RobotStudio™ 6.

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MultiMove
 The information in this manual is subject to change without notice and should not be construed as a
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Contravention will be prosecuted.
Additional copies of this manual may be obtained from ABB at its
then current charge.

© Copyright 2016 ABB All right reserved.

ABB AB
Robotics Products
SE-721 68
Västerås Sweden

2016-06-22 ABB
 Table of Contents

1. MultiMove .....................................................................................................4
1.1. Building the MultiMove station............................................................................ 5
1.2. Programming MultiMove systems .................................................................... 11
1.3. Changing the MultiMove motion behavior ........................................................ 17

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1. MultiMove
Definition

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1.1. Building the MultiMove station

Overview
Before we start with MultiMove programming we will build a station with two robots and
create a MultiMove system. We will also create a workobject and a path to use in the next
exercise.

In order to better understand the BaseFrame and TaskFrame concepts in MultiMove

system, see the above definition.

Import and place objects

1. Create a new Solution with Empty Station.
2. Name the solution myMultiMoveSolution and set the location to
courseware\solutions\Module_9\myMultiMovesolution.
3. On the Home tab click the ABB library button and select IRB 1600 and then the 6kg
and 1.45m model.

4. In the Layout browser right click the IRB1600_6_145__01 robot and select
Position>Set Position.
5. In the Set Position dialog select the World reference.
6. In the Position boxes enter X = 3300, Y = 0, Z = 0.
7. In the Orientation boxes enter X = 0, Y = 0, Z = 180, then click Apply and Close.
8. On the Home tab click the ABB library button and select IRB 6700 and then the 205kg
and 2.8m model.

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9. On the Home tab click the Import Library button.

10.In the Open dialog browse to the folder Courseware\Libraries and while pressing [ctrl]
select the Fence and mySpintecTool libraries, and then click Open.

Note: mySpintecTool was created in the Learning the Basics Module. If the tool is not
present in the Library folder it can be found in the Solutions folder.

11.In the Layout browser drag the mySpintecTool tool to the IRB1600 robot.
12.In the Update Position dialog click Yes.
13.On the Home tab click the Import geometry button.
14.In the Open dialog browse to the folder Courseware\Geometry and select the geometry
training_part1, then click Open.
15.In the Layout browser drag the training_part1 to the robot IRB6700_205_280__xx and
in the Update Position dialog click Yes.

16. Save the station as

courseware\Module_9\myMultiMoveSolution\Stations\myMultiMoveLayout.

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Create System from Layout

1. On the Home tab click the Robot System button and select From Layout….
This starts the Create System From Layout wizard.
2. In the System Name and Location page enter the name MultimoveSystem then click
Next.
3. In the Select Mechanisms for the System page make sure that both robots are selected.
4. In the Configure the System page select the robot IRB6700 and move it up to Task1 by
clicking the up arrow, then move the robot IRB1600 down to Task 2.

5. Click Next.
6. In the System Option page click Finish.
Wait until you get the green confirmation in the down right corner.

In the Paths&Targets browser you can see that a system with two tasks has been
created.

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Create a workobject
1. In the Graphics window set the Selection Level and Snap Mode to Surface Selection
and Snap Edge.
2. Zoom the training_part1 so that you can see the left side of its front as in the picture
below.

3. On the Home tab, in the Task box select the task MultimoveSystem T_ROB2.

(You can also in the Paths&Targets browser expand the node for the Virtual Controller
MultimoveSystem, right click the task T_ROB2 and then select Set as active).
4. On the Home tab, in the Tool box select the tSpintec tool.

5. On the Home tab click the Other button and select Create Workobject.
6. In the Create Workobject dialog, in the Name box enter obWorkpiece.
7. In the User Frame field click in the Frame by points box, then click the arrow.
8. In the Frame by points dialog, select Three-point.
9. Click the First point on X axis and in the Graphics click on point 1 as in the picture.
10.Click the Second point on X axis and in the Graphics click on point 2 as in the picture.
The order of the first two points determines the direction of the X axis.
11.Click the Point on Y axis and in the Graphics click on point 3 as in the picture.
This determines the positive Y direction and also the intersection which determines
where the workobject will be created.
12.Click the Accept button.
13.In the Create Workobject dialog click Create.

14.In the Paths&Targets browser right click the obWorkpiece workobject and then point to
Attach to and select IRB6700.
15.In the Update Position dialog click No.
16.Confirm that the workobject will be moved by the robot by clicking OK.

