How to set up Multi-Robot Cell correctly in Cell Editor for Code Generation
While the processor is still under development, we are increasingly confident in the added value it can already deliver. We recommend exercising caution when using this processor in production environments.
Currently, Brand templates for FANUC, Yaskawa Motoman, ABB, and KUKA are available for multi-robot configurations using a single controller with the respective OEM multi-robot controller packages.
Each brand template includes a different Custom Values setup within the Cell Editor to ensure correct code generation and functionality.
In this How-To article, we will explain the Custom Values required for each supported robot brand in a multi-robot cell.
ABB setup in cell editor
In the cell editor, add a custom value for each robot that specifies the Task Name of each robot:
Additionally, a custom value can be added that specifies the Task Entry Name of each task of each robot. This is an optional parameter and the name of the main entry procedure will default to "main" if unspecified.
These values should correlate to the name of the Task each robot is associated with and the Main Entry of each Task in the Robot Controller's configuration:
This custom value is required for the processor to:
Organize posted files into sub-directories for the ABB Tasks they belong to.
Generate scheduler files.
Output synchronization instructions between robots at each handshake.
Once the robot custom values are set, the processor can automatically detect multi-robot programs and handle all necessary formatting.
NOTE
Multi-robot programs generated by the processor are formatted to use features and instructions exclusive to the MultiMove and MultiTasking options.
Coordinated motion between robots is not supported.
Separate tasks for external axes is not supported.
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FANUC setup in cell editor
In the cell editor, ensure each robot has the correct motion group:
The "Show Advanced Options" toggle must be enabled to edit the motion group number.
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Additionally, add a custom value for each robot that specifies the Robot Number of each arm.
These values should correlate to the robot's number and motion group in the robot controller's MASH menu:
Correctly setting these values enables:
Scheduler file generation.
Output for setting and clearing robot flags during multi-tasking.
Output for synchronization instructions between motion groups.
Once the motion group and robot custom values are set, the processor can automatically detect multi-robot programs and handle all necessary formatting.
NOTE
Multi-robot programs generated by the processor are formatted to use MASH MultiTasking for simultaneous independent robot motion.
Coordinated motion between robots is not supported.
Separate tasks for external axes is not supported.
The robot controller variable $SCR.$MAXNUMTASKS must be greater than or equal to the number of robots that will be running simultaneously. If its value is less, an error will be thrown when trying to run the posted programs.
Each robot must be assigned a group number in the MASH menu. If not, the programs may not synchronize correctly at handshakes.
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KUKA setup in cell editor
In the cell editor, add custom values for each robot that specifies the unique Controller Number and Robot Name of each arm.
These values should correlate to the robot's unique controller number and assigned name in the Roboteam controller configuration menu:
Correctly setting these values enables:
Scheduler file generation.
Output synchronization commands between robots at each handshake.
Once the robot custom values are set, the processor can automatically detect multi-robot programs and handle all necessary formatting.
WARNING
Multi-robot programs generated by the processor are formatted to use features and instructions exclusive to the Roboteam package.
Coordinated motion between robots is not supported.
Coordinated motion between multiple robots and an external axis is not supported.
Separate tasks for external axes is not supported.
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Motoman setup in cell editor
In the cell editor, add a custom value for each robot that specifies the Robot Number of each robot.
The value should correlate to the robot number each robot is assigned in the robot controller.
This custom value is required for the processor to:
Generate a scheduler file.
Output synchronization commands between robots at each handshake.
Once the robot custom values are set, the processor can automatically detect multi-robot programs and handle all necessary formatting.
NOTE
Multi-robot programs generated by the processor are formatted to use features and instructions exclusive to the Multi-Arm package.
Coordinated motion between robots is not supported.
Separate tasks for external axes is not supported.
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