Appendix-694
Cooperative operation function
(1) Automatic operation program (1.prg)
Note 1) Teach the workpiece transport destination to robot No.1. Refer to
Teaching and parameter setting of the workpiece transport destination"
for details.
Robot No.1 (Master)
Robot CPU No.2
Robot No.2 (Slave)
Robot CPU No.3
'#### Teaching point ####
'P0
'Start of the cooperative movement
'P1,P2
'Operation point for the cooperative movement
'
M_Mxt(2)=0
Wait M_Mxt(3)=0
'
Mov P0
' Send start command for the cooperative operation at
operational start position.
M_Mxt(2)=1
Wait M_Mxt(3)=1
' Cooperative movement
Dly 0.5
'Wait for MXT command execution
Spd 30
' Set the operation speed at 30 mm/s.
Mvs P1
Mvs P2
Spd M_NSpd
Dly 0.1
' Send stop command for the cooperative operation
at operational end position.
M_Mxt(2)=0
Wait M_Mxt(3)=0
' Stop cooperation.
'#### Teaching point ####
'P0 'Safe point, before starting the cooperative operation
'
Wait M_Mxt(2)=0
M_Mxt(3)=0
'Wait at the standby position for start command from the
master.
Mov P0
'
Wait M_Mxt(2)=1
Open "MXT:QRBUS2" As #1 'Specify the module No. 2 in the
shared memory.
Mov P_GCurr(2)
' Set the robot arm to the operational
start position.
Dly 0.1
HClose 1
Dly 0.1
M_Mxt(3)=1
' Execute the real-time external control through the shared
memory.
Mxt 1,0
' Keep execution until the value of M_Mxt(2)
(cooperation start) turns 0.
'
' Stop cooperation.
M_Mxt(3)=0
'
Note 1)
