ID : 3371

Cooperative Control Function Setting

Operation path : Top window - [F6 Setting] - [F9 Cooperation]

Enter a perform cooperative control function-related settings on the master controller, and then enter IP address of the slave controller.

Pressing [F9 Cooperation] will display the [Cooperative setting] window as shown below.

Available function keys
[F1 Prev]	Display the previous page of the currently displayed contents.
[F2 Next]	Display the next page of the currently displayed contents.
[F3 Jump To]	Display numeric keypad. Enter S.M.A.R.T. info. number with numeric keypad, and press [OK] to move to the selected number. The selected number is highlighted. To select a number, jog dial and up and down cursor keys are also available.
[F5 Edit]	Select a parameter that you want to change, and then press [F5 Edit]. Once a dialog box is displayed, select a desired item, and then press [OK] on the dialog box. The changed value is confirmed by pressing [OK] on the [VRC Setting] window.

Parameters displayed in the VRC Setting window

No.

Item Name

Range

Value

Cooperative controller configuration

0～4

Set a controller as a master or slave controller of cooperative control function.

Displayed item differs depending on the license installed, as shown below.

Master lincense is installed.
Select "1: Master controller".
0: No setting (Default)
1: Master controller
Slave license is installed.
Select a controller to be used as a slave.
0: No setting (Default)
2: Slave controller 1
3: Slave controller 2 (Ver.2.5.* or higher)
4: Slave controller 3 (Ver.2.5.* or higher)

Cooperative control communication mode

0,1

Selects a method of communicating between robot controllers. The setting values are as follows.

Ethernet only	0
Both Ethernet and EtherCAT (Defalt setting)	1

When the robot controller software version is 2.3.* or higher, 1: “Both Ethernet and EtherCAT (Defalt setting)" is set as a default.

If you use Ethernet only, please change the value of the cooperative control communication mode to "0".

320,322,324

Slave Controller IP

Enters IP address of the slave controller.

Once 0.0.0.0 is assigned to a slave-controller, slave-controllers written below will be invalid as well.

326

Slave connection timeout

The master controller tries to establish communication with the slave controller at power-on. However, if communication is not established 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 this parameter value if an error still occurs.

The default time is 30 sec.

For details about the way of setting, refer to "Cooperative Control Function-related Setting On The Master Controller"or"Settings on The Slave Controller" of COOPERATIVE CONTROL FUNCTION GUIDE.

ID : 3371

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