4.1 Outline
4-1
4
Twin Synchronous System
4.1
Outline
The twin synchronous system is a system where two manipulators operate in coordination for
one station.
In this system, two coordinated jobs are done at the same time.
• A coordinated job for one manipulator and the station (R1+S1)
• A coordinated job for the other manipulator and the station (R2+S1)
A concurrent job or a robot job without control groups starts these two jobs and implements
I/O control. The master task job uses the independent control function to start the robot jobs
of subtasks 1 and 2.
Two robot jobs can be created by the following two methods.
Station
S1
Subtask 1
R1+S1
Subtask 2
R2+S1
Start
Start
Master task
such as calculation, I/O control
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