R-J3iC Robot Link User Manual

Preliminary Robot Link Users Manual
FANUC Robot Series

(R-J3iC Controller)
Robot Link Users Manual
This is an optional function
Version 02 : 15-Dec-1999:
Version 03 : 26-Jan-2000
Version 08 : 26-Mar-2001
Version 09 : 11-May-2001
Version 10 : 05-Jun-2001
Version 11 : 07-July-2003
Prelim Ver : 02-Feb-2006
This manual is not yet released for customers !

(nor end-customers nor system-house).
FANUC RRL is planning to release this manual
by the end of January 2008. This copy is ONLY
for INTERNAL FRXX use. You MUST follow
this restriction !!!
No part of this manual may be reproduced in any form.

All specifications and designs are subject to change without notice.
$CONTENTS
INTRODUCTION..............................................................................................................................5
1.1
2
OVERVIEW OF ROBOT LINK: .............................................................................................................5

SOFTWARE LIMITATIONS...........................................................................................................6
2.1
LIMITATIONS ON OTHER SOFTWARE OPTIONS ....................................................................................6
2.2
NETWORK .........................................................................................................................................8
2.3
NETWORK CONFIGURATION FOR R-J3IC CONTROLLERS:...................................................................9
INPORTANT SYSTEM INFORMATION (READ BEFORE USAGE).....................................10
3.1
NETWORK CONFIGURATION ............................................................................................................10
3.2
PLC PROGRAMMING FOR ROBOT LINK SYSTEM FOR ROBOT LINK ROBOTS. ......................................11
3.3
CELL INTERFACE FOR TEACHING SYNCHRONOUS MOTION .............................................................12
3.4
FOLLOWING IS THE PROCEDURE FOR TEACHING THE ROBOT LINK SYSTEM. .....................................14
3.5
CIRCUMSTANCE ........................................................ !
3.6
ABOUT SETUP..................................................................................................................................15
3.7
ABOUT TEACHING AND OPERATION .................................................................................................18
3.8
ADDITIONAL INFORMATION ............................................................................................................19
SETUP...............................................................................................................................................21
4.1
SETUP NETWORK ......................................................................................................................22
4.1.1
Set up board address ..............................................................................................................22
4.1.2
Set up TCP/IP ........................................................................................................................23
4.1.3
Set up and starting FTP..........................................................................................................24
4.1.4
Set up Full Duplex mode on R-J3iB Controller.....................................................................27
4.1.5
Set up Full Duplex mode on switching hub...........................................................................27
4.2
CHECKING NETWORK CONFIGURATION ............................................................................27
4.3
SETTING UP ROBOT LINK ........................................................................................................28
4.3.1
Set up Link pattern (Master Robot) .......................................................................................28
4.3.2
Set up master robot information (Slave Robot) .....................................................................31
4.3.3
Setup Status Signal ................................................................................................................32
4.3.4
Set up Calibration Data (Slave Robot) ..................................................................................33
4.3.5
Set up Communication Rate ..................................................................................................34

4.3.6
5
Set up acceleration time during synchronous motion ............................................................34
CALIBRATION ...............................................................................................................................36
5.1
SETTING THE TCP FOR CALIBRATION..........................................................................................36
5.2
RECORDING REFERENCE POINTS ..................................................................................................37
5.3
CALCULATION OF CALIBRATION DATA .........................................................................................37
5.4
INDIRECT CALIBRATION ...............................................................................................................39
5.4.1
Idea of indirect calibration..................................................................................................39
5.4.2
Method of indirect calibration............................................................................................40
5.5
6
6.1
TROUBLESHOOTING ........................................................................................................................42
VERIFICATION OF COMMUNICATION AND SYNCHRONOUS MOTION......................43
THE FOLLOWING IS A PROCEDURE TO VERIFY COMMUNICATION AND SYNCHRONOUS MOTION. AFTER ALL SETUP ITEMS
(EQUIPMENT, WIRING, AND CONNECTION) ARE FINISHED, THE USER SHOULD VERIFY COMMUNICATION AND SYNCHRONOUS
MOTION BY THE FOLLOWING OPERATIONS: ..................................................................................................43
6.2
IF VERIFICATION FAILS, SETUP ITEM REVIEW ................................................................................45
6.3
PROCEDURE TO VERIFY THE LINK STATUS WHEN THE MASTER SHOWS LINK INCOMPLETE...........46
6.4
IF VERIFICATION FAILS, COMMUNICATION HARDWARE REVIEW ...................................................48
PROGRAMMING1 .........................................................................................................................50
7.1
PROGRAMMING FOR MASTER PROGRAM .........................................................................................50
7.2
PROGRAMMING FOR SLAVE PROGRAM ............................................................................................52
RECORDING PROCEDURE AND ROBOT LINK JOG MANUAL FNCTS SCREEN .....54
8.1
RECORDING PROCEDURE.......................................................................................................54
8.2
EXAMPLE ........................................................................................................................................59
RECOVERY FROM THE HALT IN SYNCHRONOUS MOTION...........................................61
9.1
TO RESTART AT THE STOPPED POINT ...............................................................................................61
9.2
RETURN ALL ROBOTS TO THE RESPECTIVE ORIGINAL POSITION .......................................................62
9.3
MOVE THE ROBOT TO THE SAFETY POSITION WITH ROBOT LINK JOG...............................................62
10
STATUS SCREEN.......................................................................................................................66
11
MANUAL FUNCTION SCREEN ..............................................................................................68
12
TROUBLESHOOTING ..............................................................................................................70
12.1
SYNCHRONIZED MOTION DOES NOT START. THE ROBOTS HAVE STOPPED WHILE SYNCHRONIZED MOTION.

70
12.2
THE SLAVE ROBOT THAT SHOULD SYNCHRONIZE DOES NOT SYNCHRONIZE. ....................................71
12.3
ROBOT CAN NOT BE JOGGED AFTER HOLDING DURING SYNCHRONIZATION. ....................................72
12.4
ORIGINAL PATH RESUME FEATURE DOESNT WORK EVEN IF IT IS ENABLED. ....................................73
13
RECOVERY METHOD WITHOUT MANUAL PROCESS ..................................................74
14
ALARM CODES..........................................................................................................................76

Introduction
This manual describes the setup and use of Robot Link on R-J3i Model C controllers using
V7.20P/20 or higher software. If your system uses older controller models (R-J3 or R-J3iB) tDo NOT use
this manual. You need to use an earlier version of the Robot Link Users Manual.
This software enables several robots to perform synchronous motion between several controllers by
Ethernet network. FANUC R-J3i ModelC robot controller has Ethernet hardware as a basic functionality.
1.1
Overview of Robot Link:
Robot Link is an inter-controller motion control software package that uses Ethernet to send and receive
motion information BETWEEN master and slave robot controllers. When Robot Link programs execute
(one on the master and one on each slave controller) the slave motion path is executed with respect to
the moving frame associated to the master TCP. The master controller coordinates motion between
mutple robot arms so that heavy workpiece handling, beyond the limit for a single robots capacity, is now
available by this function.
The master controller communicates between controllers by connecting each robot by an Ethernet
(straight cable) through a switching HUB.
Slave Robot #2
Slave Robot #3
Switching
HUB
Master Robot
(Car Body)
Slave Robot#1
Ethernet
The master robot continuously sends motion information to the slave robots. The slave robots follow the
master robot's motion and send ACK to master robot. The master robot, after receiving the ACK from the
slaves, moves to next point and send next motion information. So, when noise or physical damage

occurs to the communication line that stops communication, master and slave robots stop their motion as
well. The figure below shows the communication scheme.
Slave Robot
Motion
Command
#1
ACK
Master
Slave Robot
Robot
#2
Slave Robot
#3
Robot Link also supports remote jogging of slave robot(s) on one or more controllers with respect to the
moving frame of the master group.
Software LImitations
2.1
Limitations on other software options
This function has the following restrictions.

Caution: If you dont obey the following restrictions, it is possible that robot moves to unexpected
position.
This function cannot work correctly if one of the following optional software is ordered and installed to robot
controller.
Line Tracking (A05B-2400-J512)
TAST (A05B-2400-J511)
AVC (A05B-2400-J526)

RPMP (A05B-2400-J532)
AccuPath (A05B-2400-J631)
Constant Joint Path (A05B-2400-J642)
MIG EYE (A05B-2400-J700)
Visual Tracking (A05B-2400-J721)
Intelligent TP PC I/F (A05B-2400-J770)
Integrated auxiliary axis is not supported with this function. You must not use integrated auxiliary
axis with this function.
The following function must not be used in the synchronized Robot Link program of the slave robot.
Touch Sensing (A05B-2400-J536)
Enhanced User Frame (A05B-2400-J604)
Space Check (A05B-2400-J609)
Soft Float (A05B-2400-J612)
Continuous Turn (A05B-2400-J613)
Coordinated Motion (A05B-2400-J619)
Remote TCP (A05B-2400-J624)
FANUC Force Control (A05B-2400-J630)
High Speed Skip (A05B-2400-J627)
Error Recovery (A05B-2400-J664)
The following function must not be used in synchronized Robot Link program of the master robot.
Touch Sensing (A05B-2400-J536)
Space Check (A05B-2400-J609)
Soft Float (A05B-2400-J612)
Continuous Turn (A05B-2400-J613)
High Speed Skip (A05B-2400-J627)
FANUC Force Control (A05B-2400-J630)
Error Recovery (A05B-2400-J664)
Please note that there might be some significant restrictions to using options not included in this list. Please
contact FANUC Robotics regarding software options available and their level of operation in Robot Link
systems and especially during robot link synchronized motion.

2.2
Network
Please use 10/100Base-T twisted pair Ethernet cable with noise shield.
Please use an Ethernet switch to create collision free Ethernet 10/100Base-T network.
FANUC recommends that you should use non-shield type RJ-45 connector both for cable and switch
connector to avoid influence of the electronic noise on Ethernet trunk line.
If the Robot Link system consists of two controllers, you can directly connect a straight or crossover cable
between them. For three or more controllers, please use switching HUB and straight cables.
Connection of Ethernet cable and switching HUB must be permanent
The following figures are examples for reliable cable connection routing.
Less than 50mm.
Larger than 30mm
Ethernet Switch
Fix switch location.
Clamp Ethernet cable at two points.

Ethernet cable should be connected to
switching HUB straight, without twists
Please refer to the specifications of the Ethernet switch and meet the environmental requirements for that
device. For example, the stwitch should be installed in a stable and dustless location.
Provide isolation and grounding as necessary to prevent electrical noise.
The customer needs to purchase Ethernet cable, switching HUB and spare
parts
as
necessary.
High
quality,
industrial
grade
equipment
is
recommended. Stock spare parts as required.

