MultiMove with 2 workpieces?

vontom

Hi,
I'm try to setup a station with 2 IRB2600ID together with 1 IRBP R positioner, using MultiMove to coordinate the movements with all of them.
Unlike the conventional usage, the two robots sits on each side of the positioner, and do the arc welding jobs at the same time. This means there are 2 work pieces, and each of them is driven by the different flanges of the positioner.
For the multimove between 1st robot and the positioner, it's OK.
But when I tries to create the multimove path between the second robot and the positioner, it always fails. The error hints: out of reach of Rob_2, and it seems the 2nd robot is trying to reach the 1st workpiece on the opposite side.
So I'm wondering if it is possible to simulate more than 1 work pieces with MultiMove at the same time?
The layout is illustrated as below.
Thanks in advances!



Best Regards,
Tao