5.1. Introduction of Cooperation Playback

5.1. Introduction of Cooperation Playback

 

Individual operation is the general control method as same as the individual operation method, and the cooperation operation is the COWORK ~ COWORK END part in which the program position of the master decides the slave operation.

 

(1)   Cooperation operation part is the COWORK ~ COWORK END part and the when the COWORK command starts all collaborating robots standby until COWORK is executed.

 

 

Figure 5.1 Cooperation playback 1

 

(2)   When the collaborating robots are all in COWORK position, the cooperation operation starts.

 

Figure 5.2 Cooperation playback 2

 

(3)   If the collaborative zone operation is completed, master reaches the COWORK END command to end the cooperation condition.

 

Figure 5.3 Cooperation playback3

 

(4)   When the cooperation operation is completed, each individual operation is resumed.

 

Figure 5.4 Cooperation playback 4