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ID : 2016
Command
Cooperative Control Function-Dedicated Command
The following table shows cooperative control function-dedicated commands.
| SyncMove | Cooperative motion option |
|---|---|
| SyncTime | Synchronous motion |
| Base | Sets the base coordinate. |
| SetHandIO | Sets the hand IO of the slave robot. |
| GetHandIO | Obtains Hand I/O status of a slave robot. |
| StartServoLog | Starts the recording of servo logs. |
| ClearServoLog | Initializes servo logs. |
| StopServoLog | Stops the recording of servo logs. |
| StartLog | Starts the recording of control logs. |
| ClearLog | Initializes control logs. |
| StopLog | Stops the recording of control logs. |
| #Pragma Optimize("DefaultRobot") | Changes the default robot. |
General Commands
Following commands work different ways in the single robot operation and multiple robots operation.
Commands that Need to Specify a Robot
To use following commands, you need to specify a target robot by adding [Robot*.](*2). Command specifications are the same as when these are used in a single robot operation.
| A | Accel, AddPathPoint, Approach, ArchMove, Area, AreaPos, AreaSize, Arrive |
|---|---|
| C | ChangeTool, ChangeWork, ClearAreaDetected, ClearLog, ClrPathPoint, CollisionDetection, CPMode, CrtMotionAllow, CurAcc, CurCPMode, CurDec, CurExJ, CurFig, CurJnt, CurLmt, CurPathPoint, CurPayload, CurPos, CurSpd, CurSpeedMode, CurTool, CurTrn, CurWork |
| D | Decel, Depart, DestJnt, DestPos, DestTrn, Dev, DevH, Dps, Draw, Drive, DriveA |
| E | EncMotionAllow, EncMotionAllowJnt, Eralw, ExclusiveControlStatus(*1) |
| G | GetAreaDetected, GetCollisionStatus, GetPathPoint, GetPathPointCount, GetSrvData, GetSrvJntData, GiveArm, GrvCtrl, GrvOffset |
| H | HighPathAccuracy |
| J | J2P, J2T, JAccel, JDecel |
| L | LoadPathPoint |
| M | MotionComplete, MotionSkip, MotionTimeout, Move, Move C, Move S, Mps |
| O | OutRange |
| P | P2J, P2T, Payload, Posclr |
| R | ResetArea, RobInfo, Rotate, RotateH, Rpm |
| S | SetArea, SetCollisionDetection, SingularAvoid, Speed, SpeedMode, SrvUnLock, StartLog, StopLog |
| T | T2J, T2P, TakeArm, TakeArmState, TInv, TMul, TNorm, Tool, ToolPos(*3) |
| W | WaitMotion , Work, WorkAttribute, WorkPos |
| Z | ZForce |
*1 : Available only when the following two conditions are met: Cooperative control function is used; Software version of robot controllers are 2.5.* or higher for each.
*2 : When using above commands in the dual arm control function, you need to add [Robot*.] as well.
*3 : When the dual arm control function is used but the cooperative control function is not used, you need to add [Robot*.] to the conveyor tracking-related commands (refer to the table in the following "Commands that are not Available in the Cooperative Control Function") as well. (If the robot controller software version is less than 2.7.*, you do not need to add [Robot*.] to the conveyor-related commands.)
Commands that are not Available in the Cooperative Control Function
The following commands are not available in the cooperative control function.
|
Force control-related command (These commands are available if the following two conditions are met: EtherCAT is used for the communication between robot controllers; Software version of robot controllers are 2.5.* or higher for each.) |
CurForceSensorPayLoad |
|---|---|
| ForceCtrl | |
| ForceParam | |
| ForceSensor | |
| ForceSensorPayLoad | |
| ForceValue | |
| ForceWaitCondition | |
| Conveyor tracking-related command(*1) | TrackApproach |
| TrackArrivalTime | |
| TrackBufferDelete | |
| TrackBufferIndexes | |
| TrackBufferRead | |
| TrackConveyorSpd | |
| TrackCount | |
| TrackCurPos | |
| TrackDepart | |
| TrackEncoder | |
| TrackInitialize | |
| TrackInRange | |
| TrackMinimumIntervalLength | |
| TrackMove | |
| TrackOffsetMargin | |
| TrackSetSensor | |
| TrackSetVision | |
| TrackStandByPos | |
| TrackStart | |
| TrackStartArea | |
| TrackStop | |
| TrackTargetOffset | |
| TrackTargetPos | |
| TrackTargetRelease |
*1 : When the dual arm control function is used, these commands are available only if the cooperative control function is not used. (These commands are not available if the robot controller software version is 2.7.* or less.) To use such command, add [Robot*.] in front of the target command.
Commands that Target to All Robots
The following commands target to all robots.
| ClrErr | Executes for all robots. |
|---|---|
| ExtSpeed | Sets external speed on all robots at one time. |
| Motor | Turns ON/OFF motors on all robots. |
| Pallet.CalcPos | Adds argument of robot number. |
| Pallet.CalcPosTurning | |
| SysState | See the table below. |
Specification of SysState
The table below shows specifications of SysState. In the cooperative control function, some SysState specifications are different from that of the single robot operation.
| Status | Bit | Target |
|---|---|---|
| Robot in operation (program running) | 0 | Master |
| Robot error | 1 | Master OR Slave |
| Servo On | 2 | Master OR Slave |
| Robot initialization complete (in I/O standard or MiniIO dedicated mode) / Robot power On complete (in I/O compatible mode) | 3 | Master AND Slave |
| Automatic mode | 4 | Master |
| When an executable token is not set to the Teach Pendant in Auto Mode | 5 | Master |
| Battery exhaustion warning | 6 | Master OR Slave |
| Robot warning | 7 | Master OR Slave |
| Continue start allowed | 8 | Master |
| Reserved | 9 | |
| Emergency stop status | 10 | Master |
| Automatic robot run enabled | 11 | Master |
| Protective Stop | 12 | Master |
| When stop process is running | 13 | Master |
| Reserved | 14 | |
| Reserved | 15 | |
| Program start reset | 16 | Master |
| Cal complete | 17 | Master AND Slave |
| Manual mode or Teach check mode | 18 | Master |
| 1 cycle complete | 19 | Master |
| Robot is running (command level) | 20 | Master OR Slave |
| Robot is running (encoder level) | 21 | Master OR Slave |
| Reserved | 22 | |
| Reserved | 23 | |
| Command processing complete | 24 | Master |
| Reserved | 25 | |
| Reserved | 26 | |
| Reserved | 27 | |
| Reserved | 28 | |
| Reserved | 29 | |
| Reserved | 30 | |
| Reserved | 31 |
ID : 2016