Need Guidance on Multi-Robot Programming with Yaskawa Robots

    Hi everyone,

    I'm somewhat new to running programs for Yaskawa robots in setups involving more than one robot. In my current role, we have three robots in the cell, along with additional devices like a turntable and a jig machine.

    From my understanding, I would need to create a master program that calls at least five subprograms:

    1. Three subprograms for the individual robots.
    2. One for the turntable.
    3. One for the jig machine.

    I’ve only worked with single-robot setups before, primarily for pick-and-place tasks, so this multi-robot setup is new territory for me.

    My question is:

    • How should I structure the master program to ensure smooth coordination between the robots and devices?
    • Are there best practices or specific commands I should know to synchronize the robots and peripherals effectively?

    Also would anyone provide and describe how would the program look like if i to assume 5 sub-programs in total and creating a master program all in one.

    Any advice, examples, or tips would be greatly appreciated. Thanks in advance!

    Edited once, last by CryptoTalk (January 20, 2025 at 10:55 PM).

  • Lemster68 January 20, 2025 at 10:13 PM

    Approved the thread.

    For multi program tasks that are synchronized but not coordinated, you can use the PSTART SUB "X" and PWAIT commands to run to robot programs in parallel, along with TSYNC commands (PWAIT will not advance the master program until all of the parallel jobs have been completed, TSYNC is a command that will hold a control group until the respective TSYNC has been reached in another job). For coordinated moves between robots or an external axis, you'll use the SMOV command, but you'll have to set up your jobs such that one is a master and one a slave (this is traditionally used with a robot and an external axis. You will also have to calibrate the master and slave device). Additionally, when setting up your master job, you'll want to make it a "non-grouped" job. Nested jobs can only take on control of the control groups of the parent job.


    There is a Yaskawa manual called "Standard Jobs and Opportunity Programming" that I think would be of great benefit to your situation for master job structure. There are additional manuals that cover coordinated motion as well as various commands. They are all free on Yaskawa's website.

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