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Create a path
Now we want to create a path following the upper edge of the bending body of the workpiece.
1. Zoom so that you can see the training_part1 from above as in the picture below.
(the IRB1600 is at the top of the picture)

2. Make sure T_ROB2 is set as Active and check the active wobj and tooldata.

3. In the Task bar set the template to MoveL,v200 and z1

4. On the Home tab click the AutoPath button.

5. In the Graphics window select the selection level Surface and snap mode Edge.

6. Click the top surface (as shown in red) for the reference surface and the edge as shown
close to the corner below. Set Tolerance to 1.0mm

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7. Click Create.
8. In the Paths&Targets browser rename the new path to Path_Process.

Change the target orientations

1. Expand the node of the Path_Process path and right click the first instruction, then select
View Tool at Target > mySpintecTool.
The tool reaches the curve from the side in an orientation that is not suitable for the
IRB1600 to reach.

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2. Again right click the first instruction and select Locate Target.
3. Multi select all targets under the workobject obWorkpiece.
4. When the targets are selected, on the Modify tab click the Rotate button.
5. Rotate the targets -90 degrees around Z.

6. De-activate View Tool at Target.

7. Save the station as

courseware\Module_9\myMultiMoveSolution\Stations\myMultiMoveBasicPath.

1.2. Programming MultiMove systems

Overview
In this exercise we will create a MultiMove program that contains both synchronized and
unsynchronized motions.

Creating a synchronized MultiMove program

We will use synchronized MultiMove for our process path so that the work piece robot
continuously positions the work piece to facilitate for the tool robot. Synchronized programs
are created with the MultiMove function.

1. Open the station myMultiMoveBasicPath unless it is already open.

2. On the Home tab click the Multimove button.

3. In the Multimove window click the Setup button if the Setup page it is not already
visible.

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4. In the System Config group, in the Select System box select the system
MultimoveSystem. Make sure that both robots are enabled and that the IRB6700 is set as
workpiece robot and that the IRB1600 is set as tool robot.

5. In the Path Config group expand the node for the robot IRB1600 to make sure that the
path Path_Process is enabled. If necessary press the Update button.

6. In the Paths&Targets browser right click T_ROB2 and select Mechanism Joint Jog.
7. Set the joints to 0,0,10,0,25,180

8. Expand the Start position group, and in the Select Robot that other should jump to
box select the IRB1600 and click Apply.

This moves the large robot so that the first target in its path is moved to the TCP of the
small robot.

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9. At the bottom of the Multimove window, in the Test page click Play.
The robots now starts moving and synchronized paths for the robots are created.
When finished, the message Calculation OK appears in the status box
10.In the MultiMove window click the Create Paths button.
11.On the Create Paths page scroll down to the Generate Paths group and click Create
Paths.
Synchronized paths for the tool robot and the workpiece robot are now created in the
Paths&Targets browser.
12.For each of the two mmPath_1 change the first motion instruction to Joint move.

Adding unsynchronized instructions to the program

We will now add unsynchronized instructions to the paths, where the robots move to home
positions independently of each other. First we will create three joint targets and then we will
add them to the paths.
1. In the Paths&Targets browser right click the task T_ROB1 and select Set as active.
2. In the Task bar set the template to MoveJ

3. In the Paths&Targets browser right click T_ROB1 and select Mechanism Joint Jog.

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4. Set the joints to 0, 0, 0, 0, 90, 0.

5. On the Home tab click the Teach Target button.

If you get a warning click yes.
6. Under T_ROB1 expand the workobject and rename the new target (Target_10) to
p6700_Home.
7. Set the joints to 0, -40, -130, 0, -55, 0.

8. On the Home tab click the Target button and select Teach Target.
If you get a warning click yes.
9. Under T_ROB1 expand the workobject and rename the new target (Target_10) to
pChange.

We will now add the targets to the IRB 6700 path in this order;
home – multimove – home – change.

10. Right click p6700_Home and select Add to Path > mmPath1 > First.
If you get a warning click yes.
11. Right click p6700_Home and select Add to Path > mmPath1 > Last.
12. Right click pChange and select Add to Path > mmPath1 > Last.

Now we will add a home position for the other robot.

13. In the Paths&Targets browser right click the task T_ROB2 and select Set as active.
14. In the Task bar set the template to MoveJ and workobject to wobj0.

If the targets where created in the other workobject they would be dependent.

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15. In the Paths&Targets browser right click T_ROB2 and select Mechanism Joint Jog.
16. Set the joints to 0, -40, 20, 0, 25, 180.

17. On the Home tab click the Target button and select Teach Target.
If you get a warning click yes.
18. Under T_ROB2 expand wobj0 and rename the new target to p1600_Home.
19. Right click p1600_Home and select Add to Path > mmPath1 > First.
If you get a warning click yes.
20. Right click p1600_Home and select Add to Path > mmPath1 > Last.

