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How to do Multi-Robot Code Output in Device

How to do Multi-Robot Code Output in Device


Scheduler Programs

Scheduler program output is controlled by the Output scheduler program parameter in the processor's Controller Settings menu. If set to When Needed, a scheduler program will be output when the Robotmaster session contains multiple active robots.

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ABB Scheduler Programs

A scheduler program is generated for each robot in the session, and posted programs are divided into separate folders for each robot.

RootDirectory β”œβ”€β”€β”€ROB1 (Task folder) β”‚ main_ROB1.MOD (Scheduler file for robot 1) β”‚ PROG_1_R1.MOD (Posted robot program 1 for robot 1) β”‚ PROG_2_R1.MOD (Posted robot program 2 for robot 1) └───ROB2 (Task folder) β”‚ main_ROB2.MOD (Scheduler file for robot 2) β”‚ PROG_1_R2.MOD (Posted robot program 1 for robot 2) └───PROG_2_R2.MOD (Posted robot program 2 for robot 2)

The scheduler programs use the controller's MultiTasking feature to run multiple robot programs simultaneously. It also uses WaitSyncTask instructions to communicate between tasks and ensure robot programs execute in the same order as the Robotmaster scheduler:

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  • Individual robot program output is not changed.

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FANUC Scheduler Programs

The scheduler program uses the RUN command to execute multiple robot programs simultaneously. It also uses robot flags to make sure necessary robot programs complete before continuing. These are output so the posted robot programs run in the order they appear in the Robotmaster scheduler:

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: F[2:TASK DONE]=(OFF) ; : F[3:TASK DONE]=(OFF) ; : F[4:TASK DONE]=(OFF) ; : RUN R2R3R4_SIM_1_M20IA_2 ; : RUN R2R3R4_SIM_1_M20IA_3 ; : RUN R2R3R4_SIM_1_M20IA_4 ; : WAIT (F[2:TASK DONE]) ; : WAIT (F[3:TASK DONE]) ; : WAIT (F[4:TASK DONE]) ; : WAIT 0.01 (sec) ; : F[1:TASK DONE]=(OFF) ; : F[2:TASK DONE]=(OFF) ; : F[3:TASK DONE]=(OFF) ; : F[4:TASK DONE]=(OFF) ; : RUN R1R2R3R4_SIM_M20IA_1 ; : RUN R1R2R3R4_SIM_M20IA_2 ; : RUN R1R2R3R4_SIM_M20IA_3 ; : RUN R1R2R3R4_SIM_M20IA_4 ; : WAIT (F[1:TASK DONE]) ; : WAIT (F[2:TASK DONE]) ; : WAIT (F[3:TASK DONE]) ; : WAIT (F[4:TASK DONE]) ; : WAIT 0.01 (sec) ; : F[1:TASK DONE]=(OFF) ; : RUN R1_SEQ_1 ; : WAIT (F[1:TASK DONE]) ; : WAIT 0.01 (sec) ;

Additionally, another time-based WAIT instruction is output between sets of robot program calls. This buffer is used to ensure all robots have completed their previous program before their next program is called. The time delay of the buffer can be customized with the Scheduler buffer time parameter in the processor's Controller Settings menu.

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NOTE

  • The robot's TASK DONE flag is also set at the very end of each robot program to signal that the robot has finished its task:

    • F[#:TASK DONE]=(OFF) ;

  • Besides this, individual robot program output is not changed.

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KUKA Scheduler Programs

The scheduler program uses the REMOTE START inline form instruction to execute multiple robot programs simultaneously. It also uses the REMOTE WAIT inline form instruction to make sure necessary robot programs complete before continuing. These are output so the posted robot programs run in the order they appear in the Robotmaster scheduler:

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DEF SCHEDULER_KUKA_MULTIROBOT_4ROB_4PROG() REMOTE START KRB ROB_2R2R3R4_SIM_1_KR150-2_2 REMOTE START KRC ROB_3R2R3R4_SIM_1_KR150-2_3 REMOTE START KRD ROB_4R2R3R4_SIM_1_KR150-2_4 REMOTE WAIT KRB REMOTE WAIT KRC REMOTE WAIT KRD REMOTE START KRB ROB_2R2R3R4_SIM_2_KR150-2_2 REMOTE START KRC ROB_3R2R3R4_SIM_2_KR150-2_3 REMOTE START KRD ROB_4R2R3R4_SIM_2_KR150-2_4 REMOTE WAIT KRB REMOTE WAIT KRC REMOTE WAIT KRD REMOTE START KRA ROB_1R1R2R3R4_SIM_KR150-2_1 REMOTE START KRB ROB_2R1R2R3R4_SIM_KR150-2_2 REMOTE START KRC ROB_3R1R2R3R4_SIM_KR150-2_3 REMOTE START KRD ROB_4R1R2R3R4_SIM_KR150-2_4 REMOTE WAIT KRA REMOTE WAIT KRB REMOTE WAIT KRC REMOTE WAIT KRD END

  • Individual robot program output is unchanged except for the target template in the header being the coop wait template.

    • &PARAM TEMPLATE = C:\KRC\Roboter\Template\coop_wait

NOTE

  • The inline form REMOTE instructions assume a Coop Wait template is installed on each controller as per the specification from Kuka's Roboteam documentation.

  • The formatting of the Coop Wait template declaration in program headers has not be validated and my be incorrect.

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MOTOMAN Scheduler Programs

The scheduler program uses the PSTART instruction to execute multiple robot programs simultaneously in different subtasks. It also uses the PWAIT instruction to make sure necessary robot programs complete before continuing. These are output so the posted robot programs run in the order they appear in the Robotmaster scheduler:

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/JOB //NAME MASTER //POS ///NPOS 0,0,0,0,0,0 //INST ///DATE 0001/01/01 00:00 ///COMM BY-ROBOTMASTER ///ATTR SC,RW NOP PSTART JOB:R2R3R4_SIM_1_EA1400N_R2 SUB1 PSTART JOB:R2R3R4_SIM_1_EA1400N_R3 SUB2 PSTART JOB:R2R3R4_SIM_1_EA1400N_R4 SUB3 PWAIT SUB3 PWAIT SUB2 PWAIT SUB1 PSTART JOB:R2R3R4_SIM_2_EA1400N_R2 SUB1 PSTART JOB:R2R3R4_SIM_2_EA1400N_R3 SUB2 PSTART JOB:R2R3R4_SIM_2_EA1400N_R4 SUB3 PWAIT SUB3 PWAIT SUB2 PWAIT SUB1 PSTART JOB:R1R2R3R4_SIM_EA1400N_R1 SUB1 PSTART JOB:R1R2R3R4_SIM_EA1400N_R2 SUB2 PSTART JOB:R1R2R3R4_SIM_EA1400N_R3 SUB3 PSTART JOB:R1R2R3R4_SIM_EA1400N_R4 SUB4 PWAIT SUB4 PWAIT SUB3 PWAIT SUB2 PWAIT SUB1 PSTART JOB:R1_SEQ_1 SUB1 PWAIT SUB1 PSTART JOB:R1_SEQ_2 SUB1 PWAIT SUB1 END

  • Individual robot program output is not changed.

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