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Best Programming Practices for Gripper & Welding Cell

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Rodolfo
Rodolfo ✭
in RAPID Programming
Hello All, I have two Robots. 2600 (Welding) and a 7600 (Gripper).
Would you guys assign a workobject Wobj0 for the 2600? 

Also,  The cell Also has the Gripper robot and that has MoveL's to move my Welding part around. Should I change it to lets say MoveAbsJ? Thanks!!

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  • lemster68
    lemster68 ✭✭✭
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    Is this a multimove system or are there separate controllers?  If it is multimove, then will the big robot manipulate the part at the same time that the smaller robot is welding?  I.e., coordinated motion.
    Lee Justice
  • Rodolfo
    Rodolfo ✭
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    @lemster68 Separate controllers, It isn't coordinated. Both controllers are running off a PLC panel.
  • lemster68
    lemster68 ✭✭✭
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    OK.  So the next question is this:   Does the big robot hold the part always while it is being welded?  Or does it move it from fixture to fixture, leaving it for the little one to weld?
    Lee Justice
  • Rodolfo
    Rodolfo ✭
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    @lemster68 The Big robot always holds the part.
  • lemster68
    lemster68 ✭✭✭
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    I think that MoveAbsJ is a good idea.  For the smaller robot, I would teach a workobject for every presentation of the part.  You can handshake these repositions through the PLC.
    Lee Justice
  • Rodolfo
    Rodolfo ✭
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    @lemster68 I have a Handshake module for each controller. One robot is always waiting for the other to finish based on the I/O signals.
  • lemster68
    lemster68 ✭✭✭
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    Sounds good then.
    Lee Justice

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