5.4 Leader and Follower
5-8
5.4
Leader and Follower
Set the two out of the subtask 1, the subtask 2, and the subtask 3 as the followers. To set a
follower, add a tag SYNC and the leader subtask to the PSTART instruction of the master
task. The subtask to which a tag SYNC is added is follower while the subtask without a tag is
leader.
The station axis is controlled by the leader job, and the follower job follows the movement of
station axis.
5.5
Synchronizing with TSYNC
During the execution of the jobs, a deviation between the movements of the three manipula-
tors may occur. In the steps where the movements of the three manipulators should be
exactly the same, execute a TSYNC instruction immediately before these steps.
When a TSYNC instruction is executed in one of the robot jobs, the manipulator waits until the
same synchronized signal, TSYNC, is executed in the other two robot jobs. Set the number of
synchronized tasks. When setting “SYNCHRO NUM” to “UNUSED,” the number of tasks is
the same as when “SNUM=2.”
Format
Register a PSTART instruction so that the follower job starts first.
0004
0005
0006
PSTART JOB:JOB-1 SUB SYNC SUB3
PSTART JOB:JOB-2 SUB SYNC SUB3
PSTART JOB:JOB-3 SUB3
Subtask 2 (follower)
Subtask 3 (leader)
In this case, the manipulators of subtask
1 and 2 synchronize with the leader subtask 3.
Master task job
Subtask 1 (follower)
NOTE
TSYNC
Synchronizatio
n No. 1 to 32
Number of
synchronized
tasks 2 or 4
117/210