5.2. Program check in manual mode

5.2. Program check in manual mode

 

(1)   In the manual mode, the manual cooperation mode needs to be set as I(Indiv.) or M(Master) for the master robot, and it needs to be set as I(Indiv.) or S(Slave) for the slave robot.

 

(2)   The preparation for the operation needs to be on and the ‘Step forward’ keys on both sides need to be pushed.

 

(3)   To check the synchronized operation of the master and slave, press the step forward key of the slave until the cooperation operation is completed.

 

 

Figure 5.5 Program check in manual mode

 

Caution

 

l If you set the slave to CMOV record mode (R351,3), cooperation operation in manual mode with the master will not work. Always set to I (Indiv., R351,0) or S (Slave, R351, 2).

 

l If you release the 『Step forward』 key during cooperation operation, the robot will stop and 『Stop request of opponent robot』 message will be displayed. To restart at this time, move forward the slave side first then the master side.

 

l If you do not set the master and slave to ‘manual’, an error saying “Cooperation operation start error” will be generated and the playback will not start.

 

l When executing step forward/backward, the condition must be set to『Function during step fwd/bwd = On』.

 

l The master and slave robot check the execution position only when executing the COWORK command, and step position synchronization of master and slave is not done in other work zones. Therefore, the relative position checked with step forward/backward function can change during auto mode playback.

 

l In order to synchronize the specific positions of the two robots, the COWORK WITH command needs to be used.