If you are using a mixtue of controller versions, this communication model is required. Please refer
to an earlier version of the Robot Link Users Manual.
2.3
Network configuration for R-J3iC controllers:
The R-J3iC controller provides two Ethernet ports on the CPU PC board. In prior controller vesions, it was
necessary to provide isolation of Ethernet ports from the factory Ethernet trunk during Robot Link
operations. The B channel of the CPU is a high priority Ethernet port, this port is used to support the
private network for Robot Link communication.
The following figure is example of network configuration for robot link as supported on R-J3iC controllers.
The robot link network is configured on the high priority, channel B Ethernet line of the master and slave
controllers. Trunk line communications are configured on the channel A line of the R-J3iC controller.
Port A connects to the Trunk line, Port B is connected to the 10/100Base T switch in the Robot Link
private network.
Trunk line
RC
RC
10/100Ba
Switch
Robot link private network
RC
RC
RC
RC: Robot Controller

Sw
Another robot link private network

In addition to Ethernet communication, robot link function uses a digital I/O line from master robot digital
output to slave robot digital input. This digital I/O line is used to notify completion of the synchronous
motion and the start of the next normal motion. Please install the following I/O lines.
Master
SDO1
PLC
SDI1
Slave 1
Slave 2
Slave 3
An alternative to using physical I/O would be to use Ethernet Global Data (EGD option) to provide the
signal. EGD is an Ethernet packet transfer protocol that is implemented as digital I/O points transmitted
periodically between controllers. The number of I/O points and communication rate are are configured in
the EGD I/O screen. EGD I/O can be mapped to Digital, UOP, and Group I/O. The Robot Link private
network can support this protocol at the default rate. If the communication rate is raised, there may be an
issue with collisions on the provate network as the nuber of slaves is increased.
Inportant System Information (Read before usage)
The following important information must be understood and applied to your Robot Link System.
3.1
Network configuration
Please refer to the network configuratiuon diagram above:

Robot link private network should not be connected directly to Ethernet trunk line. It is possible that

10
unexpected motion may occur if the re is an excessive number of collisions impacting throughput of
robot link packets by FTP or other operations occurring on the Ethernet trunk line. The packets for
robot link are broadcast type packets and may adversely effect the operation of the Ethernet Trunk
line. Robot Link execution can consume a large amount of the Trunk line Ethernet capacity.
Ethernet cable must be installed to avoid physical damage. For example, the Ethernet cable must
not interfere with human operator or any other moving object in robot site.
Please take enough countermeasures to prevent the electrical noise on Ethernet cable. Ethernet
cable must not be allocated near to equipment that generates electronic noise.
The power cord of Ethernet switch should not interfere with human operator or any moving object in
robot site.
The connection between Ethernet cable and Ethernet switch must be permanent. You should
consider Ethernet cable routing and Ethernet switch installation as a permamnent connection. If the
connection is loose, then stable Ethernet communication is not possible. This will prevent robot
synchronous motion from starting, or can cause current robot synchronous motion to stop, or
prevent teaching robot positions in the synchronized slave robot program.
This point is very important. Please be careful about this point.
o
You can confirm Ethernet cable connection by the amber LED which is mounted near the RJ-45
connector on R-J3iB main PCB. After you have connected Ethernet cable between robot
controller and Ethernet switch, please cycle power of both robot controller and Ethernet switch.
If the connection between robot controller and Ethernet switch is OK then the amber LED will
turn on. If you have installed Ethernet cable and the switch correctly but the LED does not turn
ON, then please contact to FANUC service center and report your problem to FANUC.
Normally, Ethernet switch has LEDs to show communication status on its front surface for
diagnosis. Please check this LEDs when Ethernet communication problem occurs. The switch
should be installed as you can see the LEDs easily for such diagnosis.
If emergency stop, hold, or alarm stops one robot of robot link system, and then other robots in the
robot link system should be stopped together. You should design remote control signals to meet this
requirement.
3.2
PLC programming for robot link system for robot link robots.
Use the Robot link status signal in Multi-Arm setup screen. Please refer 4-3-3 Setup status signal
in this manual. This status signal turns ON automatically when the robot is in synchronous motion.
If a robot in synchronous motion detects any input signal that causes emergency stop, the other
robots should be stopped also as emergency stop. Please follow the next signal logic.

11
When EMGOUT signal of one robot in robot link network is ON, if other robots' "status signal"
and PROGRUN (UO3) are both ON, then input External Emergency signal to the robots until
their PROGRUN output become all OFF. This check should be enabled at once after all
PROGRUNs of all robots in robot link network are ON, and should be continued until the
PROGRUNS are all OFF.
When a robot in synchronous motion detects HOLD input, the other robots should be stopped by
HOLD input. Please follow the next signal logic.
When PROGRUN output of a robot in robot link network is OFF, if other robots' "status
signal" and PROGRUN (UO3) are both ON, then input *HOLD (UI2) to other robots until their
PROGRUN output become all OFF.
This check should be enabled at once after all PROGRUNs of all robots in robot link network
are ON, and should be continued until the PROGRUNS are all OFF.
When a robot detects an alarm to stop robot in synchronous motion, other robots should be stopped
by emergency stop. Please follow the next signal logic.
When SYSRDY (UO2) output of a robot in robot link network is OFF, if other robots' "status
signal" and PROGRUN (UO3) are both ON, then input External Emergency to other robots
until their PROGRUN output become all OFF.
This check should be enabled at once after all PROGRUNs of all robots in robot link network
are ON, and should be continued until the PROGRUNS are all OFF.
Alarms, which may occur in synchronous motion in production phase, are mostly servo OFF alarm.
So we think this signal logic does not have any side effect for daily production.
3.3
Cell Interface for Teaching Synchronous Motion
Add a "Synchronous Teaching" button and the following signal control logic for the button to your system.
This button should be located near the "safety fence A" which is close to master robot. Please see the
following figure.

12
Safety Fence A
Safety Fence B
R2: Slave
R1:Master
R3: Slave
"Synchronous Teaching" Button
R4: Slave
Fence Plug
Safety Fence C
Robot link Synchronous teaching and jogging require that the master controller is in T1/T2 mode and the
slave controllers are in AUTO mode. The method for supporting this is to devise a local fence circuit for the
master robot and maintain a global fence for the slave robots. The Synchronous Teaching button makes a
complete fence circuit for the slave robots by bypassing the signal around the master robot fence.
*FENCE and *SFSPD should be controlled by PLC according to the status of safety fence A and
"Synchronous Teaching" button as the following tables.
Safety Fence A
Open
Close
*SFSPD(Normally ON)
OFF
ON
Safety Fence A
Open
Close
Synchronous Teaching
ON OFF
ON
ON OFF
ON
OFF
Button
*FENCE(Normally ON)
If another fence is opened, *FENCE to all the slave robot must be OFF to stop robots by FENCE
alarm.
PLC must control the following signals when the "synchronous teaching" button is ON.
This is to limit that only master robot operator can control slave robots.
If CMDENBL signal of slave robot is OFF (For example, TP is disabled, Remote switch is set to
local, single step enabled, Disabled to move, etc), input external emergency signal or servo
disconnect signal to stop all the robot.

13
Even if CMDENBL of slave robot is ON, program start by external signal must be disabled.
In the robot link system, regardless of the "Synchronous Teaching" button status, each robot's
EMGOUT signal should be connected to the other robot's ESTOP input so that all the robots are
stopped by any other robot's E-STOP or deadman-release event.
3.4
Teaching procedure for Robot Link programs

Following is the procedure for teaching the robot link system. This is the minimal teaching sequence
for single point Slave robot link slave Sub program. This information will be repeated in more detail
in a later section. An additional slave Sub program type that supports multiple slave program
positions is also covered.
Before teaching slave program positions, the slave robot operator moves the slave robots to the
synchronization start position. The operator exits from the safety fence and close the fence, then
disable sTP on that slave robot controller.
Once the slave robots are in the synchronization position, the master robot operator opens
safety fence and pushes the "Synchronous Teaching" button ON. At this time all robots are in
servo ON condition. Even though the "Synchronized Teaching" button is ON, if another safety
fence is opened, PLC must stop all the robots by FENCE alarm.
Master robot operator presses the reset button on TP to reset master robot's alarm status.
To teach positions on the salve robots, the master robot must transmit its position to the slave
robots. This is done in the Manual Function menu by selecting Robot Link, then set a link pattern,
and finally press the Master softkey on the teach pendant. This operation is described later in
this manual. This procedure is also used to initiate Robot Link jogging. In the robot link manual
function screen, if master robot status is changed to "Master (Manual)", then master robot
operator can perform Robot Link jogging.
o If slave robots are in alarm status, by the "MASTER" button operation in master robot
manual function screen, slave robots try to reset its alarm status. This case, master
robot status in the manual function screen is displayed as "Link incomplete" at first. So
please re-try the "MASTER" button. If the status is changed to "Master (Manual)", then
Robot Link jog becomes available.
o If slave robot can not reset the alarm status by some alarm cause, master robot's status
is kept to be "Link incomplete". In this case, please remove alarm cause from slave robot

14
and retry.
The master robot operator turns OFF the "Synchronous Teaching" button after teaching robot
link program.
Warning
"Synchronous Teaching" button should be ON only in robot link teaching operation.
When the master robot operator is teaching a robot link program, the slave robot operator must
be outside of the safety fence.
RIA specification
In case of RIA specification, the following steps must be added to the above operation.
When slave robot operator gets out of safety fence for robot link teaching, the slave robot must
be set to AUTO mode.
In RIA specification, deadman release event is not passed to EMGOUT signal.
With deadman SW monitor (future optional functionality), please input External emergency
signal servo disconnect signal to stop another robot from deadman switch.
3.5
About setup
There are several terms and concepts and terms summarized below that are important for setting up and
using the Robot Link system.
3.5.1 RIPE:
ROS Inter-processor Packet over Ethernet is a global clock and data sharing mechanism over Ethernet. It is
a protocol to support transfer of motion and process data and timing. This feature is setup by an XML file
called ROSIPCFG.XML (see below)
Ethernet channel B on the main CPU is a high priority link between robots in the Robot Ring (see
definition below.) In addition to providing packet processing for motion data, error information, and
program execution, the software provides system timing coordination for robots in the ring.
A configuration file (ROSIPCFG.XML; see below) specifies the members of the ring. This file
contains the names, IP addresses and order of the robots in the ring. All of the robots in the ring have
the same robot ring configuration information.

15
RIPE will automatically synchronize the master robot with other ring members on power up, but the
ring can work with a member offline (providing no across controller) software depends on that
controller such as EGD.
3.5.2 MASH:
Multi Arm Shell is a control mechanism to coordinate selecting and executing programs across multiple
robot controllers. It also provides motion and process synchronization, single step coordination, and basic
error recovery function. Finally it provides for common broadcast of SOP and TP control signals, and
broadcast of alarms to all robots in the ring.
3.5.3 Robot Link:

Robot link is an inter-controller motion control mechanism. Under this motion control, the slave robot
performs motion w.r.t. the master robot TCP frame. The master robot frame is sent via Ethernet to the slave
robot every ITP. The slave calculates the offset from the prior delta value from the prior master frame and
offsets the path at the ITP time interval.
3.5.4 Robot Ring:

A robot ring is a group of robots that work cooperatively together, and are in close proximity to each other.
These robots share data via RIPE; motion coordination is provided by Robot Link, system coordination via
MASH. The robot ring definition may not include all of the robots in a workcell. The Robot Ring must include
all the robots that will be using Robot Link, or using MASH to control robot program selection and execution.
All ring robots need to be turned ON and correctly configured for these operations. A file called
ROSIPCFG.XML is a user supplied file that indicates the Robot Ring elements on each controller of the robot
ring.
3.5.5 ROS IP CONFIGURATION FILE:

The data for inter-controller setup is in ROSIPCFG.XML. This file is loaded into FRS: memory on the
controller. It indicates the Robot Ring for MASH control and also defines the iPendant Ring to support
iPendant remote logon to a remote robot controller. There may be future functions added to this file. Since
this file relies on IP and Name information of the robots, it must be created for each robot ring. Following is an
example ROSIPCFG.XML.
<?xml version="1.0" ?>

16


<ROSIPCFG>
<ROBOTRING count="2" timeslot="100">
<MEMBER name=R C 2 1 " ipadd="1 9 0 . 1 0 . 9 1 . 2 1 "/>
<MEMBER name="R C 2 2 " ipadd="1 9 0 . 1 0 . 9 1 . 2 2 "/>
</ROBOTRING>
</ROSIPCFG>
All robots in the robot ring have a copy of this file installed on them.
3.6
Overview of System Setup:
To use Robot Link, setup:
Network Setup / HostComm Setup
Setup Robot Link
Master Robot name definition setup
Link Pattern
Master Setup
Slave setup
Slave master list
Calibration data
Testing Robot Link
Optional EGD Setup (some I/O is required to signal the slave robot)
3.6.1 Hostcomm Setup

You setup IP address and host name for each robot controller correctly, on TCP/IP setup screen.
Otherwise unexpected robot may move by robot link synchronous motion.
And you should confirm that all robots shares common setup about host name and IP address. for
robot link network
For example, we assume that there are three robots, A, B, and C. If, at robot B, host name RC21
is used for robot A but robot C set robot A's host name as RC31, then robot link does not work
correctly. Also you need to take care for IP address.
You should start FTP interface. Otherwise robot link synchronous motion does not work correctly.

