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Master_Viper
Posts: 12 Apprentice
How to communicate two UR10 Cobot |
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Could you please share it to me how you do it. This is very big help for me coz I already frustrated doing this.
Thank you in advance.
Regards;
Master_Viper
For instance one robot picks a part and places it on a nest for the second robot to pick. The first will wait until the second one is clear of the nest, sets modbus register that it’s clear, then the first will place the part and notify the other that 1) it’s in the shared workspace so the other robot can not enter and 2) that it has placed a part to be picked.
You can can also access the IO of the other robot so that sensors can be used and shared among the robots regardless of where it’s connected. This is not good for “real” time sensors as there is a little lag between the robots due to modbus but works well for sensors such as part presence. Also, one robot can control another robots outputs, but only one robot can control the output so whichever is connected via modbus would be the master controller.
Regards,
Master_Viper
COBOT 1 program:
MoveL
waypoint 1
write_port_register(128,50)
wait 0.1
write_port_register(128,0)
wait 0.1
MoveL
waypoint 2
COBOT 2 program (receiver):
MoveL
waypoint 1
Wait MODBUS=50
MoveL
waypoint 2
I tried the above program and the COBOT 1 is not moving but the COBOT 2 is moving from waypoint 1 to waypoint 2.
Regards,
Master_Viper