4.2.8.1. Cooperation control condition

4.2.8.1. Cooperation control condition

 

It will display the status of a number of robots that are under cooperative control. Possible monitoring states include motor on, operation mode, manual cooperation, automatic cooperation, error state, interference possible axis, and interference distance.

 

Can be used by selecting 『[F1]: Service』 → 『1: Monitoring』 → 『10: Cooperation control data』→ 『1: Cooperation control status』.

 

 

Figure 4.36 Cooperation control status monitoring

n Motor on: Indicates operation readiness (ON/OFF) of each robot.

n Operation mode: Indicates the manual/auto mode status of each robot.

n Manual cooperation: Indicates robot’s manual mode cooperative state.

Individual: Individual manipulation state

Master: Set as MASTER in a cooperative manipulation state

Slave: Set as SLAVE in a cooperative manipulation state

n Automatic cooperation: Indicates the cooperative state when a robot performs a task.

Stop: Not performing.

Independent: Independently performing a task

Wait:

Under COWORK command, waiting for a partner robot to be ready for cooperative position.

Cooperation: performing cooperation work.

n Error status:

Indicates recent error states of each robot. Error state clears when a robot moves.

n Axis with possible interference:

When an arm interference prevention is effective, it displays the name of the nearest axis to the other robot.

n Interference distance [mm]:

When an arm interference prevention is effective, the distance to the interference possible axis is displayed in mm.