17
Please refer the following chapter of this manual.

You should setup each item correctly on robot link calibration screen. You should calibrate relative
location between master and slave robot accurately. This accuracy affects directly to the deviation
of synchronous motion.
You should setup the master robot link pattern and slave robot setup data correctly. Otherwise
unexpected robot may move and target slave robot may not move at synchronous motion.
3.7
About teaching and operation

At robot link program, you must avoid AXIS speed limit alarm. Synchronous motion is not
guaranteed when axis speed limit alarm occurs.
For slave robot, joint angle speed to realize the synchronous motion for each axis is defined by not
only master speed but also by position of the slave robot itself. It may be easy motion for master
robot but it does not always so for slave robot according to the position. For example, if the
synchronous motion forces slave robot to move around singularity point, slave robot may not follow
master robot motion in specified speed. Please estimate robot link motion beforehand to avoid
synchronous motion around singularity point for slave robot.
Also, you should take care for too quick tool rotation of the master robot. Slave robots always try to
follow master robot tool but can not follow too quick tool rotation. In such a case, master robot tool
rotational speed should be set slow enough. SEC speed unit for motion statement may be useful
to control master robot tool rotational speed.
Digital signal to show Robot is master and Robot is slave should be used to turn on safety signal
light. This signal light should be mounted on robot, or another method should be prepared for safety.
In robot link teaching, no one must in the motion envelope of slave robot. Especially if slave status
signal is ON, the slave robot may move very fast to follow master robot motion.
When you operate master robot in synchronous motion teaching, you must confirm that nobody is in
motion envelope of slave robot.
HOLD event or emergency stop in synchronization motion may change the offset distance between

18
master and slave robot. Before re-starting synchronous motion from such a status, you should
confirm current position of all robots. If necessary, you should do manual jog to move the robot to
moderate position to re-start synchronous motion. According to the synchronous motion status,
re-start at low override may be needed.
You can specify low override automatically by external override selection functionality and PLC
ladder program for the recovery of synchronous motion.
With faster speed, the deviation of the synchronous motion between master and slave becomes
larger. Please specify adequate motion speed to meet your requirement about the deviation.
3.8
Additional information
If rail-mounted robot is used for robot link, you should take calibration position data as close as
actual motion area used for application. This is to get accurate calibration data for actual application
to minimize deviation of synchronous motion according to the position error from rail axis
installation and absolute position error of the robot itself. For rail-mounted robot, please consider
damper mechanism on robot hand beforehand to absorb the deviation.
At slave robot controller, power failure recovery function can not work if power is OFF when slave
program is running. If slave program is already paused at the power OFF timing, the recovery
function can work. In master program and normal program, this restriction is not applied.
If needed, please include PAUSED output signal for program resume condition in your system.
Robot motion statement in slave program should be linear motion.
Position type of motion statement in slave program should be XYZWPR format.
Incremental and offset statement is not available in slave program.
Tool frame number should not be changed during synchronous motion.
Fluent synchronous motion is available only when good communication status is kept among
master and other slave robots. If communication to one slave robot is disturbed by noise on

19
Ethernet, then all robots stop synchronous motion. In this case, all robots wait for recovery of the
communication for certain time. Also, if one slave robot does not come to start point of the
synchronous motion, then master and other slave robots wait for the delayed slave robot to reach
the start point.

20
SETUP
To use Robot Link, set up Network configuration first, then set up Robot Link configuration.
The following is sample system.
Controller 1
RC21
G1
Controller 4
RC24
G2
G1
Switching
Controller 2
RC22
Controller 3
RC23
HUB
G1
G1
G2
G3
Controller1- Hostname is RC21, 2 motion group.

Controller 2 - Hostname is RC22, 1 motion group.

21
4.1
SETUP NETWORK
4.1.1 Set up board address

1. Press MENU key
2. Select SETUP
3. Press F1 TYPE and select Host Comm
4. Press F4 CHOICE and select Protocols
SETUP Protocols
1
2
3
Protocol
TCP/IP
FTP
NONE
[ TYPE ]
JOINT 100%
1/ 3
Description
TCP/IP Detailed Setup
File Transfer Protocol
Connects tag to port
DETAIL
[ SHOW ]
5. Press F3 DETAIL

TCP/IP
Node name
:
Router name:
Board address :
Subnet mask :
Host Name (LOCAL)
1
RC21
2
RC22
3
RC23
4
RC24
5
[ TYPE ]
JOINT 100%
1/21
RC21
R
08:00:19:02:F3:50
255.255.0.0
Internet address
190.10.91.21
190.10.91.22
190.10.91.23
190.10.91.24
LIST
Make sure that Board address was set properly (not ****) on TCP/IP Detailed Setup menu.
If Board address was not set, set it by the following procedure.

22
1. Turn off power supply switch and turn off breaker switch.
2. Open R-J3iC control unit and pull out the main CPU printed board.
3. Take notes of board address that printed on CPU module. MAC address is a 12-hexdecimal
number separated by : every pair.
4. Install main CPU printed board again and close control unit.
5. Turn on breaker switch.
6. Press and hold both [PREV] and [NEXT] keys then turn on power supply switch, the configuration
menu screen is displayed.
7. Select 4. Maintenance
8. Select 6. Ethernet based Loading
9. Input 11 and press enter key although only 0 to 3 menu is displayed. Then Set Ethernet Address
menu is displayed.
10. Input 12-hexdecimal board address number without : then wait and never turn off the power
supply until prompt string is displayed again.
4.1.2 Set up TCP/IP

Display TCP/IP Detailed Setup screen according to 4-1-1 and set the following items.
Robot name of oneself.
Router name of router even if no router is exists.
Board address of oneself (refer to above)
Subnet mask
Robot names and Internet addresses of all controllers to communicate by Robot Link function
CAUTION: If space characters is included in parameters, R-J3iB controller can not communicate via
Ethernet properly.

23
The following is an example.
SETUP\Host\Comm\\\\\\\\\\\\\\\\\\\\\\\\
Robot name:
RC21
Port#2 IP addr:
190.10.81.21
Subnet mask:
255.255.0.0
Board address:
08:00:19:02:F3:50
Router IP addr:
190.10.255.0
Host Name (LOCAL)
Internet Address
RC21
190.10.91.21
RC22
190.10.91.22
RC23
190.10.91.23
RC24
190.10.91.24
Node name and Internet Address should be unique for each controller.
Set same Host Name and Internet Address table to all controllers that communicate via Robot Link
function but own Node name and Board address should be unique.
4.1.3 Set up and starting FTP

1. Press MENUS
2. Select SETUP
3. Press F1, TYPE
4. Select Host Comm

24
SETUP Protocols
1
2
3
Protocol
TCP/IP
FTP
NONE
JOINT 100%
1/ 3
Description
File Transfer Protocol
Connects tag to port
[ TYPE ]
DETAIL
[ SHOW ]
5. Press F4, SHOW

6. Select 3, Servers
SETUP Servers
Tag
Protocol
1 S1: ********
2 S2: ********
3 S3: ********
JOINT 100%
1/8
Port
*****
*****
*****
[ TYPE ] [ACTION] DETAIL
[Undefined]
[Undefined]
[Undefined]
[ SHOW ]
7. Move the cursor to the server tag you want to set up and press F3, DETAIL.

25
SETUP Tags
JOINT 100%
1/11
Tag S1
1 Comment:
****************
2 ProtocolName:
********
3 PortName:
*****
4 Mode:
*************************
Current
State:
Undefined
5 Remote
********
6 Path
*************************
Startup
7 State:
Defined
8 Remote:
********
9 Path:
************************
Options
10 Error Reporting:
***
11 Inactivity Timeout
**** min
[CHOICE]
7. Move the cursor to 2 Protocol Name and press F4, CHOICE.

8. Select FTP and press ENTER.
9. Move the cursor to 3 Port Name and press F4, CHOICE.
10.
Select NONE and press ENTER.
11.
Move the cursor to Startup 7 State and press F4, CHOICE
12.
Select Start and press ENTER.
13.
Turn off and on the power supply switch.
14.
After the system comes up, check if current status is Start on the following screen.
SETUP Servers
JOINT 100%
1/8
Tag
1
2
3
Protocol
S1: FTP
S2: ********
S3: ********
Port
*****
*****
*****
[Start
]
[Undefined]
[Undefined]
[ SHOW ]
Note: If current status is not Start, TCP/IP setup may be incorrect.

26
4.1.4 Set up Full Duplex mode on R-J3iB Controller

Set system variable $ENETMODE.$FULL_DUPLEX = TRUE
4.1.5 Set up Full Duplex mode on switching hub

If switching hub has Full/Half duplex switch, set it to Full Duplex.
4.2
CHECKING NETWORK CONFIGURATION
After setting up the network, check the following points.

1. Is Ethernet cable connected between the controller and switching hub properly?
If not, connect cable.
2. Is orange LED near 10/100Base-T jack on main CPU printed board lighting?
If not, disconnect the Ethernet cable and connect again then turn off and on the power supply switch of
the controller and switching hub.
If the LED is still not lighting, main CPU printed board may have some troubles.
3. Is status of S1 tag on SETUP Servers screen Start?
If not, check TCP/IP setup again.

27
4.3
SETTING UP ROBOT LINK
Master robot has Link pattern information. Slave robots have information about master robot to follow.
In this manual, we assume the following situation.
There are robot controllers RC21 (G1, G2), RC22 (G1), RC23 (G1, G2, G3), RC24 (G1).
Master robot: RC21(G1)
Slave robot: RC22 (G1), RC23 (G1), RC24 (G1)
At first, move to Robot link setup screen as follows.

1. Press MENUS
2. Press F1, TYPE
3. Select Robot Link and press ENTER
ROBOT LINK SETUP
JOINT 100%
1/4
Robot link setup items

1
2
3
4
5
Link pattern(This robot is master)

Master list (This robot is slave)
Status output signal
Calibration data
Robot name Definition
[ TYPE ]
Note that if any setup parameter is changed, please cycle power.
4.3.1 Set up Link pattern (Master Robot)

Link pattern is robot group setup to perform synchronous motion.
For example, the following link patterns are available to define.
Link pattern
Master
Slave
Slave
Slave
Current example
RC21(G1)
RC22(G1)
RC23(G1)
RC24(G1)
Example #2
RC21(G1)
Not use for link
RC23(G1)
RC24(G1)
Example #3
RC22(G1)
RC21(G1)
RC23(G1)
RC24(G1)

28
CAUTION:
Only 1 group can be a slave robot on a controller.
NOBOT, Positioner or such additional group can not be a slave robot.
NOBOT can not be a master robot.
Integrated extend axis robot can not be either master or slave robot.
1. At RC21 robot controller, in robot link setup screen, select 1. Link pattern (This robot is master)
And press ENTER.
ROBOT LINK SETUP

Link Pattern
No.
Comment
1[Lift up body
[ TYPE ]
JOINT 100%
1/1
Link Signal
]
SDO[
1]
DETAIL
2. Comment for Link Pattern can be set.