Test the program

We will now synchronize the station to the virtual controller and run a simulation.
1. Create an empty path in each robot, rename it Main and add the mmPath_1 to each.

2. On the Rapid tab click the Synchronize to RAPID button.

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3. In the Synchronize to Rapid dialog uncheck Path_Process and then click OK.

This path was only needed for the basis of the creation of the coordinated MultiMove
paths and is not required in order to execute the robot programs.

4. On the Simulation tab click the Play button.

The robots now execute the paths.
5. Save the station as
courseware\Module_9\myMultiMoveSolution\Stations\myMultiMoveSimulation.

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1.3. Changing the MultiMove motion behavior

Overview
In this exercise we will learn how to use some of the motion behavior features in MultiMove.
We will specify constraints and rules for how the robots shall move relative to each other.
The default setting is no constraints, which results in the fewest joint movements. Note that
some of the tests below will result in a path where the work piece will move below the floor.

Examine the default behavior

1. Open the station myMultiMoveSimulation unless it is already open.

2. In the Paths&Targets browser right click T_ROB2 and select Mechanism Joint Jog.
3. Set the joints to 0,0,10,0,25,180

4. On the Home tab click the MultiMove button.

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5. In the MultiMove dialog in Setup > Start Position select the IRB1600 and click Apply.

This moves the large robot so that the first target in its path is moved to the TCP of the
small robot.

6. In the Test area click Play and then Use Current Robot position.
Note how the motion looks; if necessary run play again.
7. When the simulation is completed, on the Play button drop-down menu first select
Restore last CloseLoop Position and then Save Current Position.

Changing the start position for the path

We will now jog the robots to new positions and see how that affects the generated path.
1. In the Layout browser select the IRB 1600 robot.
2. On the Modify tab click the Mechanism Joint Jog button.
3. In the Joint Jog dialog click the slider for axis 4, type -90 and press [Enter].
4. In MultiMove Test window click Play.
5. In the Select Start Position dialog select Use current robot positions.
This dialog is displayed since the current start position is not the same as the last used
one. Note how the robots move differently than they did with the previous start position.

Locking joint influence

The Joint influence controls the balance of how much the robots will use their joints. We will
use it to lock the motion of axis 4, 5 and 6 on the tool robot.
1. On the Play drop-down menu select Restore saved position.
2. In MultiMove navigation pane click the Motion behavior button.
3. On the Motion behavior page expand the Joint Influence group.
4. In the Select robot list select IRB1600.

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5. In the robot axis grid, on the Axis 4, 5 and 6 rows check the Lock check box. Make sure
that the Influence is set to 0 which locks the axes completely.

6. In MultiMove Test window click Play.

7. Use manually saved position.
Note that the robots move differently now as compared to the default behavior. Also,
notice that the locked axes do not change in the Joint jog dialog.
8. When the simulation is completed uncheck the check boxes that restrict the axes of the
tool robot.

Setting TCP Constraints

The TCP constraints control the position and orientation of the tool. We will now create paths
where the tool always is in a horizontal position.
1. On the Motion behavior page expand the TCP Constraints group.
2. In the Select tool robot list select IRB1600
3. Check the Enable check boxes for Rx and Ry constraints.
4. Set the Value for Rx to 0 and Ry to -90.

5. In MultiMove Test window click Play.

6. Use current robot position.
Note that the tool is kept in a horizontal position during the entire simulation.
7. When the simulation has completed, uncheck the check boxes that set the constraints.

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Setting tool tolerances

Tool tolerances allow the tool to deviate from the path.
1. On the Motion Behavior page, in the Tool Tolerance group select IRB1600 as tool
robot and then enable the tool tolerance for Rz.
This allows the tool to be reoriented around the Z axis when reaching the targets.

2. In MultiMove Test window, click Play and start from the manually saved position.
3. Uncheck the check box that sets the tolerance.

Setting tool offset

Tool offset creates an offset between the target and the tool.
1. In the Tool Offset group select IRB1600 as tool robot, enable the tool offset for X and
then enter the value -50.

2. In MultiMove Test window click Play and start from the manually saved position.
3. Note that the tool now runs 50 mm above the path.
4. Uncheck the checkbox.
5. Save the station as
courseware\Module_9\myMultiMoveSolution\Stations\myMultiMoveBehavior.

Learn more
Click the Help button in the top right corner of RobotStudio.

See the help on section for information about

Programming MultiMove Systems prerequisites and workflow for MultiMove

Overview programming

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© Copyright 2016 ABB All right reserved.

ABB AB
Robotics Products
SE-721 68 Västerås
Sweden

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