Synchronisation programme R1+S1

  • Bonjour,

    Comment est-il possible de créer un programme de type R1+S1 ( et non R1+S1:S1) ? Existe t-il un calcul permettant de faire de la synchronisation avec ce type de programme entre le robot et l'axe externe ?

    Bien entendu, l'axe externe S1 reste Maitre.

  • AD
  • 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.

    I know a thing or two, because I’ve seen a thing or two. Don't even ask about a third thing. I won't know it.

  • You can use PSTART command with SYNC parameter and SMOV command

    Main Program: No Group defined.

    'R1 N1 SYNC 1 0


    '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


    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


    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.

    I know a thing or two, because I’ve seen a thing or two. Don't even ask about a third thing. I won't know it.

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