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4.1.2. Method of using COWORK function

4.1.2. Method of using COWORK function​

 

(1)   For the master robot, the operating command in the zone between COWORK and COWORK END becomes the collaborative zone command. The slave cannot insert an operating command.

 

(2)   The slave cannot use the general move command and must use the CMOV command which is the COWORK MOVE command.

 

(3)   For handling operation, which is for the slave to follow the master robot, the slave moves with the master while keeping a relative position even though the CMOV command is not inserted, as shown in the below example.

 

 

(4)   You can insert a CMOV command to the slave based on the master end effecter coordinate, and the recording position of CMOV is based on the master tool end effecter coordinate. If taught as shown in the below example, the cooperation operation is done in the COWORK~COWORK END zone. In this operation, the slave follows the master robot on the CMOV trace recorded in the master end effecter coordinate. (Jigless cooperation control is an option.)

 

 

Caution

 

l At the end position of the cooperation operation, a COWORK END command must be inserted.

l For the slave robot, the MOVE command cannot be inserted within the cooperation zone. For the master robot, the CMOV command cannot be inserted.