sync_move.h File Reference

同步运行 More...

#include <vector>
#include <unordered_set>
#include <string>
#include <memory>
#include <aubo/global_config.h>

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Classes
class	arcs::common_interface::SyncMove

Namespaces
namespace	arcs
namespace	arcs::common_interface

Typedefs
typedef std::unordered_set< std::string >	arcs::common_interface::TaskSet
using	arcs::common_interface::SyncMovePtr = std::shared_ptr< SyncMove >

Detailed Description

同步运行

1. Independent movements If the different task programs, and their robots, work independently, no synchronization or coordination is needed. Each task program is then written as if it was the program for a single robot system.
2. Semi coordinated movements Several robots can work with the same work object, without synchronized movements, as long as the work object is not moving. A positioner can move the work object when the robots are not coordinated to it, and the robots can be coordinated to the work object when it is not moving. Switching between moving the object and coordinating the robots is called semi coordinated movements.
3. Coordinated synchronized movements Several robots can work with the same moving work object. The positioner or robot that holds the work object and the robots that work with the work object must have synchronized movements. This means that the RAPID task programs, that handle one mechanical unit each, execute their move instructions simultaneously.

Definition in file sync_move.h.