MultiMove issue

robotverkl

Hello,

I really don't understand how MultiMove works and I wish that someone could explain how it works for me. When creating a multipath with MultiTeach the robots don't follow the paths at all. They just move a little in a totally wrong direction. How does MultiMove work? I want the robots to act indepentenly and have therefore selected MultiMove Independent.

 

PerSvensson

Hi
In MultiTeach mode you can choose Coordinated and Semi Coordinated and the function does what the name says, just teach a motion instruction for each robot at current position.

The difference between them are 
Coordinated: start instruction will be a SyncMoveOn and end instruction a SyncMoveOff with syncident and tasklist.
All the motion instruction will also have syncronized ID's

Semi Coordinated: Start instruction will be a WaitSyncTask with syncident and tasklist and nothing in the motions instructions.

Unfortanally there seams to be a bugg in the semi coordinate function when it comes to creating syncident and tasklist and I have reported this to ABB.

About your problem:
Usally when the robots just do a small motion and nothing more the problem is that you are trying to pass a singularity point doing linear motion. So just for testing if that's the case change all motion instructions to MoveJ instead and see if that helps.