Purpose
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Learn to monitor while programming multiple robots on the same workpiece.
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Load the project Arcwelding_BasicProgrammed.cendoc from the Projects folder of this tutorial library.
For the purpose of this training session, some (simplified) welding operations have been programmed in such a way that it leads to conflicts and critical situations during simulation.
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Steps
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1
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Teach with joint values
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1.1
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Open the General settings and verify in the Offline programming container that the setting Positioning mode in teach has been set to Joint values.
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1.2
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Open the Programs dashboard and set controller E01 active. Then open the Active program dashboard and have a look at the operations.
Change to the controller E02 and notice that in the Active program dashboard, now the corresponding program has been displayed. Take a look at its operations.
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1.3
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Run a simulation with Collision analysis and have a look at the result.
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1.4
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Change to Events and teach. When teaching over joint values, the controller places the tool frame at the selected toolpath position over the joint values of the resource, the robot in this case. When selecting a toolpath position, automatically the corresponding controller and program are activated. But also notice that the other program is placed, or remains in its home position.
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2
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Teach with simulation
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Teach with simulation is an alternative to the above situation. Instead of positioning the resources over the joint values to reach the desired position, a simulation will be run in advance and the position will be reached based upon the simulation. With this simulation of the programs, it enables to position any other resource also according that time frame during simulation.
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2.1
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Open the General settings and verify in the Offline programming container that the setting Positioning mode in teach has been set to Simulation. A program simulation now starts running in the background.
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2.2
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Change to Events and teach. Then open the Teach panel. The option to switch between joint value teach or teach over simulation is also available in here.
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2.3
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Pick some positions and notice that both robots are placed according their position at simulation time.
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