Robot Name-Force Sensor Linkage When Using RS-422A Micro Converter

The following shows the structure of an application example where force sensors are used in the cooperative control operation.

To use a force sensor in the cooperative control operation, you must set the combination of robot-attached force sensor and the robot controller being wired with the sensor explicitly.

The figure above is summarized to the following two cases.

Case 1 shows a force sensor attached to Robot0. Therefore, set the parameters of Robot0.

The parameter setting of Robot0 will be available by specifying Robot0 as a leader robot.

The following shows how to set parameters for Case 1.

1

Assign Robot0 as a leader.

2

Set the user level to "Maintainer" and then follow the operation path below. [Connection setting] window appears.

In this window, specify a robot (robot controller) where the force sensor of Robot0 is connected.
In Case 1, since the force sensor of Robot0 is wired to the Robot0 controller, select "Robot0" and press [OK].

3

Close [Connection setting] window. On the [Sensor] window, press [F1 Sensor Setting]. The following [Sensor Setting] window appears.

Set the following parameters.

• On the "1314: Connecting mode", select "2: RS422".
• Set "1316:Client Port number" to the COM number of the Robot0 controller-connected RS-422A micro converter.

The COM number of the Robot0 controller-connected RS-422A micro converter can be checked with the following window.

This window displays the communication port information of all robot controllers.

From the figure above, you will see that the COM number of the Robot0 controller-connected RS-422A micro converter is "5".

This completes the setting process of Case 1.

The setting must be done for all force sensors.

Therefore, in this application example, the same setting must be done for Case 2. Specify Robot1 as a leader robot, and do the same setting.