Yaskawa Robotics' linkage program is a method used to control multiple robots or devices to work together, often in complex automation systems. The following are the basic concepts and usage methods of linkage programs:
The basic concept of linkage programs
1. Define the linkage relationship:
- Define the linkage relationship of multiple robots in the control system. Linkages can be synchronized, alternate, or otherwise coordinated.
2. Set up the master-slave relationship:
- Determine which robot or device is the master and which is the slave. The master control robot issues instructions, and the slave control robot performs corresponding actions according to the received instructions.
3. Data Transfer:
- Data transmission via communication protocols (e.g. Ethernet, EtherCAT, etc.). Ensure real-time communication between robots to keep movements synchronized and coordinated.
How to use:
1. Write a program:
- Write control programs using Yaskawa Robotics' programming languages such as MotoPlus or Inform II. Define the action sequence and linkage logic of each robot in the program.
2. Synchronous control:
-Add synchronization commands to the master robot program and send synchronization signals to the slave robot. Synchronous signals are received in the slave robot program and corresponding actions are performed according to the signals.
3. Debugging and Optimization:
- Run the linkage program to observe whether the actions of each robot are synchronized and coordinated. By adjusting the parameters and synchronization mechanism in the program, the linkage effect is optimized.
Sample program
Here's an example of a simple linkage program, assuming that two robots need to start and stop at the same time:
Master control robot program:
```inform
'Master control robot program
NOP
CALL JOB:SYNC_START
'Robot action
MOVL C000
MOVL C001
CALL JOB:SYNC_STOP
END
```
Slave robot program:
```inform
'Slave robot program
NOP
WAIT SIG#(1)ON
'Robot action
MOVL C100
MOVL C101
WAIT SIG#(1)OFF
END
```
In this example, the master robot sends a synchronization signal by calling the 'SYNC_START' and 'SYNC_STOP' subroutines, and the slave robot receives the signal through the 'WAIT SIG' command and performs corresponding actions.
Precautions
- Ensure that the communication connection of all robots and equipment is stable and reliable.
- Pay attention to safety when writing programs to avoid collisions and interference between robots.
-Fully test the linkage system to ensure stable operation under various working conditions.
Through the above methods, the linkage control between Yaskawa robots can be realized, and the efficiency and coordination of the automation system can be improved. For detailed programming and configuration methods, please refer to Yaskawa Robotics' official manual and technical documentation.