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The MultiMove functions helps you create and optimize programs for MultiMove systems
where one robot or positioner holds the work piece and other robots operate on it. Below is
an outline of the main workflow for programming MultiMove systems with RobotStudio,
with references to detailed instructions further down in the section.
Prerequisites
For using the MultiMove functions you must first have the following:
• A virtual controller running a MultiMove system started in RobotStudio, see A
MultiMove system with two coordinated robots on page 160 for an example.
• All coordinate systems and tools used by the system.
• The paths along which the tool shall move. The paths must be created in a workobject
that belongs to a tool robot and is attached to the work piece robot. A wizard will guide
you through attaching the workobjects if this has not been done before starting the
MultiMove functions.
For detailed information about MultiMove in RobotWare systems and RAPID programs, see
the MultiMove application manual.
Normal workflow
This is the typical workflow for creating MutliMove programs using the MultiMove function:
Action Description
Setting up the MultiMove Select the robots and paths to use in the program, see
Setting up the MultiMove on page 112.
Testing the MultiMove Execute the motion instructions along the paths, see
Testing the MultiMove on page 113.
Tuning the motion behavior Tune motion behavior, such as tolerances and constraints
for TCP motions, see Tuning the motion behavior on page
114.
Creating the program Generate the tasks for the robots, see Creating paths on
page 116.