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

This section show how to move the leader robot to respective variable-specified position with the cooperative motion. The leader robot moves to a variable-specified position and the follower robot moves according to the leader robot's motion.

Since STEP1 and STEP2 are the same as that of in the Moving the leader robot by specifying variable number, this section starts from STEP3.

3

In the "Movement of multiple robots" area, press "Cooperate".

4

Press any robot axis or extended-joint number on the leader robot.

5

Select a robot that works with a leader robot in cooperative motion.

6

Press the OK key on the deadman switch of Teach pendant to start robot motion.

Option Function

When you press "Approach" on the "Move To" window, a dialog box appears. Enter given approach distance and press OK. The leader robot will move to the position apart by the specified approach distance.
When you press "DevH", a dialog box appears. Enter given coordinate values (X, Y, Z, Rx, Ry, and Rz) and press OK. The leader robot will offset by specified distances from the position specified by variable.

If values of Approach distance or DevH (coordinate values of X, Y, Z, Rx, Ry, and Rx) have been set, you can change these values by pressing [Change] button.