I
have some questions about the possibilities of getting 2 Kawasaki
robots to 'work together' – both model RS020N A and both with the
same E controller (30E01G-AC02), and without a PLC being added to the
system.
I've
seen Kawasaki have a software (or maybe it's just a functionality
that can be turned on somehow) called 'Cooperative Motion Control'.
It's described as the interconnection of two robots so that one is a
slave to the other. The slave robot repeats the master's movements in
real time. Manipulate large pieces (size and/or weight) between two
robots working as if they were a single arm.
If
the slave is limited to repeating the master's movements in real
time, then it's easy to appreciate that there's one 'core' program
being sent to the slave and a real-time feedback to make sure both
are 'in step' during the execution.
But
I think if we enter into detail there's more scope to the
possibilities. In this video -
https://youtube.com/shorts/j-z2i-G2Rx4?si=LiFqX0avGseucPAC
– the program is not identical for each robot. Axis 1 moves in the
opposite direction on each robot, as does the flange axis, but the
other axes move identically in both robots.
So
it looks like ''Cooperative Motion Control' (I've assumed that's
what's being used but I might be wrong) has at least slightly more
scope than a strictly running a program 'identically' in both robots
with real-time monitoring.
Basically
it looks like there's at least the option to selectively reverse axis
rotations so a variety of 'Sym Opp' scenarios can be set up.
But
I'd like to understand if there's even more scope than that or not.
Can anyone either explain it to me in detail or point me to
documentation that explains it, please? 
I'd
also like to know if Kawasaki's 'Cooperative Motion For Arc Welding'
is also something that can work without a PLC in the system, just the
controllers of the two robots also dealing with the control of the
extra axis.
'Cooperative
Motion For Arc Welding' is described as allowing two robots to work
simultaneously on the same external axis. Welding pieces of
revolution or symmetrical pieces, or long pieces reducing cycle time.
The
same questions arise here as regards what exactly can be done - '
allowing two robots to work simultaneously on the same external axis'
sounds like they might be able to do completely different tasks but
controlling that they're in-step with real-time feedback.
But
then bothering to say parts that can be revolved or symmetrical
pieces seems to suggest it's actually limited in some ways. A bit
like 'Cooperative Motion Control' but with an extra axis between the
two robots.
Again,
if anyone could either explain it to me in detail or point me to
documentation that explains it, I'd be grateful.