3. Set link signal.
This output signal is from master robot to slave robots. Master uses this signal to notify the completion
of the synchronous motion to slave robots.
Master
SDO1
PLC
SDI1
Slave 1
Slave 2
Slave 3
4. Press F3, DETAIL

29
ROBOT LINK SETUP

Link Pattern
No.1[Lift up body
Host Name
1 Master:
RC21
2 Slave:
3 Slave:
4 Slave:
5 Slave:
6 Slave:
7 Slave:
JOINT 100%
1/7
]
Group
Link
0
0
SEPARATE
0
SEPARATE
0
SEPARATE
0
SEPARATE
0
SEPARATE
0
SEPARATE
[ TYPE ]
5. Move cursor on host name and press F4, CHOICE.
ROBOT LINK SETUP

1
RC21
RC22
RC23
5
6
7
8
JOINT 100%
RC24
R
[ TYPE ]
6. Select host name and press ENTER.

7. Move cursor on item Link of slave robots then press F4, CONNECT.
SEPARATE is used if the slave robot has troubles.

30
ROBOT LINK SETUP

Link Pattern
No.1[Lift up body
Host Name
1 Master:
RC21
2 Slave:
RC22
3 Slave:
RC23
4 Slave:
RC24
5 Slave:
6 Slave:
7 Slave:
JOINT 100%
1/7
]
Group
Link
1
1
CONNECT
1
CONNECT
1
CONNECT
0
SEPARATE
0
SEPARATE
0
SEPARATE
[ TYPE ]
4.3.2 Set up master robot information (Slave Robot)

1. Select 2. Master list (This robot is slave) and press ENTER.
ROBOT LINK SETUP

Master List
No. Host Name
Group
1
0
JOINT 100%
1/1
Link signal
SDI[
1]
[ TYPE ]
[CHOICE]
2. Press F4, CHOICE.

3. Select host name of master robot and press ENTER.
4. Set motion group number of master robot.
5. Set link signal. This signal is from master robot to notify completion of synchronous motion.
Master
SDO1
PLC
SDI1
Slave 1
Slave 2
Slave 3

31
4.3.3 Setup Status Signal

Set up Status Signal on both master and slave robot.
1 . Select 3 S t a t u s o u t p u t s i g n a l a n d p r e s s E N T E R .
Screen will be different according to its motion group count.
2. Set Master status signal if the robot is a master robot.
3. Set Slave status signal if the robot is a slave robot.
Example 1: RC21 controller (Master), which has 2-motion group.
ROBOT LINK SETUP

Status Signal
JOINT 100%
1/4
1 Master status signal(G:1): SDO[

2
(G:2): SDO[
0]
3 Slave status signal (G:1): SDO[
4
(G:2): SDO[
0]
2]
0]
[ TYPE ]

32
Example 2: RC22 controller (Slave), which has 1-motion group.
ROBOT LINK SETUP
JOINT 100%
Status Signal
1/2
1 Master status signal

2 Slave status signal
: SDO[
: SDO[
0]
2]
[ TYPE ]
4.3.4 Set up Calibration Data (Slave Robot)

This section describes how to input Calibration Data. Refer to section 5 how to get
Calibration Data.
1. At slave robot, select 4. Calibration data and press ENTER.
ROBOT LINK SETUP
JOINT 100%
Calibration data
Host Name & Group
1 RC21
1
[ TYPE ]
1/2
G1 G2 G3 G4 G5
OK -- -- -- --
DETAIL
This screen shows whether calibration is done for each master robot. OK means that calibration is
done, and shows that calibration is not done. G1 G2 G3 G4 G5 shows motion group of master
robot. If the master robot has only one motion group, G1 G2 G3 G4 G5 does not appear.
2. Move cursor to select motion group of master robot and press F3, DETAIL.

33
ROBOT LINK SETUP
JOINT 100%
Calibration data
Master: RC21
Slave:
RC22
1 X
2 Y
3 Z
4 W
5 P
6 R
1/2
Group 1
Group 1
000000.000
000000.000
000000.000
000000.000
000000.000
000000.000
[ TYPE ]
LIST
DONE
3. Input calibration data to 1 (X) to 6 (R). Refer to section 5. Calibration how to get calibration data.
4. Press F4, DONE when all values were set.
5. Once calibration was done, F4 label changes to CHANGE. Move cursor and press F4, CHANGE to
modify value.
6. Press F3, LIST to return previous screen. If calibration was done, OK appears at the motion group.
4.3.5 Set up Communication Rate

Set communication rate value to system variable $RK_MOTNRATE[1] at both master and slave robot.
Default value is 6. The time lag of motion between master and slave robot is 8 msec per communication rate.
Lower limit of communication rate is based on count of slave robots. Refer to the following table.
Count of Slave
robots
Lower limit of
Communication
Rate
Notes) Normally, deviation between master and slave robot in synchronous motion is
(motion speed (mm/sec) x $RK_MOTNRATE[1] / 125) mm.
4.3.6 Set up acceleration time during synchronous motion

Acceleration time of both master and slave robots are equal and fixed during synchronous motion. So
acceleration time should be calculated and set according to max motion speed during synchronous motion

34
beforehand.
System variables for acceleration time are $RK_GROUP[J].$accel_time1 and
$RK_GROUP[j].$accel_time2. (J is motion group number for synchronous motion).
Default acceleration time values are set for S-430iR/165kg type robot to be able to do 1000mm/sec linear
motion. Usually, not so high-speed motion is required during synchronous motion so default vales may be
useful.
However, if fine-tuning of acceleration time is required because robot does vibrate motion, calculate them
according to the following expressions.
GP=Object robot group
Vp-max Maximum speed during synchronous motion.
i Vp-max100
Vr Vp-max i100
A 1= $CF_PARAMGP[GP].$acctime_tb1[i]
B 1= $CF_PARAMGP[GP].$acctime_tb1[i+1]
A 2= $CF_PARAMGP[GP].$acctime_tb2[i]
B 2= $CF_PARAMGP[GP].$acctime_tb2[i+1]
If i = 0 then A1=A2=0
Payload = Ordinary payload.

Payload-max = Maximum permissible payload
ACC1 = A1 + (B1 A1) Vr/100
ACC2 = A2 + (B2 A2) Vr/100
ACC = ACC1 + (ACC2 ACC1)Payload/Payload-max
$RK_GROUP[J].$accel_time1 = ACC2/3
$RK_GROUP[J].$accel_time1 = ACC1/3
(J is motion group number for synchronous motion).

35
Calibration
In order to perform master /slave motion, each slave/master pair in your system must be calibrated.
Calibration is the positional relationship of the slave robot origin to each of its master robots origins.
Overview the calibration procedure:
1. Select a LINK PATTERN on a master robot.
2. Determine the master/ slave pairs that need to be calibrated
For each master/slave pair:
3. Create a calibration data program on the master and slave robots
At three places in the area where the work envelopes of the two robots overlap:
i.
Jog the robots to a unique point where master and slave robots TCPs touch
ii.
Record that position in the calibration program for each robot.
4. Copy the TP programs to PC from each robot controller.

5. Calculate the calibration data using Robot Link Calibration Tool installed on PC.
6. Set the output data calculated on PC to the slave robots controller.
7. Repeat 3 to 6 as many times as the number of slave robots in the LINK PATTERN selecting the next
slave robot from the pattern each time.
5.1
Setting the TCP for calibration

You can find out the relative position between the master robot and a slave robot checking the
positions of any three points included in the cross section of the two robots workspaces in each
robots world frame. We call the three points that are used to find out the relative position between
two robots as reference point.
Calibration consists of two step works. First, contact masters TCP and slaves TCP and record the
position. You have to this work three times for different contact points, namely you have to record
three reference points as a TP program on each robot controller. Second, process the TP programs
on PC and get the relative position between master and slave.
The calibration accuracy is depends on how to select reference point. So please take care following
items. 1.Please avoids the position near the limit of workspace or singular points because absolute
position accuracy is relatively low. 2.When the distance of any two-reference points are short or
when three reference points are in a line, calculation error will be increase. For example, take three
vertex of triangle of edge length about 1m such that each point. can be reached easily from both

36
master and slave robots.

Calibration TCP is used to record the reference points. Usually, you may need to fix some tool for
calibration like a needle that can easily record reference points. And set the TCP on the tip of the
needle. The tool for calibration should be easily point reference point and should not bend
depending on the robots pose. For easy example, like a needle can be used. Since too sharp tip is
dangerous, make round the tip and be careful to treat the needle.
If you can set the reference point without such a calibration tool, it is not always necessary to
prepare calibration tool. As a substitute, you can use mechanical frame or the pre-attached hands
TCP and etc.
You can set TCP in the common TCP setup screen with 3 points method or direct method. The
accuracy of TCP affects the accuracy of calibration. So you should set TCP as precise as possible
checking the accuracy with WPR jogging.
5.2
Recording reference points
Please select the calibration TCP as current TCP.
Contact the master robots TCP and slave robots one, record the current position in a TP
program on each robot controller. Then the position index must be consistent between
masters TP program and slaves TP program. Therefore, the master programs P[1] and the
slave programs P[1] must be the same reference point. Position data type must be cartesian.
If joint data type is selected, you cant read position data on PC later.
Please repeat two times in other point. As a result, you have to record three different points.
How to select reference points

The reference points are used to calculate the relative position between master robot and slave
robot. If a reference point is near the limit of workspace or near the singular point or if the distance
of any two of the three points is short comparing with other two edges or if all three points are in a
line, the accuracy of calibration becomes low. For example, take three vertex of triangle of edge
length about 1m such that each point. can be reached easily from both master and slave robots.
5.3
Calculation of calibration data
Please set as $FILECOMP.$TPP=TRUE on system variable screen.
Please transport the TP programs that are recorded three reference points to PC via Memory
card or MS-DOS formatted floppy disc.

37
Please set back as $FILECOMP.$TPP=FALSE on system variable screen.
Start the robot link calibration tool on PC. Then you can see the screen as Fig. 1.
Specify the directory containing the TP programs with Directory: list box and Drive: box.
Slave Robot: TP Program: The program made with slave is selected from among the list box,
and TP Program of Master Robot: select the master program corresponding to the program
from among the list box.
Set the motion group of slave robot in Slave Robot.
Set the motion group of the master robot in Master:
Select Direct about Teach Type of Slave Robot and Master Robot.
Please click the Calibrate button.
The value is displayed to X Y Z W P R and Mean Err . Max Err . Please refer to 1-5
troubleshooting when nothing is displayed.
The value of Mean Err. , Max Err. is a value that becomes the standard of the accuracy of
calibration. Mean Err. generally becomes about 2mm though this value changes depending on
the posture of the robot at how to get the reference point and that. Especially, please refer to
1-5 troubleshooting because there is a possibility that the procedure is wrong when A exceeds
10mm.
Please set X, Y, Z, W, P, R in slave robot and set setting with master setup of the robot link
STUP screen on the robot controller.
Figure 1. Screen of Robot Link Calibration Tool when

38
5.4
Indirect Calibration
The calibration method where is explained from 5-1 by 5-3 is required to be set up in the position by
which the master and slave robot can share three reference points. In a word, it is demanded that
the distance between both robots is near and it not be between both robots the obstacle (case like
Figure 2). However, when the point cannot be shared (case like Figure 3) because slave is away
from master. The above-mentioned method cannot be executed. This chapter explains the
calibration method for this case.
The dotted line shows the range of the operation
The dotted line shows the range of the operation
of each robot in the imitation type.
of each robot in the imitation type.
Mastr Robot
Master Robot M Slave Robot S1 Slave Robot S2
Slave Robot S1
Slave Robot S2
Figure 2 : calibration is directly possible Figure 3 :calibration is directly impossible
5.4.1 Idea of indirect calibration

Please look at Figure 3. Though S1 can do calibration directly because the distance with M is near.
Because the distance with M is away, S2 cannot do calibration directly. However, S2 and S1 are
assumed that the distance of both is near. "Near" is to mean three reference points can be shared
and near extent to be able to do calibration directly and there is not an obstacle either here.
The idea of indirect calibration is explained. First of all, S1 can learn the position of M because S1
can do calibration directly. In addition, if S1 is set as a temporary master, and the calibration is done
with S2, S2 understands the position of S1 seen from S2 because S2 is near the distance of S1.
Therefore, S2 can learn the position of M thought that information of both will be matched from S2
by S1's passing. The idea of indirect calibration is brought together as follows.
The calibration is done directly between M(master) and S1 (Slave). The position of M seen from
S1 is obtained.

