3.2.1. Mode switching by key operation
3.2.1. Mode switching by key operation
The manual switching of the cowork modes can be done by the following method:
① Use of a user-defined hot key
② Use of the R code
③ Use of the hot key, “Shift+6.” The mode changes in the order of individual, master, slave, and CMOV recording.
Details are shown in the table below.
Table 3‑1 Function switch by key operation
Key operation | Function switch |
User key | Manual individual mode (Indiv) ↔ Manual cooperation mode (MASTER/SLAVE) |
SHIFT + User key | Applicable only for SLAVE SLAVE manual cooperation mode ↔ CMOV record mode |
R351,0 | Manual individual mode |
R351,1 | Manual cooperation mode, designate master |
R351,2 | Manual cooperation mode, designate slave |
R351,3 | CMOV record mode, designate SLAVE jog mode If the previous mode is “slave,” it can be switched to the master mode. |
n Manual mode individual condition
Figure3.3 Window showing the manual individual mode
In this condition, each robot can be individually controlled with jog.
n Manual mode cooperation condition (master designation)
Figure3.4 Window showing the manual cowork master mode
This mode is to operate in a synchronized manner following the movement of the master while in the mode that the slave is set.
n Manual mode cooperation condition (slave designation)
Figure3.5 Window showing the manual cowork slave mode
This is the condition to designate the slave to follow the movement of the master.
n CMOV record mode, SLAVE jog mode condition
Figure3.6 Window showing the CMOV recording mode
This is the condition to record CMOV, check the teaching position by moving the step of CMOV command forward/backward and jog control the slave based on the master robot’s end effecter coordinate. However, recording a step or moving the robots requires a robot set as the master among the robots is subject to the cowork control.
l If no common coordinate system is set, it is impossible to switch from the manual individual mode to the cowork master or slave mode.
l In manual cooperation condition switch through R code, the R351,3‘CMOV record condition’ can only be done in ‘manual cooperation condition (slave designation mode)’(R351,2).
l To switch to the CMOV recording mode with the hot key, switch the robot mode to the slave mode first, then use the hot key.