Yes, it is possible to create a R1+S1 job. You may have to set up the group combination if you don't already have it.
There is no synchronization between the robot and external in a R1+S1 job. The external would have to remain stationary while the robot is doing the application, such as welding, dispensing, not servo motor spot gun.
There isn't a master in this style of programming.
Don't forget to do calibration between robot and external axis, see manual, it show how you must calibrate.
A R1+S1 job doesn’t use a calibration. The job is non-synchronous.
You can use PSTART command with SYNC parameter and SMOV command
Main Program: No Group defined.
'R1 N1 SYNC 1 0
PSTART JOB:J9_S1_R1_N1_0_GRD_SYN SUB1 SYNC IF IG#(71)=1
'R2 N1 SYNC 0
PSTART JOB:J9_S1_R2_N1_0_GRD_SYN SUB2 IF IG#(71)=1
Welding Program: R1+S1:S1 or R2+S1:S1
MOVJ C00004 VJ=100.00 +MOVJ EC00004 VJ=100.00
ARCON
SMOVC C00005 V=12.5 +MOVJ EC00005
SMOVC C00006 V=12.5 +MOVJ EC00006
SMOVC C00007 V=12.5 +MOVJ EC00007
SMOVC C00008 V=12.5 +MOVJ EC00008
SMOVC C00009 V=12.5 +MOVJ EC00009
SMOVC C00010 V=12.5 +MOVJ EC00010
SMOVC C00011 V=12.5 +MOVJ EC00011
SMOVC C00012 V=12.5 +MOVJ EC00012
SMOVC C00013 V=12.5 +MOVJ EC00013
ARCOF
For example if you have two robots plus one or more external axes you can synchronize all dependent robots to positioners movement. Positioners as master and robots is slave mode. If the positioner slow during movement robot is automatically slow or vice versa.
Is information being lost in translation?
The OP is talking about a job with a group set of R1+S1. This is a robot and external axis. The external axis could be a track/shuttle, spot gun, gripper, conveyor, even a positioner.
This is a non-coordinated job. This isn’t a master and a slave. There isn’t a calibration. The motion type of SMOV + MOV doesn’t exist.
The SYNC tag isn’t necessary unless there are multiple jobs running at the same time and both jobs are coordinated sharing a piece of hardware.
My apologies if I have offended anyone. Google Translate may be leading me down a path to give wrong answers on a job with only a R1+S1 job.