39
The calibration is done directly between S1 (temporary master) and S2 (slave). The position of
S1 seen from S2 is obtained.
The position of M seen from S2 is obtained by using the result of 1 and 2. In a word, the
calibration result between M and S2 is indirectly obtained.
The above-mentioned explanation was indirect calibration (indirect one) which passed slave only by
one. This idea can be expanded and be indirect calibration (indirect n) which passes n slave in
general. However, the error accumulates increasing of the number of the robot which passes, too.
Please think up to two indirectly practicably.
5.4.2 Method of indirect calibration

5.4.2.1
Calibration method one indirectly

It is assumed that the following conditions consist as shown in Figure 3.
Condition 1 When S1(Slave) is M(Master) and can do calibration directly.
Condition 2 When S2(Slave) is M(Master) and can do not calibration directly. However, S2
(slave) can do calibration directly with S1 (temporary master) when thinking S1 to be a
temporary master.
The procedure by which the position of M(master) seen from S2 (slave) is indirectly obtained is
explained.
Please do calibration directly by thinking S1 to be a temporary master between S1 (temporary

master) and S2 (slave) according to the procedure of 5-1-5-3. Please go up to 5-3 . The
work set to the controller of 5-3 is unnecessary.
The calibration result of S1 (temporary master) and S2 (slave) to be displayed respectively of X,

Y, Z, W, P, R Mean Err., Max Err. of the screen in Figure 1. Please click the Add to ListBox
button. Then, The value of X, Y, Z, W, P, R is copied onto the list box under the screen
respectively. A special tool is used as it is without ending with the following .
Please do calibration directly between M (master) and S1 (slave) according to the procedure of
1-1-1-3. Please go up to 5-3 .
The calibration result of M(master) and S1 (slave) to be displayed respectively of X, Y, Z, W, P,

R, Mean Err. And Max Err. of the screen in Figure 1. In addition, the calibration result of S1
(temporary master) set with and S2 (slave) is displayed in the list box under the screen.
Please click the Add to ListBox button. Then, The value of X ,Y ,Z ,W ,P,R is copied onto the
second line of the list box under the screen respectively. The data of the first line remains as it
is.
Calibration data between S1 (temporary master) and S2(slave) is displayed in the first line and

40
calibration data between M(master) and S1(slave) is displayed in the second line in the list box
under the screen. Please click the Multiply button. The value is displayed in the text box under
the list box. It is one indirectly result to which this value is synthesized, in a word, the calibration
result.
Please set X, Y, Z, W, P, R in S2(slave) . This setup is done with MASTER SETUP of the robot
link screen of SETUP on the controller of S2.
Reference
The content of the list box can be deleted by clicking the Clear ListBox button when a value wrong
in the list box under the screen is set.
5.4.2.2
Method of n indirect Calibration

We assumed that the following condition is satisfied.
[Condition 1] The calibration between M(Master) and S1(Slave) can be performed.
[Condition 2] The calibration between M(Master) and S2(Slave) can not be performed directly.
However, the calibration between S1(temporary master) and S2 (Slave) can be
performed if we treat S1 as a master.
[Condition n+1] The calibration between M(Master) and S(n+1)(Slave) can not be performed.
However, the calibration between S(n)(temporary Master) and S(n+1)(Slave) can
be performed if we treat S(n) as a master.
The following procedure explains how to perform the calibration between M(master) and S(n+1)
(slave) by indirect method.
Set the following data in the list box under the screen of a special tool of the personal computer
(Figure 1) according to the same procedure as 5-4-2-1.
Line1:Caliblation data between S(n) (temporary master) and S(n+1) (slave)
Line 2: Calibration data between S1 (temporary master) and S2 (slave)

Line n+1: Calibration data between M (master) and S1 (slave)
Click the Multiply button. The indirect calibration data is computed and displayed in the text box
under the list box.
Set the calibration data (X, Y, Z, W, P, R) into S(n+1)(slave) robot at the following screen.
SETUP -> Robot Link -> MASTER SETUP

41
[Maximum number of robots for the indirect calibration]

The each calibration error of each line in the list box would be accumulated and affect the total
performance of the indirect calibration. To get better calibration performance, n should be up to 2.
5.5
Troubleshooting
Even if the Calibrate button is pushed, the calculation result is not displayed.
Please confirm the following items.
After the value of $FILECOMP.$TPP had been made TRUE, was the program saved?
Is the position data of the program XYZWPR form?
Mean Err. exceeds 10mm.

Please confirm the following items.
Is TCP correct? Please confirm TCP being selected now is TCP for calibration (both the
slave and the master), do posture jog if it is correct, and confirm set accuracy of TCP.
When TCP is corrected, it is necessary to do teaching the reference point over again.
Is the index number of the position data of three reference points the same as master in
slave?
Please confirm the program taught with both master and slave is executed in the step,
and TCP each other is corresponding.

42
Verification Of Communication and Synchronous Motion

6.1
The following is a procedure to verify communication and synchronous motion. After all setup
items (equipment, wiring, and connection) are finished, the user should verify communication and
synchronous motion by the following operations:
Turn on the power to the HUB and then turn on all robot controllers.
Set the slave robot(s) to remote state.

The conditions for remote state are as follows.
Disable Teach pendant
Set remote switch to REMOTE
Disable single step mode
Reset all alarms
Reset HOLD input
Select Robot Link manual function screen on the teach pendant of the master robot according to
the following operation:
Robot Link
MANUAL FCTNS
MENU
ROBOT LINK MANUAL
JOINT
100%
1/1
Current link status [Alone
This robot moves alone by JOG.

Production start is available.
Change status to 'Master(Manual)' -- F4
Link Pattern
No. 1 [Lift body
]
[ TYPE ] R1MSTR
MASTER
Enable the teach pendant and press [F4 MASTER].

Confirm that current link status is MASTER, which means that the connection for synchronization is
established through the ethernet local network. Confirm that the BUSY LED is ON for each slave

43
robot(s) in the link pattern.

The following screen is displayed on the master robot.
ROBOT LINK MANUAL
JOINT
100%
1/1
Current link status [Master(manual) ]
When this robot moves, slave robots
Follow this robot.
Program can not run at TP disabled.
Change status to 'Alone'
Link Pattern
No. 1 [Lift body
[ TYPE ] R1MSTR
-- F5
]
ALONE
If the current link status is Link incomplete, press [F4, MASTER] again.
Change jog frame on the master robot to WORLD, JOG, or USER and lower the override (initially it
should be about 5% until you are familiar with jogging multiple robots.) Jog the robot in each
direction X, Y, or Z to confirm that all robots in the link pattern move synchronously.
After synchronous motion is verified, press [F5 ALONE] on the master robot. Stopping synchronous
jog mode on the master causes an error to occur on each slave robot, and each slave robot display
indicates that it is in ALONE mode. Reset each slave robot.
The E-STOP signals of all the robots in a linked cell are typically all serially connected. If E-STOP is
pressed on the master robot, all robots will post an error. The master robot will indicate Link
Incomplete and the slave robots indicate ALONE mode. Clear the E-STOP alarm and reset each
robot in the link pattern then press MASTER on the master robot to resume synchronous jogging
with the slave robot(s.)
When HOLD is pressed on the slave robot, the BUSY LED on the slave robot teach pendant is
turned OFF and an alarm is posted on the master robot. The slave robot indicates it is in ALONE
mode and the master indicates Link Incomplete. Clear the alarm on the master robot then press
MASTER on the master robot to resume synchronous jogging with the slave robot(s.) Pressing
HOLD on the master robot does not change the MASTER (MANUAL) mode on the master and there

44
is no mode change to any slave robot in the link pattern.
Note: All robots in the link pattern move synchronously when the master robot is
jogged in this status.
6.2
If Verification Fails, Setup Item Review

The following outlines the areas of communication setup and other Robot Link setup that should be
revisited when the master robot does not enter MASTER (MANUAL) mode for master / slave jogging.
When [F4, MASTER] is pressed, an alarm may occur regardless of the setting for master/slave.
The alarm indicates that either the master or one or more of the slave robots in the link pattern are not
ready to jog in synchronous mode. Verify and correct the following items (refer to the chapter
Setup):
On the master robot check:
If an unrelated alarm is posted on the master robot
Protocol setup for host communication
Server setup for host communication
Link pattern setup for robot link
On each slave robot: check:
If an unrelated alarm is posted
Protocol setup for host communication
Server setup for host communication
Master setup for robot link
Calibration to master robot is done

45
6.3
Procedure to verify the link status when the master shows Link Incomplete.
ROBOT LINK MANUAL
JOINT
100%
1/1
Current link status [Link incomplete ]
This robot can not move,because slave
Robots are not ready.
Change status to 'Master(Manual)'-- F4
Change status to 'Alone'
-- F5
Link Pattern
No. 1 [Lift body
]
[ TYPE ]R1MSTR
STATUS
MASTER
ALONE
When the link status is Link incomplete, as shown above, the master robot can not be moved by any
operation. Perform the following steps to verify communication and synchronous motion:
Change the link status of the master robot to ALONE and press the HOLD key on the slave robot in
order to turn off its BUSY LED on the teach pendant. After that, reset the HOLD input and any other
alarms.
Turn off and on the power of HUB, then verify communication and synchronous motion by the
procedure in section 6-1 (above.)
If the link status does not change to Master (Manual) using the above operations, press [F3
STATUS] to display the following screen on teach pendant.

46
ROBOT LINK STATUS
JOINT
Current Link Pattern

No. 1 [ Lift Body
]
Robot
Status
Master: RC21
G1:Link incomplete
Slave:
RC22
G1:Slave(Manual)
Slave:
RC23
G1:No response
Slave:
RC24
G1:Slave(Manual)
Slave:
G0:
Slave:
G0:
Slave:
G0:
[ TYPE ]
100%
Sync.ID
0
0
***
0
***
***
***
DETAIL
Perform diagnostic measures on andy slave robot whose status is No response. Disable the teach
pendant of the master robot to avoid a DEADMAN alarm (Note that an alarm on the master robot may
cause alarm(s) on the slave robot(s).) Verify the following items (for detail on the method to verify,
refer the chapter Setup:)
Verify setup items on the master robot:
Confirm the host name setup in the HOST COMM setup page under TCP/IP DETAIL. Check
that the IP address for the slave robot is correct.
Verify setup items on the slave robot whose Link Status is No response:
Confirm the Host Comm setup includes the host name of the master robot and that the
master robot IP address is correct.
Confirm that the FTP servers state is STARTED in host communication server setup
screen.
Confirm the Master List setup includes the master robot name and a link signal in the robot
link master list setup screen.
Confirm the calibration data is entered in the calibration data setup detail screen, and that
OK appears in the previous setup screen.
After correcting any invalid setup, turn off and turn on the power of the robot controller. Perform the
operations described ibn section 6-1 to verify communication and synchronous motion.

