, this instruction is set to the job at once.

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Independent Control Function

Function

User Benefit

Shorten Cycle Time

MOTOMAN XRC can control 3 robots and a number of external axes in one control cabinet. This function makes it possible that 3 robots or a number of external axes run with each jobs independently and not synchronously.

While one robot is working, the other does not have to wait and can works independently.

No Interlock between Robots

6 jobs can run at the same time.

It is no need to make wiring by I/O for interlock of robots because XRC controller can handle them internally

Shorten Workpiece Setting Time

For example...

The workpiece can be set as soon as the robot is ready during other robot is running.

While one robot is handling workpieces which ware welded or will be welded by the other robot, the other one welds them.

No Waiting Time

It is no need to have the robot waited when there are lot of calculations by arithmetic instructions because this calculation job can be executed in advance independently.

The application of each robots can be not only arc welding + handling but also spot welding + handling, handling + handling and so on.

Simplify Job Construction

It is possible to use this function for the external axis. In this case the motor has to be Yaskawa’s servo motor.

The job construction is simple because specific instructions called PSTART and PWAIT are prepared for this function.

<Job Sample>

Sub Task 1

Robot A Job

Concurrent Job

Robot 1 Job

Robot 2 Job

NOP

*

PSTART SUB1

PSTART SUB2

*

PWAIT SUB1

PWAIT SUB2

END

NOP

MOVJ

*

END

NOP

MOVJ

*

END

Master Task

Start

Concurrent

Job

Start

Sub Task 2

Robot B Job