For simultaneous multi-robot cells, operations from different robots can be coordinated using the scheduler. Wait times can be added to delay operations for a user-specified duration. Handshakes can be added to synchronize two or more operations to start at the same time. This enables you to plan operational sequences to optimize robot movement and avoid collisions between robots.
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Synchronize two or more operations using a handshake
In the scheduler, make sure that you are in operation mode.
Identify the
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operations from different robots that you want to synchronize.
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For one operation, select […] > Add new handshake.
Enter a name for the new handshake.
Click the box or press the ENTER key. The new handshake
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will be added and indicated with a purple bar.
For the second operation, select […] > Add existing handshake, then select the handshake that was created in the previous step.
The operations will be synchronized in the timeline. The operation that occurs earlier in the timeline will be moved to sync align with the later operation in the handshakeoperation that occurs later.(img)
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Removing a handshake
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In the scheduler, make sure that you are in operation mode.
Hover over an operation and select […] > Remove handshake.
Rules for wait times and handshakes
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