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4.2.9.1. Cooperation control condition

4.2.9.1. Cooperation control condition​

 

This displays the status of multiple robots that are in cooperation control. Operation preparation, operation mode, manual cooperation, auto cooperation, and error status can be monitored.

 

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

 

 

Figure 4.37 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.