47
6.4
If Verification Fails, Communication Hardware Review

If the link status of the master still displays Link Incomplete, press [F3 STATUS] to verify determine
if a slave robot has No response status. After disabling the Teach pendant of the master robot,
verify the following items:
Verify the ethernet connections on the No response slave robot:
Confirm whether the orange LED in the plug for Ethernet cable on the MAIN CPU board is
turned on.
If that LED is not turned on, even if the power of both HUB and the robot controller is
turned on, it is possible that the MAIN CPU board has some defects. Please change the
MAIN CPU board in this case.
Confirm whether both green LEDs in the plug for Ethernet cable on MAIN CPU board are
turned on and off.
A. If both green LEDs are turned on and off correctly, it is possible that the connection
between Ethernet cable and the HUB is wrong. Please insert the ethernet cable into
another port in the HUB or install a different ethernet cable. Verify by pinging other robots
hooked to the HUB to see if basic communication isworking.
B. If only one LED of the green LEDS is turning on and off, review the system variables
$RK_SYSCFG.$LPARAM[1] and $RK_SYSCFG.$LPARAM [2]. $LPARAM[2] should be
counting up; this is the correct mode fopr this parameter. If $LPARAM [1] is counting up
too, it is possible that MAIN CPU board has some defects. Please change MAIN CPU
board in this case. If $LPARAM [1] is not counting up, confirm the setup parameters
again.
After these verifications, turn off and on the power of the robot controller. Do the operation described
in section 6-1 to verify communication and synchronous motion.

48

49
Programming1
Synchronous motion is programmed in special TP programs. The sub-type for master robot synchronous
motion is master and the program is called the Master Program. The program sub-type for synchronous
motion of a slave robot is set to slave and the program is called a Slave Program. The structure for
executing synchronous motion programs is as follows.
Master Robot
Slave Robot
Master Program
Slave Program
Main Program
Main Program
Sync ID: 1
Sync ID: 1
Synchronous
motion
Sync ID: 2
SyncID: 2
Synchronous
motion
7.1
Programming for Master Program
Display program detail screen

Creating new program
Press SELECT keyand press F2CREATEkey.
Enter program nameand press F3DETAILkey.
Setting the program taught already to the master program.
Press SELECT keyset cursor to that program.
Press F>keyand press F2DETAILkey.

50
Set motion group for the master program to the same group as the main program.
Press F 3 (NEXT) key again and again until Robot link program data screen is displayed. Note that
this screen is not displayed, when the program is paused or executed.
Detail
Multi-Arm program data
1
2
Program type:
Multi-Arm Main?
END
PREV
NEXT
JOINT
100%
1/1
Main Program
No, Independent
[CHOICE]
Main Program
R.link Master Sub prog
R.link Slave Sub prog
Slave Alone
No, Independent
Yes, Head of Family
Yes, Family member
Press F4 ([CHOICE]) in above screen, and select Rlink Master Sub in sub menu.
Detail
Multi-Arm program data
1
2
3
Program type:
Synchronization ID:
Link pattern No:
END
PREV
NEXT
JOINT
100%
1/3
Main
1
1
[CHOICE]
Set each item.

Item
Synchronization ID
Contents
Set ID for slave program that pairs this master
program. If the pairing slave program is not
created set temporary value.
Range
1-99999

51
Link Pattern No.
The synchronous ID is used in order to avoid that

the unexpected programs synchronize with this
master program in case that there are some
synchronous motions.
Set link pattern number.
Set the number for the used link pattern
beforehand.
$RK_SETUP.
NUM_PTN
Don't change these
system variables.
Press F1 (END) to return the program edit screen.

Teach the motion for the master robot. The teaching method is same as usual teaching method.
7.2
Programming for Slave Program
Display program detail screen

Creating new program
Press SELECT keyand press F2 CREATEkey.
Enter program nameand press F3 DETAILkey.
Setting the program taught already to the master program.
Press SELECT key set cursor to that program.
Press F>keyand press F2DETAILkey.
Set motion group for the slave program to the same group as the main program.
Press F 3 (NEXT) key again and again until Robot link program data screen is displayed. Note that
this screen is not displayed, when the program is paused or executed.
Detail
Robot link program data
1
END
Program type:
PREV
JOINT
100%
1/1
Normal
NEXT
[CHOICE]
Press F4 ([CHOICE]) in above screen, and select SLAVE in sub menu.

52
Detail
Robot link program data
1
2
3
4
5
JOINT
Program type:
Synchro ID:
Master No:
Master tool No:
Slave group:
END
PREV
Set each item.

Item
Synchronization ID
Slave Group
Master No.
NEXT
100%
1/5
Slave
1
1
1
[1,*,*,*,*]
[CHOICE]
Contents
Set ID for slave program that pairs this master
program. If the pairing slave program is not
created set temporary value.
The synchronous ID is used in order to avoid that
the unexpected programs synchronize with this
master program in case that there are some
synchronous motions.
Set the motion group for synchronous motion.
Set cursor to this item and press F4 (1).
Set the master robot number.

Set the number for the master robot beforehand.
Range
1 - 99999
Only the motion

group set in this
program can be
set.
1 - $RK_SETUP.
NUM_MST
Don't change these
system variables.
Master tool No.
Set the tool frame number used in the program of

the master robot.
0-5
* At present, this function has not been

supported yet. Don't set the value except 0.
Press F1 (END) to return the program edit screen.
Teach the motion of the slave robot. In order to synchronize with master program, teach only one
point in the slave program. The motion statement in the slave program must be the linear motion.
About detail for teaching, refer to the chapter 'Teaching and Robot Link jog'.
1: L P[1] 500mm/sec FINE

53
2: [End]
*The speed value of the motion statement in the slave program
The speed value in the slave program is used for the motion that the slave robot moves to the taught
position in the program from the current position. If the current position of the slave robot and the
taught position in the program are same, this speed value is not used.
Note: When the current position of the slave robot is different from the taught position in the program,
if the synchronous motion is started, both the return motion to the taught position and synchronous
motion with the master robot are executed at same time.
RECORDING PROCEDURE AND ROBOT LINK JOG MANUAL FNCTS screen

8.1
RECORDING PROCEDURE
Here present the recording procedures of the robot rink. Using the robot rink, two robots are going to hold up
one object.

54
MASTER ROBOT
SLAVE ROBOT
Program:PNS0001
Program type:Normal
L P [1] 100mm/sec FINE

CALL MASTER
Program:PNS0001
Program type:Normal
Individual motion
Normal program
The start position of
synchronous motion
(LINEAR motion)
Program:MASTER
Programtype:Master
Synchronization ID:1
Synchronous
motion
(Slaves trace
these motions)
Program:SLAVE
Progrma type:Slave
Synchronization ID:1
L P[1] 100mm/sec FINE
Relative position from the master
The end position of

L P[12] 100mm/sec CNT100

CALL SLAVE
synchronous motion

L P[12] 100mm/sec CNT100
Individual motion
RECORDING PROCEDURE FOR INDIVIDUAL MOTION

Before and after the synchronous motion, each robot moves according to ones own program. For the
master robot and the slave robots respectively, you need to write the normal program named
PNS0001.
MAKING THE MASTER PROGRAM
On the master robot, make the master program named MASTER, but dont write any orders in it..
MAKING THE SLAVE PROGRAM

55
On the slave robots, make the slave program named SLAVE, but dont write any orders in it.
RECORDING THE START POINT OF SYNCHRONOUS MOTION AND CALLING THE
SYNCHRONOUS PROGRAM
To the master robot and the slave robots respectively, record the start point of synchronous motion on
the normal program (PNS0001). At the next line, using CALL instruction, call the master program on
the master robots program and the slave program in the slaves robot program respectively .
GETTING THE MASTER ROBOT TO BE MASTER STATUS
Having the master robot at the start point of synchronous motion, go to the MANUAL FCTNS screen
for Robot link on the master robots teach pendant.
OPERATE[MANUAL FCTNS] [Robot Link]
ROBOT LINK MANUAL
JOINT 100%
Current link status [Alone
This robot moves alone by JOG.

Change status to 'Master(Manual)'
F4
--
Link Pattern
No.\1 [HOLD UP THE CHASIS]
[ TYPE ] R1MSTR
MASTER
On the MANUAL FCTNS screen, the link status of the motion group you have selected is shown. For
the case that the robot has multi groups, it is necessary to confirm that the motion group to be master
has been chosen. In this case, please see the sign ,[G1] or [G2] in the reverse expression at the upper
position on the screen.
If the Current link status is Alone or Held, please press the 4 (MASTER). Then confirm that the
status gets to be Link incomplete or Master (Manual). In such condition that Current link status
[Link incomplete] or [ Master(Manual)], we define the master robot is Master Status.
[ Link incomplete] : Though it is not complete to synchronize with slave robots, the master

56
robot is Master Status.

[ Master(Manual) ] : It is possible to do synchronous motion with slave robots on the MANUAL
FNCTS screen.
If the current link status is still Alone or Held, the setup for the communication or the robot link may
be wrong. Please refer to the previous section Verification of communication and synchronous
motion and confirm the setup.
TEACHING SLAVE PROGRAM
Having the slave robots at the start point of synchronous motion, record a motion instruction in each
slave program. In this positional information, the relative position from the master robot is recorded in
this positional information.
Make sure in recording that both master robot and slave robots are at the starting position of
synchronous motion.
In the case you have two more slave robots, there need the same procedures above.
At the recording, make sure that no alarm is showed on the teach pendant screen. For example, if you
record the start position of synchronous motion to the slave robot when the master robot is not Master
status, the alarm is shown which indicates the failure of recording position. In this case, the positional
information is expressed [****.***] which indicates UNINITIALIZED.
CAUTION
Confirm the positional information is not uninitialized after recording the motion
instruction in the slave program. Furthermore, do NOT enter positional data directly.
Doing so can cause unexpected motion to occur
We cannot write two more motion instructions on the slave program. And if you modify the motion
instruction, the alarm will occur. When you would like to change it, you need to delete the motion
instruction which has been already recorded and write the new motion instruction once again.
ROBOT LINK JOG

In the case to record the synchronous motion, move the robots with synchronous motion using Robot
Link jog.

57
In order to do Robot Link jog, all slave robot need to have these conditions as follows;
- The teach pendant is turned off.
- There is no alarm.
- The robots have not received the HOLD signal. .
- Single step testing is disabled.
- No program is on the running.
Under these conditions, press the key 4MASTERon the MANUAL FCTNS screen for the Robot
link. In the case Current link status is Master(Manual), with the master robot jogging, the slave robots
are begin to move tracing the master robot.
But the Current link status is Link incomplete, even if you jog the master robot, the robots would not
begin to motion. In this case, the following operations have to be done.
1. EMERGENCY STOP or HOLD to all robots. This causes cancellation of slaves tracking
2. Cancel the alarm of all robots and fulfill the conditions for Robot Link jog.
3. Press the 5 (ALONE) on the master robots MANUAL FCTNS screen.
4. Press the 4 (MASTER) on the master robots MANUAL FCTNS screen.
Even after the above procedures, when the Current link status is still Link incomplete, refer to the
previous section Verification of communication and synchronous motion and try again.
If you would like to jog the master robot alone, press 5 (ALONE) on the MANUAL FCTNS screen in
order that the master robots status gets to be Alone. In the case you would like to do Robot Link jog
again after jogging the robot alone, the following procedures need to be done.
1. EMERGENCY STOP or HOLD to all robots. (This procedure causes cancellation of slaves
tracking
2. Cancel the alarm of all robots and fulfill the conditions for Robot Link jog.
3. Press the 5ALONEon the master robots MANUAL FCTNS screen.
CAUTION
During the synchronous motion with Robot Link jog, it can happen that the relative
position between the master robot and the slave robots cause a little change. This
is because the calibration is not strictly correct. It is impossible for the changes
not to occur. Please design the system considering this point.

