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.

 

Figure5.1 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 playback 3

 

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

 

Figure 5.4 Cooperation playback 4