Robot Synchronization: Configuring Parallel Tightening

Define the Synchronization Boundary

The center robot must pick the battery, raise it beneath the car, and reach its required holding pose before either tightening robot starts. Treat arrival at that pose as the release condition for the left and right robots.

Do not treat the center robot’s entire job as complete at this point. It must continue holding the battery while both side robots tighten their respective bolts. Release or retract the center robot only after both tightening operations report completion.

Coordinate the Three Robot Programs

Use a synchronization statement in the Visual Components robot programs to create the required execution barrier. Place the release synchronization point after the center robot reaches the battery-holding pose and before either side robot begins tightening.

Center robot:
  Pick battery
  Move battery to holding pose
  Synchronize: tightening may start
  Hold position until left and right tightening complete

Left robot:
  Synchronize: wait for battery in holding pose
  Tighten left-side bolts
  Report left tightening complete

Right robot:
  Synchronize: wait for battery in holding pose
  Tighten right-side bolts
  Report right tightening complete

The evidence does not identify command names, signal addresses, controller models, or completion-handshake syntax. Configure those details using the synchronization functions available in the actual simulation or controller environment rather than assigning unsupported identifiers.

Start Both Tightening Robots Simultaneously

Configure both side programs to wait at the same logical synchronization boundary. When the center robot reaches that boundary, release both waiting programs. This creates concurrent starts at the program level; actual motion onset can still differ because of each robot’s program execution and motion conditions.

Use a second synchronization boundary before the center robot lowers or releases the battery. That boundary must require completion from both sides, preventing the center robot from moving after only one tightening robot finishes.

Verify the Sequence

1. Run the sequence and confirm that neither side robot starts before the center robot reaches the holding pose.
2. Confirm that the left and right tightening programs are released from the same synchronization boundary.
3. Confirm that the center robot maintains the battery pose throughout both tightening operations.
4. Delay one side robot intentionally and verify that the center robot remains in position until both sides finish.

FAQ