ID : 2004

Preparation

Before operating the robots with the cooperative motion manually, you need to change the move mode and to specify robot to the reader and the other to the follower.

Changing the Operation Mode

Change the operation mode.

Manual operation in the cooperative motion is available when the move mode is X-Y or TOOL.

1

Press the Move mode selection button.

"Choose MoveMode (Robot0)" is displayed.

2

Select move mode. In this example, X-Y is selected.

3

Once [OK] is pressed, move mode will be changed.

Selecting a Robot

Specify a robot to the leader robot and the other to the follower robot.
In this example, set the arm of Robot0 to the leader, the arm of Robot1 to the follower.

Note that the axis selection on the follower robot is always same as the leader's one. For example, if you select "Arm" for the leader, the follower is automatically set to "Arm". You cannot select different axes for the leader and follower.

1

Press "Select Robot" button.

"Select Robot" is displayed.

2

Press "R0" on the Leader column, and then select a robot type that you want to set to the Leader.

To select the extended-joint, press "ExJoint" icon on the R0 line.

3

Press "R1" on the Leader column to select a robot type that you want to set to the Follower.

4

Pressing "OK" will display the setting that you have made.

You can check the current status of the leader and follower by checking the color of icons on the top of the screen.
･ Orange : Leader
･ Blue : Follower
･ White : Not selected

ID : 2004

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