Hello again, and my question is - did someone use spinlocks on Kuka? My target is to synchonize work of 2 robots, to be sure that they will never collide, even in whole-day-cycles.
Details: I have 2 identical (they have the same model) robots, and their workzones cross each other. From the PLC I'm sending pgno to them at one moment, and they start to move together. The thing is - that even they have the same models - it's 2 different machines and,for example, even physical difference in reductors makes them a little bit different. Because I have 1-hour long cycle I'm worrying about the fact,that difference ,for example, in 0.5ms between them , will make robots collide,so I decided to use syncronization.
There are different ways of to do it - semaphore,for example, barriers or spinlocks,thanks to wikipedia (https://en.wikipedia.org/wiki/…ization_(computer_science))
Did someone have experience in syncronization, what the best way without losing efficency?
Thanks in advance