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ID : 6972
Setting Up Exclusive Communication and Exclusive Monitoring
Set each robot as a master or slave.
Exclusive Communication
Operation path : Top window- [F2 Arm] - [F6 Aux] - [F11 Exclusive Control]
Press [F2 Exclusive Comunication] to open the window.
Settings Required for both the Master and Slave Robots
Selecting [Exclusive control controller configuration] and pressing [F5 Edit] will enable you to select a master or slave robot.
Enter 1 to set the robot as Master, or enter 2 to set the robot as Slave, and then press [OK].
| No. | Item Name | Unit | Default | Description |
|---|---|---|---|---|
| 329 | Exclusive control controller configuration | - | 0 |
Set a robot as a master or slave robot. |
Settings Required only for the Master Robot
For a master robot, perform communication settings as well.
Operation path : Top window - [F2 Arm] - [F6 Aux] - [F11 Exclusive Control] - [F2 Exclusive Comunication]
Press the [F5 Edit] button to open the numeric keypad. Enter the IP address of a target robot for the exclusive control function, and press [OK].
When you enter the IP address of "0.0.0.0", the robot can be excluded from the exclusive group.
Parameter List
| No. | Item Name | Unit | Default | Description |
|---|---|---|---|---|
| 330 | Exclusive control IP(0)[IP Address] | - | 127.0.0.1 | Enter the IP address of exclusive control's master robot. To include the master robot into the exclusive group, use the default value. To exclude it from the exclusive group, enter "0.0.0.0". |
| 331 | Exclusive control IP(1)[IP Address] | - | 0.0.0.0 | Enter an IP address of slave robot. |
| 332 | Exclusive control IP(2)[IP Address] | - | 0.0.0.0 | Enter an IP address of slave tobot. |
| 333 | Exclusive control IP(3)[IP Address] | - | 0.0.0.0 | Enter an IP address of slave robot. |
| 346 | Exclusive control robot no(0) | - | 0 | Enter an number of master robot. |
| 347 | Exclusive control robot no(1) | - | -1 | Enter an number of slave robot. |
| 348 | Exclusive control robot no(2) | - | -1 | Enter an number of slave robot. |
| 349 | Exclusive control robot no(3) | - | -1 | Enter an number of slave robot. |
| 362 | Exclusive control slave connection timeout[sec] | sec | 30 |
Set the latency time of slave controller's start-up. Master robot will wait the startup of slave robots by this period. |
| 367 | Exclusive control waiting timeout [sec] | sec | 300 | Specify the upper limit of the time for the robot to wait during exclusive control. If the waiting time exceeds the specified value, the error [0x83201567: Exclusive control wait timeout.] occurs. |
Exclusive Monitoring
Perform this setting for the master and/or slave robots as needed.
When you perform this setting, set the user level to "Maintainer".
Operation path : Top window - [F2 Arm] - [F6 Aux] - [F11 Exclusive Control] - [F3 Exclusive Monitoring]
Press [F3 Exclusive Monitoring] to open the window.
Press [F5 Edit] to open the numeric keypad, enter the monitoring cycle and then press [OK].
| No. | Item Name | Unit | Default | Description |
|---|---|---|---|---|
| 363 | Exclusive control monitoring cycle | ms | 40 | Set the monitoring cycles. |
If the monitoring cycle causes timeout, firstly reduce the number of monitoring models. If there is no effect for that, set the parameter [363: Exclusive control monitoring cycle] longer than 40 ms.
ID : 6972