Purpose
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Learn to change the sequence of the operations and to balance the load over multiple controllers
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Load the project Arcwelding_Balancing.cendoc from the Projects folder of this tutorial library.
For the purpose of this training session, several (simplified) welding operations have been programmed, meant to highlight the sequencing and balancing possibilities.
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Steps
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1
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Sequencing within the active program
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1.1
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Open the Active program dashboard and have a look at the different welding operations. Run a partial simulation on the program or part of it to see the sequence in which they are processed.
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1.2
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In the dashboard, select the operation Plate 2L outside but keep the mouse button pressed. Then drag the operation on the operation above in the dashboard until a green triangle appears. This indicates where the operation will be placed in the flow chart. When releasing the mouse button, the operation will be dropped there. Rerun the simulation to see the effect.
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2
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Balancing and sequencing over multiple controllers
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2.1
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Start the Balancing and sequencing command. It opens a panel that displays all controllers and their operations in order of sequence. Each of them with the computed operation time. In front the total time is shown. Have a closer look at the content of the panel.
Notice that there is some difference in the simulation time between the two controllers. Run a simulation to see that one robot finishes clearly earlier than the other one. Increase the simulation speed if needed.
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2.2
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Within a controller, the sequence of the operations can be changed. Simply pick the wanted operation while keeping the mouse button pressed. Drag it to its new position (marked green) and release the mouse button to drop the operation there. You may run another simulation to see the result.
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2.3
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With the same routine you can move operations also between the present controllers. It enables to divide the operations over the robots and to balance the workload more equally.
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