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Setup Procedure

The figure below shows the setup procedure for the cooperative control function.

Settings on the Slave Controller

Use a teach pendant for setting.

(1) IP Address Setting

Set an IP address of the slave controller.

For details about IP address setting, refer to "Displaying and Changing Communication Settings Screen" in "TEACH PENDANT OPERATION GUIDE".

For slave controllers, DHCP is not available to assign IP addresses.

(2) Extended-Joint Setting

Set extended-joints on the slave controller.

For details about extended-joints setting, refer to "Start-up procedure of the extended-joint (ball screw)" in "EXTENDED-JOINT MANUAL".

(3) Cooperative Control Function-Related Setting on the Slave Controller

Enter a license necessary for cooperative control function, and then perform cooperative control function-related settings on the slave controller.

Once the setting has completed, power off the controller, disconnect the teach pendant, and then reboot the controller.

Settings on the Master Controller

(4) IP Address Setting

Set an IP address of the master controller in the same way as the slave controller.

(5) Extended-Joint Setting

Set extended-joints on the master controller in the same way as the slave controller.

(6) Cooperative Control Function-Related Setting on the Master Controller

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

(7) Base Coordinates Setting

Set the base coordinates on both of the master robot and slave robot.

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