10.5.1.11. COWORK

Explanation	This command designates master robot and slave robot by using the cooperative handling function, and starts and ends the synchronous motion of the robots.
Syntax	COWORK <Robot role>,<Relative robot number>,T=<Standby time>
Parameter	Robot role	M: master robot, S: slave robot, END: cooperative control end WITH : Standby until another robot meets COWORK WITH
	Relative robot number	Role and number of relative robot are designated. When robot role is designated as M, slave robot number is assigned. S = Number 1, number 2, number 3 When robot role is designated as S, master robot number is assigned. M = robot number
	Standby time	Waiting time until relative robots reach the COWORK command
Example	S1 MOVE P,S=100%,A=0,T=0 S2 MOVE P,S=100%,A=0,T=0 S3 MOVE P,S=100%,A=0,T=0 DO1=1 COWORK M,S=2,T=30 → Robot role is master, cooperative control begins, and slave waiting time is 30 seconds. S4 MOVE L,S=800mm/sec,A=0,T=0 S5 MOVE L,S=500mm/sec,A=0,T=0 S6 MOVE L,S=800mm/sec,A=0,T=0 COWORK END → Cooperative control ends. DO1=0 S7 MOVE P,S=100%,A=0,T=0

l To use the COWORK function, more than two robots should be connected to the cooperative control network.

l Refer to 『Hi5a Controller “Cooperation Control” Function Manual』 for details.