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

1. In the scheduler, make sure that you are in the operation view for a given program. The operation view shows a separate row for each robot.

   

2. Hover over the operation you want to delay, then select […].

   

3. In the Wait for n seconds box, enter a delay time in seconds.

4. Click the box or press the ENTER key.

The wait time delay will be inserted in the sequence before the selected operation.

Remove a wait time delay

1. In the scheduler, make sure that you are in operation mode.

2. Hover over the Wait item and select the trash can.

Synchronize two or more operations using a handshake

1. In the scheduler, make sure that you are in the operation view for a given program.

   

2. Identify the operations from different robots that you want to synchronize.

   

3. For one operation, select […] > Add new handshake.

   

4. Enter a name for the new handshake.

5. Click the box or press the ENTER key. The new handshake will be added and indicated with a purple bar.

   

6. 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 align with the operation that occurs later.

Removing a handshake

1. In the scheduler, make sure that you are in operation mode.

2. Hover over 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 in Robotmaster follows the allowable handshake naming rules for the brand of robot in use. For example, if the robot brand allows only integers for handshake names, you will be limited to integers for handshake names.

• A handshake cannot be added to an operation if the operation already has a wait time delay applied.

• Handshakes cannot be added to two operations in the same robot. This will be prevented with the warning “Handshakes must not create a circular dependency.”