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3.5. CMOV record mode jog (SLAVE)

3.5. CMOV record mode jog (SLAVE)​

 

(1)   CMOV record mode is the mode to teach the slave position for jigless cooperation operation.

 

(2)   Select the robot role as Slave to set the CMOV record mode.

(After entering the R 351,2 code, allocate the cooperation condition switch F key and use the SHIFT+F key to change the robot role. S:R2 will be displayed with the robot role and number on the top right side of the screen.)

 

(3)   Set the master robot to manual cooperation condition. (R351,1)

 

(4)   When the operation is carried out in the orthogonal coordinate jog mode, the orthogonal coordinate jog will take place based on the tool End Effector coordinate of the mater.

 

Figure 3.4 CMOV record mode jog

 

Caution

 

l When the slave is in CMOV record mode, jog operation for master robot in manual cooperation condition is not possible.