VRC

Select the way to check an area. Divide (old version) and CheckAll (the latest version) are available.

For version 1.8.* or higher, this item is set to "1: CheckAll" at the default to support high-speed processing.
The old version (Divide) is available by selecting "0: Divide".
0: Divide
1: CheckAll (Default)

• Master lincense is installed.
  Select "1: Master controller".
  0: No setting (Default)
  1: Master controller
• Slave license is installed.
  Select a controller to be used as a slave.
  0: No setting (Default)
  2: Slave controller 1
  3: Slave controller 2 (Ver.2.5.* or higher)
  4: Slave controller 3 (Ver.2.5.* or higher)
  

Cooperative control
master and slave

wiring of RC8A

safety IO

Set wiring to use when doing the cooperative control function of RC8A controller. Available in Ver.2.1.* or higher.

0: RC8 Compatible
1: Standard (Default) (recommended)

* If both Master and Slave have the same RC8A standard specification, the cable for RC8 controller is able to use. Set "0: RC8 Compatible" when necessary.

Stop process of robots at the emergency stop

Select the way to stop a robot at the emergency stop. [Stop on trajectory] (new stop process) and [Stop at the axis maximum deceleration] (previous stop process) are available.
For version 2.1.* or higher, this item is set to "1: Stop on trajectory" at the default. The previous stop process is available by selecting "0:Stop at the axis maximum deceleration".

0: Stop at the axis maximum deceleration
1: Stop on trajectory (Default)

Select the way to stop a robot at the error occurrence that causes motor-OFF. [Stop on trajectory] (new stop process) and [Stop at the axis maximum deceleration] (previous stop process) are available.
For version 2.1.* or higher, this item is set to "1: Stop on trajectory" at the default. The previous stop process is available by selecting "0:Stop at the axis maximum deceleration".

0: Stop at the axis maximum deceleration
1: Stop on trajectory (Default)

Suppress events

(Exclusive to Ver.2.15.*)

Suppress the processing of events issued by the system when executing the PAC program. Variation in the execution time on PAC can be reduced by setting this parameter to “Enable”. Set to “Disable” only when the event of [13: Robot operation is completed] needs to be received with the RC8 provider of ORiN2.

0:Disable

1:Enable (Default)

Program performance optimization

(Ver.2.16.* or higher.)

Suppress the processing of events issued by the system when executing the PAC program. Variation in the execution time on PAC can be reduced by setting this parameter to “Enable”. Set to “Disable” only when the event of [13: Robot operation is completed] needs to be received with the RC8 provider of ORiN2.

0:Enable (Default)

1:Disable

Continue start setting

(Ver.2.16.* or higher.)

320

Specify how long the cooperative control function's master controller waits the completion of the slave controller's startup.

If a connection error occurs at the startup, adjust this parameter value.

Enter the IP address of exclusive control's master controller.

To include the master controller into the exclusive group, use the default value.
To exclude it from the exclusive group, enter "0.0.0.0".

This parameter is specially designed for operation which uses both cooperative control and exclusive control functions. Specify the slave robot number (0: Robot0) that has been specified in cooperative control function.

This parameter is specially designed for operation which uses both cooperative control and exclusive control functions. Specify the slave robot number (1: Robot1) that has been specified in cooperative control function.
-1: None (Default)
0: Robot0
1: Robot1
2: Robot2
3: Robot3

30

Specify how long the exclusive control function's master controller waits the completion of the slave controller's startup.

If a connection error occurs at the startup, adjust this parameter value.