58
TEACHING MASTER PROGRAM

Synchronous motion is recorded on the master program.
Please move the robots by the Robot Link jog and teach the master program.
If you run the program when the master robot is Master(Manual) statuswhich means the Robot Link
jog is available, the slave robots move tracking the master robot.
However, you cannot run the normal program under this condition. If you would like to run the normal
program, press the 5ALONEfor the master robot to be Alone on the MANUAL FCTNS screen
for the Robot Link.
In this condition, only on the teach pendant, we can run the program.
8.2
Example
In the case of using the Robot Link jog from the synchronous start point
Ordinary method of recording is illustrated below.
MASTER
SLAVE
Start point of synchronization
Robot Link jog
End point of synchronization
In the case of using the Robot Link jog from the synchronous end point
During the motions with Robot Link jog, it can happen that the relative position between the
master robot and the slave robots makes a little change. This is because the calibration is not
strictly correct.
For example, in the case that the end point of synchronous motion is the position to set the work, it is
required that the relative position between the master robot and slave robots is more correct. Therefore,
first record the synchronous end position. Next, moving the robots form this point to the synchronous start
point with Robot Link jog, record this position. See below Figure.

59
MASTER
SLAVE
ROBOT LINK JOG

Start point of synchronization
End point of synchronization

60
RECOVERY FROM THE HALT IN SYNCHRONOUS MOTION
The following section explains the steps to recover when master / slave programis are stopped while
performng synchronous motion by EMERGENCY STOP or by some alarm.
9.1
To Restart at the stopped point
In the synchronous motion, robots are to be halted when they receive such signals that some alarm or
EMERGENCY STOP by crossing the sensor or so. Furthermore, in synchronous motion, when even
one of them is halted by some reason, (for example, the suspense of communications for the noise or
the alarm or hold to the robot), all synchronous robots quit their motion. However, although robots are
not moving, the program is still running until you stop it by EMERGENCY STOP or HOLD. In this case
you must EMERGENCY STOP to cease running all programs.
When you have to turn off and on the power supply on the robot controller by some error, record the
current cursor position on the running program before turning off. After booting verify that the program
is paused at the same position before turning off and on.This procedure is available only when Use
HOT START is TRUE.
If you find that the program is ended, please recover the system by the following procedure: moving
all robots to original position to run successively or moving to the safety position with Robot Link jog.
See next subsection.
In the case that the robots are halted by EMERGENCY STOP, because there are some differences of
the distance for each robots to stop, it can occur that the relative position of the robots now are
different from one at the start position of synchronization. Therefore, you need to see to confirm the
current robot position. If there are a little differences, you dont have to be careful, because the robots
begin to motion returning to the recorded position. If there are much differences, it is necessary to
move the robot respectively. Please follow these procedures to recover.
In the case of master robot Turning on the teach pendant, press the key MENUS , F3 [MANUAL
FCTNS] F1 (TYPE)(Robot Link) F5 (Alone). After confirming that the current link status is
Alone you may move the robot alone with jogging. If you try to jog the robot when the status is Link
incomplete or Held(master), the robot does not move and the following alarm would be posted.
MOTN-212 Link is in held status (G:i)

61
In the case of slave robot Turning on the teach pendant, press the key MENUS[3 MANUAL FCTNS]
F1 (TYPE)(Robot Link) F5 (Alone). After confirming that the current link status is Alone you
may move the robot alone with jogging. If you try to jog the robot when the status is Held(slave), the
robot does not move and the following alarm would be posted.
MOTN-212 Link is in held status (G:i)
Please run the program again. Both the master robot and slave robots will run the synchronous
program, automatically synchronizing.
9.2
Return all robots to the respective original position
Please stop all robots' running program by EMERGENCY STOP.

In the case of master robot Turning on the teach pendant, press the following keys MENUS
[3.MANUAL FNCTS], F1 [TYPE] [Robot Link] F5 (ALONE). After the current link status become
Alone, move the robot with jogging. Master robot will move alone. You can run the HOME program
(which is normal program to return the original position) from the teach pendant.
In the case of slave robot Turning on the teach pendant, press the following keys MENUS
[3.MANUAL FNCTS]F1(TYPE)[Robot Link] F5(ALONE). After the current link status become
Alone, move the robot with jogging. Slave robot will move alone. You can run the HOME program
(which is normal program to return the original position) from the teach pendant.
After all robots return to the respective original position, run the system.
9.3
Move the robot to the safety position with Robot Link jog.
It is dangerous to operate each robot respectively to recover from the halt when the robots are handing an
object with robot link synchronous motion. Follow these operations to move the robots where they unload the
object.
It may happen that the system is halted when the robots are handling the object without using Robot link
proceeding with rail axes. In this case, you should continue the program until the rail axes reach the
destination points (This is the position for the robot to start the next synchronous motion).

62
Emergency stop to halt running all robots program.

Reset the alarm of all slave robots to fulfill these conditions for the Robot Link jog as follows;
- The teach pendant is turned off.
- No alarm.
- No HOLD signs.
- Single step testing is disabled.
- No program is running.
If the current link status on the master robot is not Alone on the Robot link MANUAL FNCTS , press
the key F5 (ALONE).
Confirm that the Current link status becomes Alone.
Press the key F4 (MASTER) on the Robot Link MANUAL FNCTS.
Confirm that the Current link status becomes Master (Manual).
With the master robot jogging, all slave robots follow the master robot. By using this Robot Link jog,
move the robots to the safe position or the place where robots can unload the workpiece.
Press the F5ALONEon the Robot Link MANUAL FNCTS screen of the master robot and confirm
that the current link status becomes Alone.
EMERGENCY STOP to all robots (This procedure forces slave robots to cancel tracking).
In the case you would like to continue the program from this position, reset the alarm and do it.
In another case you would like to execute the program from home position, please jog each robot to
the home position. Please refer to section 9.2 for detailed operation. Each robot should move
individually.

63
Original path resume feature:

Original path resume feature is available for some applications. The robot behaves differently depending on
ENABLE / DISABLE of this feature as follows.
Please refer to the manual of each application for the operation to enable (or disable) original path resume,
because each application has the different user interface.
Disable case:
Each robot will resume synchronization at the current position when you resume the synchronous motion.
If you jog robots away and resume the program, the synchronization will be established at the different
position from original held positions.
Enable case:
Each robot will move back to the original held position before retrieve synchronization when you resume
the synchronous motion. In this case, every robot will come back to each original held position even though
you jog away robots. And the synchronization will be established at the different position.
NOTES:
This feature works only when the master program is executed by external start signal. If you resume it
from Teach pendant, robots behave as the same way as DISABLE case.
The original path resume feature should be enabled for all robots linked by robot link function. Otherwise,
the following alarm would be posted at resuming the synchronous motion.
MOTN-214 Resume condition mismatch
If robots lose the synchronization during holding procedure such as Emergency stop case, robots move
back to that positions which lost synchronization. If the position error is not acceptable, please adjust
each robot position before resuming the program. Please refer to 9.1and 9.3 for the operation. And
resume the master program from Teach pendant so that all robots behave as the same way as
DISABLE case. Please verify that the synchronization is established at the current position, then halt
the master program again and resume the program from external start signal. In this case, the slave
robots may keep moving to retrieve the desired relative position relationship with master.
Robots dont synchronize each other until all robots move back to the original held position. If you jog
away robots too far, robots may collide each other. Please make sure that all robots are close enough to
the original held position before resuming the program.

64
Resume distance feature is not available during synchronous motion. This distance will be ignored
without any alarm. This feature is available for non-synchronous motion.

65
10 STATUS SCREEN
Status screen provides information on the state of the connection between the master robot and the slave
robots. Use following procedure to display the robot link status screen.
Press STATUS (User key) Press F1[TYPE] Select Robot Link
ROBOT LINK STATUS
JOINT 10
Link pattern
No.1[Lift up work
Robot
Master:RC21
Slave: RC22
Slave: RC23
Slave: RC24
Slave:
Slave:
Slave:
Master has following status

]
items.
Status
Sync.ID
G1:Link incomplete
1
G1:Slave(Manual)
1
G1:No response
***
G1:Disable
***
G0:
***
G0:
***
G0:
***
Master(Manual)
The master robot is
in master status
operated from
ROBOT LINK
MANUAL screen
[ TYPE ]
DETAIL
and the link to all
slave robots are established. Sync. ID becomes 0.

Master(Program)The master robot is in master status because a master program is running and
the links to all slave robots are established.
Link incompleteThe master robot is in master status. But the links to all slave robots are not
established.
Slave has following status items.
Slave(Manual)The slave robot is in slave status operated from the ROBOT LINK MANUAL
screen on the master robot.
Slave(Program)The slave robot is in slave status because a slave program is running.
DisableThe slave robot is in Disable status because the slave robot is disabled from LINK
PATTERN screen on the master robot.
No responseThe slave robot does not respond. The robot may not be in slave status.
Press F3 (DETAIL) to see following screen.

66
ROBOT LINK STATUS

Link pattern
No.1[lift up
Robot
Master:RC21
Slave: RC22
Slave: RC23
Slave: RC24
Slave:
Slave:
Slave:
[ TYPE ]
JOINT 100%
work
]
Broadcast No.
G1:
578234521
G1:
458932110
G1:*************
G1:*************
G0:*************
G0:*************
G0:*************
STATUS

67
11 MANUAL FUNCTION SCREEN

Manual Function (MANUAL FCTNS) screen provides information of the link status of each robot and you can
change the status from this screen. Robot Link jog should be enabled on this screen.
Please use the following procedure to display the robot link manual function screen.
OPERATE: [MENU] -> [MANUAL FCTNS] -> Press F1[TYPE] -> Select [Robot Link]
ROBOT LINK MANUAL

Current link status
JOINT 100%
[Alone
This robot moves alone by JOG

Change status to 'Master(Manual)'
F4
Link Pattern
No. 1 [HOLD UP THE CHASIS
[
TYPE
--
]
MASTER
There are the following several types of Current link status.

ALONE:
Alone: Alone status. Jog motion is available. Each robot moves individually. You can change the
status by pressing [F4] (MASTER) key. The specified link pattern at link pattern would be used for
the synchronization. (No.1 in the above case.)
MASTER:
Master(Manual): Manual master status. Master robot becomes this status by pressing
F4(MASTER)key on this screen. Jog motion is available. The synchronization is currently
established. All slave robots follow the master robot.
Master(Program): Program master status. Master robot becomes this status by establishing the
synchronization during program execution. Jog motion is available. The synchronization is currently
established. All slave robots follow the master robot.
Link incomplete: The synchronization is not established even though master robot is ready for the
synchronization. Jog motion is not available. Please change status by pressing either

68
[F4](MASTER) key or [F5](ALONE) key.
Held(Master): Some robots were held during synchronization. Jog motion is not available. Please
change the status by pressing either [F4](MASTER) key or [F5](ALONE) key.
SLAVE:
Slave(Manual): Manual slave status. Slave robots become this status when master robot becomes
Manual master. Jog motion is not available. The synchronization is currently established. This robot
follows master robot. Please change the status by pressing [F5](ALONE).
Slave(Program): Program slave status. Slave robots become this status by establishing the
synchronization during program execution. Jog motion is not available. The synchronization is
currently established. All slave robots follow master robot.
Held(Slave): Some robots were held during synchronization. Jog motion is not available. Please
change the status by pressing [F5](ALONE) key.

