8.1. Cooperation control condition monitor

(1) Select 『[F1]: Service』 → 『1: Monitoring』 → 『10: Cooperation control data 』

(2) Select 『1: Cooperation control status』.

(3) Cooperation control condition will be displayed as follows.

(4) Each condition of monitoring function has different meanings as follows.

n Motor ON: This shows whether each robot is ready for operation. (ON/OFF)

n Operation mode: This shows whether each robot is set to manual or auto mode. (Manual/Auto)

n Manual cooperation: This shows the cooperation condition of each robot in manual mode.

Individual: Individual jog condition

Master: Cooperation jog condition, designated as master

Slave: Cooperation jog condition, designated as slave

n Auto cooperation: This shows the cooperation condition during robot playback.

Stop : Robot is not in operation

Indiv. : Individual robot playback

Wait : Standby for collaborating robots to be in position for COWORK command

Cowork : Playback during cooperation

n Error: This shows the recent error condition of each robot and it is cleared when operation starts.

n Axis subject to interference: This means the axis of a robot that is closest to another cowork robot.

n Interference distance (mm): Distance between axes subject to interference

l If the cooperation control is set to <Disable> in cooperation control, the monitoring information will not be displayed.

8.1. Cooperation control condition monitor​