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8 Parameter

8.6 Parameters according to Coordinated or Synchronized Operation

8-40

149235-1CD

RE-CSO-A031

8.6 Parameters according to Coordinated or

Synchronized Operation

These parameters make the settings for coordinated or synchronized operations between manipulators

or between manipulators and stations.

 S2C164: +MOV or +SMOV INSTRUCTION SPEED INPUT

This parameter specifies whether the speed inputting for move instructions of the master robot in a

coordinated job is permitted or not.

 S2C165: +MOV INSTRUCTION INTERPOLATION INPUT

This parameter specifies which interpolation is permitted for move instructions for the master robot in a

coordinated job. More than one instruction can be specified.

<Example> 0: Not Provided 1: Provided

SMOVL

V=100 SMOV L V=100

+MOVL ← Master side

Speed specification

not provided

+MOV L V=100

← Master side

Speed specification

provided

d7 d0

+ MOVJ : 1(VALID)

+ MOVL: 2(VALID)

+ MOVC : 4(VALID)

+ MOVS: 8(VALID)

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