SyncRobots Statement

Start the reserved robot motion.

Syntax
SyncRobots robotNumber [, robotNumber] [, ...]

SyncRobots All

Parameters

robotNumber

Specify the robot number to start operating as an expression or numeric value (integer).

All

Specify all robots that are scheduled to operate.

Description
SyncRobots is used to start the robot motion reserved with the SYNC parameter of each motion command. The robots specified by the SyncRobots start to move in the same timing. This is more useful than synchronizing the normal multi-task programs by waiting for the I/O signal event because there is no effect of switching tasks. It can synchronize the robot motion start more precisely.

If a robot number is specified whose motion is not reserved, an error occurs.

See Also
SyncRobots Function

SyncRobots Statement Example
The example below uses the SYNC parameter of a motion command and SyncRobots to start the motions of two robots simultaneously.

Function Main
    Xqt Func1
    Xqt Func2
    Do
       Wait 0.1
       If (SyncRobots And &H03) = &H03 Then
        Exit Do
      EndIf
    Loop
SyncRobots 1,2
Fend

Function Func1
  Robot 1
  Motor On
  Go P1 SYNC
Fend

Function Func2
  Robot 2
  Motor On
  Go P1 SYNC
Fend