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.
Add a wait time delay before an operation
In the scheduler, make sure that you are in the operation view for a given program. Operation view shows a separate row for each robot.
Hover over the operation you want to delay, select […], then select Wait for n Seconds.
Enter a time in seconds in the box.
Press the ENTER key.
The wait time delay will be inserted in the sequence before the selected operation.
Remove a wait time delay
In the scheduler, make sure that you are in operation mode.
Hover over the Wait item and select the trash can.
Synchronize two or more operations using a handshake
Identify the two operations you want to synchronize.
It will move the earlier operation up to the later operation.
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Removing a handshake
Click ellipse button […] for an operation and select Remove handshake.
Rules for wait times and handshakes
Wait time duration cannot be edited once it is added. You must delete it and apply a new wait time.
Handshake naming rules in Robotmaster follow the allowable handshake naming convention for the brand of robot in use. For example, if the robot allows only integers for handshakes, only integers will be allowed in the handshake name.
A handshake cannot be added to an operation if the operation already has a wait time delay applied.
Handshakes cannot be added to operations in the same robot. This will be prevented with the warning “Handshakes must not create a circular dependency.”
Handshake groups cannot be added between different programs.