4.5. CMOV record position check

4.5. CMOV record position check

 

CMOV step is a useful function to check the teaching position during CMOV record mode using the step forward/backward function. Because CMOV step records position and position of master end effecter coordinate, the tool position of the master must be checked before executing.  

 

(1)   Set the master robot (COWORK M) to the master condition for manual cooperation. (R351,1)

 

(2)   Set the slave robot (COWORK S) to CMOV record condition. (R351,3)

 

(3)   Move and stop the master robot to the step position for cooperation.

 

(4)   Select the CMOV step to move and press the step forward key to move the slave to the recording position on master end effecter. For example, if the CMOV record position is the origin (0,0,0) of the master end-effector coordinate system as shown in the following figure, the slave robots will move to the origin regardless of the position of the master robot.

 

 

Figure 4.6 CMOV record position check

 

l  In CMOV record condition (R351,3 condition), it moves to the applicable step position irrelevant of whether the COWORK command is executed or not.

l  Master jog cannot be used in CMOV record condition.

l  Because real time cooperation operation does not work in CMOV record condition, keep the master stopped and not operate it step forward/backward.

l  After changing the master position of the CMOV record, stop the robot. If you move the CMOV step forward it will move the renewed position.