3.2. Individual/Cooperation Switch

3.2. Individual/Cooperation Switch

 

n Function switch by key operation

 

There are two ways to switch the cooperation control operation in manual mode; method using the allocated key or method using the R code. Details are shown in the table below.

 

Table 3‑1 Function switch by key operation

Key operation	Function switch
User key	Manual individual mode (Indi visual) ↔ Manual cooperation mode (MASTER/SLAVE)
SHIFT + User key	Applicable only for SLAVE SLAVE manual cooperation mode ↔ CMOV record mode
R351,0	Manual individual mode
R351,1	Manual cooperation mode, designate master
R351,2	Manual cooperation mode, designate slave
R351,3	CMOV record mode, designate SLAVE jog mode

 

n Manual mode individual condition

 

 

In this condition, each robot can be individually controlled with jog.

 

n Manual mode cooperation condition (master designation)

 

 

This mode is to operate in a synchronized manner following the movement of the master while in the mode that the slave is set.

 

n Manual mode cooperation condition (slave designation)

 

 

This is the condition to designate the slave to follow the movement of the master.

 

n CMOV record mode, SLAVE jog mode condition

 

 

This is the condition to record CMOV, check the teaching position by moving the step of CMOV command forward/backward and jog control the slave based on the master robot’s end effecter coordinate.

 

Caution

 

l When the common coordinate is not set, it is impossible to switch the cooperation role between master and slave in the individual condition.

l In manual cooperation condition switch through R code, the R351,3‘CMOV record condition’ can only be done in ‘manual cooperation condition (slave designation mode)’(R351,2).

l To change the ‘CMOV record condition’ using the allocated F key, first change the robot role to slave using the F key and then use the SHIFT+F key to change the condition.