Introduction to Multi-machine Collaboration#
Usage restrictions#
The multi-machine collaboration function enables two robots to move synchronically with reference to specific modes, such as joint space synchronization, Cartesian space synchronization, master-slave feature following, etc. Using the multi-machine collaboration function, two robots can simultaneously operate the same workpiece in different forms, as shown in the following figure:
functional terms#
Master robot: In multi-machine collaboration, the master robot (also known as the Server side robot) acts as the functional control side and controls the behavior of another or more robots. One master robot can be used to connect to and control another or more robots.
Slave robot: In the multi-machine collaboration function, the slave robot (also known as the Client robot) acts as the function controlled end and generates relative motion under the control of the master robot during the multi-machine collaborative operation. A slave robot can only be used to connect with and be controlled by another master robot, and cannot be controlled by multiple master robots at the same time.
Usage restrictions#
When users choose to use the multi-machine collaboration function, they need to pay attention to the following restrictions:
Robot using multi-machine collaboration need to have MultiMachine plugin packages properly installed and enabled at the same time, with a software version of V2.7.0 and above.
Before using the master-slave feature following mode of the multi-machine collaboration function, the user needs to confirm that the end tools of the master-slave robot used for the multi-machine collaboration function intersect in the workspace to meet the calibration requirements of the installation posture relationship of the master-slave robot.
Before using the multi-machine collaboration function, the user needs to confirm that the master-slave robot used for the multi-machine collaboration function can directly pass the network cable connector control cabinet, and try to avoid communication connection through intermediate routes and other links, so as to avoid the final performance decline caused by real-time communication delay;
Before executing the multi-machine cooperative motion script, the user must correctly calibrate the relationship between the master and slave robots’ configuration and relative installation pose, and confirm the communication connection and configuration parameters are effective; otherwise, the script operation effect will be affected, resulting in job risks.
After the user writes the multi-machine cooperative motion script, since the movement of the slave robot will be directly controlled by the master robot, it is necessary to evaluate whether there is interference in the working space of the slave robot before running the script, so as to avoid the possibility of collision between the robot and external people and objects or the master robot during the movement process.