Precautions for Use

Restrictions

This section describes restrictions under the cooperative control function.

Functions Prohibited under the Cooperative Control Function

The following functions are prohibited to use with the cooperative control function because it may interrupt communication between the master and slave controllers.

• Conveyor tracking (including extended-joint tracking), Circular tracking
• Force sensor

Functions that cannot be Used with the Cooperative Control Function

For the use of EtherCAT

To use EtherCAT, among functions mentioned in "Functions Prohibited under the Cooperative Control Function" and "Functions that cannot be Used with the Cooperative Control Function", the following functions are available. (For both cases, software version of robot controller must be version 2.5.* or higher.)

• Force sensor
• Compliance function without force sensor (Available only for the cooperative control function with two robots.)
• Area, Collision, Servo log

Precautions for the Continuous Robot Operation

If the cooperative motion and synchronous motion are continuously performed for a long time, set an about 100 milliseconds pause in every 10 minutes.
Since the synchronization between robots is performed during the robot stop, if the robots keep operating only the cooperative motion and synchronous motion for a long time, the robots will fail to synchronize and an error will occur.

Sample Program of the Continuous Operation Consisting of the Cooperative Motion and Synchronous Motion

As the sample program shows, if the robots keep operating only the cooperative motion and synchronous motion, an error may occur.

Sub Main
  
  While( 1 )
    
    SyncTime ( Robot0.Move P, @0 P1 ), ( Robot1.Move P, @0 P2 ) 
    SyncTime ( Robot0.Move L, @0 P3 ), ( Robot1.Move L, @0 P4 ) 
    SyncTime ( Robot0.Move L, @0 P5 ), ( Robot1.Move L, @0 P6 ) 
    Robot0.Move L, @0 P7, syncmove = 1
    
  Wend
  
End Sub

Sample Program of Non-Continuous Operation

If the program includes a moment that the robot stops for waiting the next operation or other purposes, the program is acceptable.

Sub Main
  
  While( 1 )
    
    SyncTime ( Robot0.Move P, @0 P1 ), ( Robot1.Move P, @0 P2 ) 
    SyncTime ( Robot0.Move L, @0 P3 ), ( Robot1.Move L, @0 P4 ) 
    SyncTime ( Robot0.Move L, @0 P5 ), ( Robot1.Move L, @0 P6 ) 
    Robot0.Move L, @E P7, syncmove = 1
    
    Set IO64 'HandIO #64 ON
    Delay 100 'Wait to hold a work piece
    
  Wend
  
End Sub

Sample Program of Non-Continuous Operation

If the program includes a motion other than the cooperative motion or synchronous motion, the program is acceptable.

Sub Main

  While( 1 )

  SyncTime ( Robot0.Move P, @0 P1 ), ( Robot1.Move P, @0 P2 ) 
  SyncTime ( Robot0.Move L, @0 P3 ), ( Robot1.Move L, @0 P4 ) 
  SyncTime ( Robot0.Move L, @0 P5 ), ( Robot1.Move L, @0 P6 ) 
  Robot0.Move L, @E P7, Next
  Robot1.Move L, @E P8 

  Wend

End Sub

Other Precautions

• Cooperative control function does not guarantee the positional accuracy on the motion path. Deviation may occur due to various factors, such as mechanical deviation of robot itself, coordinates between robots.
• Although the cooperative control function is designed to adjust motion timing of different robots, a slight gap may occur between robots because of the communication timing (Maximum: 16ms).
• When in emergency stop or when an error that level is 4 or higher occurs, all axes immediately stop with the maximum reduce speed. Relative position and synchronicity in the synchronous motion and cooperative motion are not guaranteed.
• The master controller tries to establish communication with the slave controller at power-on. Please note the following on this.
  

  Power startup time

  Compared to when the cooperative control function is not used, the power startup time is longer by a time required for the master controller to establish communication. A time required to establish communication varies depending on the method of communicating between robot controllers. Method of communicating between robot controllers Time Ethernet only Time to establish Ethernet communication T1 Ethernet and EtherCAT Selective extended joints not used T1 + Time to establish EtherCAT communication * Number of slave controllers T2 Selective extended joints used T2 + Time to establish communication with Selective extended joint * Number of Selective extended joints

  Power startup timing

  If the master controller cannot establish communication for a certain period of time, an error occurs. To prevent an error from occurring, synchronize the power-on for the master and slave controllers as much as possible. Increase the error waiting time on the master controller if an error still occurs. For the way of setting the waiting time, refer to "Cooperative Control Function-related Setting On The Master Controller".

• Install a dummy connector in the pendant connector after removal of the teach pendant; otherwise, you cannot release emergency stop.
• When picking or moving a workpiece, which is a highly rigid mount, with multiple robots by using cooperative control function, those errors of over current, over load etc., may occur due to an excessive load, which was caused by workpiece accuracies of measuring and /or teaching, on the robot(especially the axis on the edge).
  When picking a workpiece, prevent an excessive load applied to the robot with current limiting function.
• If an axis that meets the following (1) or (2) condition is used, execute the PosClr command for the axis first every time the robot controller is turned ON.
  

  (1)	Extended-joint that is connected to the slave controller and meets [Common condition] shown to the right	[Common condition] Boundless rotation joint with the "AutoPositionClear" setting disabled
  (2)	Selective extended joint that is allocated to the slave controller and meets [Common condition] shown to the right

  
  If the above command is not executed, the robot does not work properly.
• If EtherCAT communication error occurs, reboot all devices connected through EtherCAT and robot controllers.
  If an error that indicates cifX board detects an error occurs, the cause of error may be EtherCAT communication. In this case, reboot all devices connected through EtherCAT and robot controllers.