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When adding a positioner to a MultiMove robot system, the positioner shall be added to a task of its own (thus you also have to add a drive key for the positioner). Below, the options to set on the Modify Options page of the System Builder for such a system are listed: ? RobotWare > Hardware > 709-x DeviceNet > 709-1 Master/Slave Single ? RobotWare > Motion coordinated part 1 > 604-1 MultiMove Coordinated Optionally, expand the MultiMove Coordinated option and select process options for the robots. ? Optionally, for using the system with ArcWare, add RobotWare > Application Arc > 633-1 Arc ? DriveModule 1 > Drive module configuration > Drive System 04 1600/2400/260 > RC2C Add drive > 753-1 Drive C in pos Z4 > 754-2 Drive T in pos Y4 > 755-3 Drive U in pos X4. For the other drive modules, no additional axes should be configured.

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