2.3. Setting the controller

2.3. Setting the controller

 

The controller sets communication, robot numbers, etc. for cooperative control.

 

(5)   Select “[F2]: System” → “2: Control parameter” → “9: Network” → “3: Service.”

 

(6)    Select “1: Cooperation control.”

 

(7)    Set the parameters on the dialog box. The parameters have the following purposes:

n Cooperative control function: <enable, disable>

This enables or disables the cooperative control function.

n Group number: <1–6>

This designates a number for the group of robots. The cooperative control function applies only to the robots belonging to a group. The robots that will be subject to cooperative control should be designated as a group. However, the HiNet I/O applies commonly for robots of another group.

n Robot number: <1–4>

This designates a number for a robot. A robot number is one that makes a robot recognize its controller on a connected network in cooperative control. The Hi5A controller can compose a cooperative network with a maximum of four robots. Set the robot numbers so that they do not overlap one another.

 

l For special robots and robots of less than 6 degrees of freedom, only the HiNet communication can apply, and the cowork command cannot be used.

l Cooperative control is an optional specification. To use the cooperative control cowork command, you need to register a license key. For a period of one month, you can have a temporary key issued and use it; to use it for a longer period, please contact us.

 

Figure 2.1 Setting of the cooperative control (HiRoboLink) license key option