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Command
Cooperative Control Function-Dedicated Command
The following table shows cooperative control function-dedicated commands.
| SyncMove | Cooperative motion option |
|---|---|
| SyncTime | Synchronous motion |
| Base | Set the base coordinate |
| SetHandIO | Set the hand IO of the slave robot. |
| GetHandIO | Obtain Hand I/O status of a slave robot |
| StartServoLog | This command works the same as SysLog.Servo.Start. |
| ClearServoLog | This command works the same as SysLog.Servo.Clear. |
| StopServoLog | This command works the same as SysLog.Servo.Stop. |
| #Pragma Optimize("DefaultRobot") | Change 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*.]. 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, 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 |
| 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 |
| T | T2J, T2P, TakeArm, TakeArmState, TInv, TMul, TNorm, Tool, ToolPos |
| W | WaitMotion , Work, WorkAttribute, WorkPos |
| Z | ZForce |
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 | CurForceSensorPayLoad |
|---|---|
| ForceCtrl | |
| ForceParam | |
| ForceSensor | |
| ForceSensorPayLoad | |
| ForceValue | |
| ForceWaitCondition | |
| Conveyor tracking-related command | TrackApproach |
| TrackArrivalTime | |
| TrackBufferDelete | |
| TrackBufferIndexes | |
| TrackBufferRead | |
| TrackConveyorSpd | |
| TrackCount | |
| TrackCurPos | |
| TrackDepart | |
| TrackEncoder | |
| TrackInitialize | |
| TrackInRange | |
| TrackMinimumIntervalLength | |
| TrackMove | |
| TrackOffsetMargin | |
| TrackSetSensor | |
| TrackSetVision | |
| TrackStandByPos | |
| TrackStart | |
| TrackStartArea | |
| TrackStop | |
| TrackTargetOffset | |
| TrackTargetPos | |
| TrackTargetRelease |
Commands that Target to All Robots
The following commands target to all robots.
| ClrErr | Execute for all robots |
|---|---|
| ExtSpeed | Set external speed on all robots at one time |
| Motor | Turn ON/OFF motors on all robots |
| Pallet.CalcPos | Add argument of robot number |
| 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 |