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Precautions for Use

Restrictions

This section describes restrictions under the cooperative control function.

Functions Prohibited under the Cooperative Control Function

The following functions are prohibited to use with the cooperative control function because it may interrupt communication between the master and slave controllers.

  • Conveyor tracking
  • Force sensor

Functions that cannot be Used with the Cooperative Control Function

Functions that may not work properly due to communication delay
  • Compliance function without force sensor
  • Area, Collision, Servo log, HighCurrent（2ms）
Functions that require direct connection to the slave controller
  • Detect, AngularTriger, Intterupt
  • I/O access on the slave controller
  • Functions on WINCAPSIII and EMU (except for sending and receiving functions)
  • Slave controller access from ORiN
  • CALSET, Joint Settings

Communication Restrictions

  • Since UDP communications between the master and slaves are assured by QoS, user communication (TCP) is restricted.
    Example: Sending and receiving data to/from WINCAPSIII, Camera function
  • If any communication is executed while a robot is running, error occurs and a robot may stop.
  • Avoid any connections that pass through Ethernet (such as a camera) because it may prevent connections for cooperative control function.

Precautions for the Continuous Robot Operation

If the cooperative motion and synchronous motion are continuously performed for a long time, set an about 100 milliseconds pause in every 10 minutes.
Since the synchronization between robots is performed during the robot stop, if the robots keep operating only the cooperative motion and synchronous motion for a long time, the robots will fail to synchronize and an error will occur.

Sample Program of the Continuous Operation Consisting of the Cooperative Motion and Synchronous Motion

As the sample program shows, if the robots keep operating only the cooperative motion and synchronous motion, an error may occur.

Sub Main
  
  While( 1 )
    
    SyncTime ( Robot0.Move P, @0 P1 ), ( Robot1.Move P, @0 P2 ) 
    SyncTime ( Robot0.Move L, @0 P3 ), ( Robot1.Move L, @0 P4 ) 
    SyncTime ( Robot0.Move L, @0 P5 ), ( Robot1.Move L, @0 P6 ) 
    Robot0.Move L, @0 P7, syncmove = 1
    
  Wend
  
End Sub

Sample Program of Non-Continuous Operation

If the program includes a moment that the robot stops for waiting the next operation or other purposes, the program is acceptable.

Sub Main
  
  While( 1 )
    
    SyncTime ( Robot0.Move P, @0 P1 ), ( Robot1.Move P, @0 P2 ) 
    SyncTime ( Robot0.Move L, @0 P3 ), ( Robot1.Move L, @0 P4 ) 
    SyncTime ( Robot0.Move L, @0 P5 ), ( Robot1.Move L, @0 P6 ) 
    Robot0.Move L, @E P7, syncmove = 1
    
    Set IO64 'HandIO #64 ON
    Delay 100 'Wait to hold a work piece
    
  Wend
  
End Sub

Sample Program of Non-Continuous Operation

If the program includes a motion other than the cooperative motion or synchronous motion, the program is acceptable.

Sub Main

  While( 1 )

  SyncTime ( Robot0.Move P, @0 P1 ), ( Robot1.Move P, @0 P2 ) 
  SyncTime ( Robot0.Move L, @0 P3 ), ( Robot1.Move L, @0 P4 ) 
  SyncTime ( Robot0.Move L, @0 P5 ), ( Robot1.Move L, @0 P6 ) 
  Robot0.Move L, @E P7, Next
  Robot1.Move L, @E P8 

  Wend

End Sub

Other Precautions

  • Cooperative control function does not guarantee the positional accuracy on the motion path. Deviation may occur due to various factors, such as mechanical deviation of robot itself, coordinates between robots.
  • Although the cooperative control function is designed to adjust motion timing of different robots, a slight gap may occur between robots because of the communication timing. (Maximum: 16ms)
  • When in emergency stop or when an error that level is 4 or higher occurs, all axes immediately stop with the maximum reduce speed. Relative position and synchronicity in the synchronous motion and cooperative motion are not guaranteed.
  • The master controller and slave controllers need to be the same version. Otherwise an error occurs. Assume that the controller version is described as "Ver.[1].[2].[3]". [1] and [2] on the master and slave must be the same.
    Example: The combination of Ver.1.9.* and Ver.1.9.* are available to the cooperative control function, whereas that of Ver.1.10.* and Ver1.9.* are not.
  • The master controller connect to slave controllers at the startup. Slave controllers, on the other hand, wait the connection from the master controller for a certain period of time after startup.
    Therefore, the master and slave controllers must be turned ON simultaneously as much as possible.
    If slave controllers have not started-up when the master connects, an error occurs. To avoid this error, set larger value to "Slave connection timeout" so that the master controller can wait the connection.
    Adjust this parameter value if an connection error occurs at the startup.
    For details, refer to "Setting of slave controller startup waiting time".
  • Install a dummy connector in the pendant connector after removal of the teach pendant; otherwise, you cannot release emergency stop.

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