Slave Control Setting

Parameters can be set in the window below.

Operation path : [F2 Arm] - [F6 Aux] - [F1 Config]

COBOTTA Button Setting

No.	Parameter name	Default setting	Description
285	Output I/O of Slave Control 1	Disabled	Set the I/O number to switch ON/OFF when pressing the gripper plus button of COBOTTA. If "-1" is set, it is disabled.
286	Output I/O of Slave Control 2	Disabled	Set the I/O number to switch ON/OFF when pressing the gripper minus button of COBOTTA. If "-1" is set, it is disabled.

Others

No.	Parameter name	Default setting	Description
280	Slave control I/O number when switching robots	-1	Set I/O to output when the current robot is selected as the slave robot. If "-1" is set, it is disabled.
281	Slave Control bit mask of scaling joint	1	Set whether to scale the target following position sent from COBOTTA according to the maximum motion range of the slave robot.
282	Distance to detect approaching virtual fence [mm]	100	Set a distance from virtual fence to detect approaching if a function to make COBOTTA enable reaction force is enabled on the COBOTTA side when the slave robot approaches the virtual fence.
283	Slave Control movement speed [%] (*1)	100	Set the motion speed when the slave robot follows the master robot. If the following speed is low, the slave robot motion may be unstable and may not be able to follow normally.

*1 : Even if you change the value of this parameter while connecting with COBOTTA, the setting will not be reflected. It will be reflected at the time of reconnection with COBOTTA.

Timeout Setting

If timeout is extremely short, an error occurs when connecting with COBOTTA.

Before connecting, adjust a value of No.135 [Timeout of the slave robot (Slave Control)] from the VRC setting window. Recommended setting value is 1000[ms].

Operation path : [F6 Setting] - [F2 System Info] - [F6 VRC Setting]