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4.2. Program Teaching and Preparation for Cooperation Handling

4.2. Program Teaching and Preparation for Cooperation Handling​

 

(1)   You need the same number of operators as the number of cooperation control units. Therefore you need as many operators as the robots.

 

(2)   Check whether the common coordinate of the cooperation robot is set. Allocate the f key necessary for cooperation control.

 

(3)   Move the master and slave robot to the starting position of the cooperation operation and record the starting position based on the reference position.

 

 

Figure 4.1 Recording position step based on cooperation operation start

 

(4)   Set the master and slave robot to cooperation status using the f key. The robot roles can be set by entering the R351 code.

 

(5)   Check if the master robot is set to master and slave robot to slave and also check whether the operation ready is ON. Set it to jog on for master and jog off for slave.

 

(6)   Register the COWORK M/S command and record the step. COWORK command designates the master/slave recognition and designates the slave/master number.

 

 

(7)   Control the master robot with jog. At this time the slave follow the master robot’s movement in relative position at the tools end position. At this time, the Enable switch must be pressed for the slave. The step is recorded only to the master from record position. It is not recorded in the slave robot controller.

 

 

 

 

Figure 4.2 Master robot operation

 

(8)   Cooperation operation step is recorded to the master. Set the interpolation type and speed of the master. Use the general move command within the cooperation operation function. (SMOV cannot be used.)

 

 

(9)   When the cooperation operation is done, the COWORK END command is inserted to the master and slave.

 

 

Caution

 

l Manual cooperation robot role and COWORK robot role must be the same. For example, if the manual cooperation condition is set to set to slave, COWORK M cannot be executed.

 

l Do not set to Enable switch of the slave to OFF during manual cooperation operation. Because the hardware signal is processed prior to the communication speed, a misalignment between the robots can occur. In this case, it can damage the work object or robot hand in severe cases.