4.1.1. Function parameter
4.1.1. Function parameter
COWORK function is recorded in the program as a function and indicates the start and end of the cooperation control. This function also designates the master and slave of each robot.
COWORK {parameter1},{parameter2},{parameter3},{parameter4},{parameter5} … (Cooperation program) … COWORK END | Start cooperation
End cooperation | |
parameter1 | ․ Designates own robot role (MASTER/SLAVE) ․ Designates end of cooperation operation
M: Designates itself as master COWORK M,S=…, S: Designates itself as slave COWORK S,M=… END : End cooperation operation COWORK END | |
Parameter2 | The ID number of the manipulator to be designated by the master robot controller as the master. If it is the master itself: COWORK M, ID=1,S ID = 0 is the robot manipulator ID = 1 is the positioner group 1 registered as the additional axis (If the positioner group is set as the additional axis at the master) | |
Parameter3 | ․Designates other robot number
When designated itself as master : COWORK M,S=2,3,4 Others become the slave and designates the slave robot number (maximum of 3) When designated itself as slave : COWORK S,M=1 Other robot becomes the master and designates the master robot number | |
Parameter4 | ․ Manipulator ID number designated as master from the master robot controller
if it is the slave itself: COWORK S,M=1,ID=0 ID = 0 is robot manipulator ID = 1 is positioner group 1 registered as additional axis (When the positioner group is set as additional axis to master axis) | |
Parameter5 | ․ Collaborative corresponding robot standby time (Sec) < 0 ~ 120 > When not designated, it is infinite standby
When designated itself as master : COWORK M,S=2,T=30 Standby time until slave returns to collaborative reference position When designated itself as slave : COWORK S,M=1,T=30 Standby time until master returns to collaborative reference position | |