Index

COOPERATIVE CONTROL FUNCTION GUIDE

    > Overview

        > System Configuration

        > Synchronous Motion

        > Cooperative Motion

        > World Coordinate System

        > Multi Robot

    > System Design Procedure

        > Robot Controller Requirements and Safety Signal Wiring

            > Safety Signal Wiring for the RC8A Standard Specification

            > Safety Signal Wiring for the RC8A Safety Motion Specification

            > Safety Signal Wiring for the RC8A Safety-IO Less Specification

            > Safety Signal Wiring for the RC8 Standard Specification

            > Safety Signal Wiring for the RC8 Safety-IO Less Specification

            > Robot-Related Safety Standards Compliance

            > Pendant Connector of the Slave Controller

        > Method of Communicating between Robot Controllers

            > Wiring When Using Ethernet and EtherCAT

                > Wiring When Not Using the Selective Extended Joint Function

                > Wiring When Using the Selective Extended Joint Function

                    > Connection Configuration of Selective Extended Joints

                > Precautions on Using an Electric Gripper

                > Conditions for Using Force Sensor

                > Conditions for Using Electric Gripper and Force Sensor Together

            > Wiring When Using Ethernet Only

        > Selecting a Method of Communicating System I/O Signals

            > Wiring between an I/O Extension Board and the Equipment Management Device

                > States of System Output Signals in the Standard Mode

                > States of System Output Signals in the RC3 Compatible Mode

            > Wiring between Mini I/O and the Equipment Management Device

        > Precautions for Use

    > Setup Procedure

        > Settings on the Slave Controller

        > Cooperative Control Function-related Setting On The Master Controller

        > Base Coordinates Setting

        > How to Use an Electric Gripper in Cooperative Control Function

        > How to Use Force Sensor in Cooperative Control Function

            > Robot Name-Force Sensor Linkage When Using RS-422A Communication Board

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

    > Robot Operation

        > Preparations for Manual Operation

            > Preparation

            > Cooperative Motion in Manual Operation

        > Acquiring Robot Position to Variable

            > Position Acquisition of The Leader Robot

            > Sequence Position Acquisition of Multiple Robots

        > Moving a Robot by Specifying a Variable

            > Moving The Leader Robot by Specifying Variable Number

            > Moving Multiple Robots by Specifying Variable Number

            > Combination of The Cooperative Motion And The Robot Motions Heading To The Variable-specified Positions

        > Hand IO Window

        > Deadman Switch Interlock Window For Cooperative Control Function

        > Command Builder For Cooperative Control Function

        > Error Display And Error Log Display

    > Command

    > Programming

    > Modifications on WINCAPSIII, EMU

        > Operation Flow for Creating a Coordinate Operation-Dedicated Program

        > Precautions for Use of WINCAPSIII, EMU

        > Modifications on WINCAPSIII

            > Base Coordinate Setting

            > Cooperative Control Dual Arm Tool

                > Starting the Cooperative Control Dual Arm Tool

                > Creating a New Cooperative Robot Project

                > Creating a New Project for Cooperative Control Function from Controller Information

                > Sending and Receiving a Project for Cooperative Control Function at One Time

        > Modifications on EMU

            > Creating a New Project for Cooperative Control Function

            > Adding a Robot to EMU

            > Simulation with EMU