Operation Reference

This section describes the operation procedure of the Mirror Control and the auxiliary functions.

Operation

It is assumed that connection of COBOTTA and the slave robot has been completed.

1

In the master control function window, select the assist mode.

Free: The position and posture can be changed freely.
XYZ: Only the position can be changed freely.

2

Press and hold down the function button on COBOTTA for 1.5 seconds or longer and change to the Direct mode.

When you move COBOTTA in this state, the slave robot follows it.

Auxiliary Functions

I/O Operation Function

This is a function to allocate I/O of the slave robot to the gripper plus/minus button on the arm of COBOTTA, and switch ON/OFF.

Recording Function

Recording function is a function to record the position data during following COBOTTA with Mirror Control and to convert it to the path point data.

Function to Detect Approaching Virtual Fence

This is a function to make enable reaction force on the operating COBOTTA side when the slave robot approaches the virtual fence if the virtual fence is set.

Precautions

In the positive direction of the 5th-axis, the motion range of COBOTTA is larger than the motion range of the slave robot. Therefore, when you move COBOTTA to the mechanical end, a software motion limit error occurs on the slave robot side.