69
12 TROUBLESHOOTING
12.1 Synchronized motion does not start. The robots have stopped while synchronized motion.
Display ROBOT LINK STATUS screen on the teach pendant of the master robot.
ROBOT LINK STATUS screen provides the status information among the linked robots as follows.
First, confirm the communication status whether good or not with this screen.
ROBOT LINK STATUS

JOINT100%
No.1 [Lift up work
]
Robot
Status
Sync.ID
Master:RC21
G1:Master(Program)
1
Slave: RC22
G1:Slave(Program)
1
Slave: RC23
G1:Slave(Program)
1
Slave: RC24
G1:Slave(Program)
1
Slave:
G0:
***
Slave:
G0:
***
Slave:
G0:
***
[ TYPE ]
DETAIL
This example screen shows good status.

When synchronized motion does not start, or if the robots have stopped while synchronized
motion, the status of the slave robot on ROBOT LINK STATUS screen will be displayed as No
response. As the following screen.

70
ROBOT LINK STATUS

No.1 [Lift up work
Robot
Master:RC21
Slave: RC22
Slave: RC23
Slave: RC24
Slave:
[ TYPE ]
JOINT 100%
1/5
]
Status
Sync.ID
G1:Master(Program)
1
G1:Slave(Program)
1
G1:No response
***
G1:Slave(Program)
1
G0:
***
DETAIL
In these circumstances, follow the next procedure.

E-Stop all robots. Cut the power of the switching hub and connect the power. After that, try
to restart the program and confirm whether the synchronized motion recovers or not.
If the synchronized motion does not recover with, after E-Stop all robots, cut the
power of the robot controllers that are displayed as No response on ROBOT LINK
STATUS screen and connect the power. After that, try to restart the program and confirm
whether the synchronized motion recovers or not.
12.2 The slave robot that should synchronize does not synchronize.
Display ROBOT LINK STATUS screen on the master robots teach-pendant.
When a slave robot does not synchronize with others, the status of the slave robot on ROBOT
LINK STATUS screen will be displayed as Disable. As the following screen.

71
ROBOT LINK STATUS

No.1 [Lift up work
Robot
Master:RC21
Slave: RC22
Slave: RC23
Slave: RC24
Slave:
[ TYPE ]
JOINT
100%
1/5
Status
Sync.ID
G1:Master(Program)
1
G1:Slave(Program)
1
G1:Disable
1
G1:Slave(Program)
1
G0:
***
DETAIL
In these circumstances, follow the next procedure.

If Status is Disable, the slave robots Link setting that is specified in Link pattern setting
screen at master robots controller must be SEPARATE.
Change this setting from SEPARATE to CONNECT. Cut the power of the master robots
controller and connect the power. After that, restart the program and confirm whether the
synchronized motion recovers or not.
If the slave robot that is not synchronize with others is not displayed in ROBOT LINK
STATUS screen, perform the setup for that slave robot on Link pattern setup screen at
master robots controller.
Cut the power of the master robots controller and connect the power. After that, restart the
program and confirm whether the synchronized motion recovers or not.
12.3 Robot can not be jogged after holding during synchronization.

Jog motion is not available without special operation under hold condition to avoid any
unexpected loss of synchronization because of jog motion by mistake.
Select MANUAL FCTNS screen ([MENUS] -> [3 MANUAL FCTNS] -> [F1](TYPE) -> Robot
Link). Please select either F4(MASTER) or F5(ALONE) depending on the jog type which you
need. Please jog the robot after verifying that the status has been changed to either of
Master(Manual) or ALONE. The following alarm would be posted and robot does not move if
you try to jog the robot under either status of Link incomplete, Held(Master) or Held(Slave).

72
MOTN-212 Link is in held status (G:group number)
12.4 Original path resume feature doesnt work even if it is enabled.
Robots behave as the same way as original path resume DISABLE case at resuming the
program if the master program is resumed from TP ([SHIFT]+[FWD)).
Please jog and move all the robots back to the original held position manually, and resume the
program from TP.
Please resume the master program using external start signal instead of TP operation to enable
original path resume feature.

73
13 RECOVERY METHOD WITHOUT MANUAL PROCESS

When robots are stopped while synchronized motion, you can recover the motion manually with the
procedure described in Recovery from the halt in synchronous motion. But manual process may cause
operators mistake. This section explains about the recovery method without manual process.
Example) With several robots, lift up a work with synchronized motion, move the work horizontally driving the
rail unit on which all robots are mounted, and put down the work with synchronized motion.
The line can be restarted
Normal restart
The line is
(Set up status lamp showing whether the line can restart or not.)
stopped.
The line can not be restarted.

Out of synchronized motion area.
Manually move each robot to start
point and restart the program.

(Set up status lamp showing whether the robot are while
synchronized motion or not.)
In synchronized motion area.
Discharges the work pressing the robot link recovering buttons
that is placed on operator control panel.
Synchronize
Sync motion
SLIDE
UP
Discharge programs for

each kind of work
Button
LEFT
RIGHT
MASTER
PNS0101
PNS0102
SLAVE
PNS0101
SLAVE
SLAVE
DOWN
LEFT
RIGHT
PNS0301
PNS0302
PNS0102
PNS0301
PNS0302
PNS0101
PNS0102
PNS0301
PNS0302
PNS0101
PNS0102
PNS0301
PNS0302
PNS0201
PNS0202
Discharge work

74
Discharges the work by pressing the robot link recovering

buttons that is placed on operator control panel.
Prohibit manual control on slave robot

In synchronized motion area, prohibit manual operation such as
program execution or jogging from slave robots teach-pendant.
(This function can put into practice with PMC radar.)
Synchronizing
(Master robot)
Synchronizing signal SDO

(Command
from
program
instruction)
(Slave robot)
Synchronizing signal SDI

(Reverse of above SDO)
TP Enabled
HOLD input

75
14 ALARM CODES
This section lists the alarm codes of the robot link function.
INTP-450
Cannot call KAREL program
Cause:
Master/Slave/SlaveAlone program cannot call KAREL program.
Remedy:
Master/Slave/SlaveAlone program cannot call KAREL program.
INTP-451
Cannot call Motion program
Cause:
Master/Slave/SlaveAlone program cannot call Normal program which has motion group.
Remedy:
Master/Slave/SlaveAlone program can call Normal program which does not have motion group.
INTP-452
Robot link type mismatch
Cause:
Master/Slave/SlaveAlone program can call different type of program.
Remedy:
Master/Slave/SlaveAlone program can call only same type of program.
INTP-453
Not in remote
Cause:
Slave program cannot be executed without remote status.
Remedy:
Satisfy the remote condition
INTP-454
Illegal return occurred
Cause:
Program type is different between caller program and called program.
Remedy:
Program type is different between caller program and called program.
INTP-455
Group mismatch(Link pattern)

76
Cause:
Master program does not have the same motion group which is specified by the link pattern of robot link data.
Remedy:
Master program must have the same motion group which is specified by the link pattern of robot link data.
INTP-456
Group mismatch(Slave group)
Cause:
Slave program does not have the same motion group which is specified by the slave group of robot link data.
Remedy:
Slave program does not have the same motion group which is specified by the slave group of robot link data.
INTP-457
Master tool number mismatch
Cause:
Current tool frame number of master robot is different from the master tool No of robot link data of the slave
program.
Remedy:
Current tool frame number of master robot and the master tool No of robot link data of the slave program
must be same number.
INTP-458
Robot is still moving
Cause:
Since robot is still moving, it is impossible to synchronize.
Remedy:
After robot stops completely, continue the program again.
INTP-459
Slave cannot JOINT motion
Cause:
The motion statement of slave program is JOINT motion.
Remedy:
Change the motion statement of slave program to LINEAR motion.
INTP-460
Cannot use JOINT pos
Cause:
The position data of slave program is JOINT type.
Remedy:

77
Change the position data of slave program to LINEAR type.

INTP-461
Master TP is enabled
Cause:
Master program is executed by TP. Slave program is paused.
Remedy:
Slave program is paused, when master program is executed by TP.
INTP-462
Cannot start Robot Link
Cause:
Robot link setup may be wrong.
Remedy:
Confirm the robot link setup.
INTP-463
Motion group is master
Cause:
The motion group of specified program becomes to be master.
Remedy:
Change the robot to normal from master. Then, please try to execute again.
INTP-464
Motion group is slave
Cause:
The motion group of specified program becomes to be slave.
Remedy:
Change the robot to normal from slave. Then, please try to execute again.
INTP-465
Tracking error
Cause:
Tracking of slave program is failed.
Remedy:
Confirm the robot link setup.
INTP-466
Robot link not calibrated
Cause:
Robot link calibration has not been done yet.

78
Remedy:
Calibrate the robot link.
INTP-467
Cannot use INC for Slave
Cause:
The slave program cannot use Incremental instruction.
Remedy:
Remove the Incremental instruction.
INTP-468
Cannot use OFFSET for Slave
Cause:
The slave program cannot use Offset instruction.
Remedy:
Remove the Offset instruction.
INTP-469
BWD is failed for Master
Cause:
Synchronize of Master is failed for BWD.
Remedy:
Change the Slave robot to synchronization waiting status.
INTP-470
Not support BWD for Slave
Cause:
BWD of Slave program is not supported.
Remedy:
BWD of Slave program is not supported.
INTP-471
Robot is Master(Manual)
Cause:
Current status of the robot is Master(Manual).
Remedy:
When robot is Master(Manual), you cannot use external program execution. To use external program
execution, please change the status to Master(Alone) at the manual operation screen.
INTP-472
Robot is Slave(Manual)

79
Cause:
Current status of the robot is Slave(Manual).
Remedy:
When robot is Slave(Manual), you cannot execute other Slave program. To execute other Slave program
execution, please hold the program to exit Slave(Manual) status.
INTP-473
Synchro ID is ZERO
Cause:
The synchro ID of the specified program is zero.
Remedy:
Synchro ID 0 is not available number. Please set another synchro ID.
INTP-474
Synchro ID mismatch
Cause:
The program whose synchro ID is different from current synchro ID is executed.
Remedy:
Please change the synchro ID to fit the current synchro ID.
INTP-475
Cannot single step
Cause:
Slave program cannot use single step execution.
Remedy:
Please release single step key.
INTP-476
BWD is failed
Cause:
BWD is failed.
Remedy:
BWD is failed.
INTP-477
Cannot run Slave directly
Cause:
Slave program cannot be executed directly.
Remedy:
Slave program must be called by normal program.

80
INTP-478
This group can not be MASTER
Cause:
This motion group is not specified as master in SETUP.
Remedy:
Use another group as master or change SETUP.
INTP-479
Bad Hostname or Address(MASTER)
Cause:
HOSTNAME, IP Address or group number about MASTER is not correct.
Remedy:
Confirm RobotLink and HOST Comm TCP/IP SETUP.
INTP-480
Bad Hostname or Address(SLAVE)
Cause:
HOSTNAME, IP Address or group number about SLAVE is not correct.
Remedy:
Confirm RobotLink and HOST Comm TCP/IP SETUP.
INTP-481
Bad Synchronization ID
Cause:
Synchronization ID in program is invalid.
Remedy:
Modify Synchronization ID at Program List Screen.
INTP-482
Bad Link Pattern Number
Cause:
Link Pattern Number in program is invalid.
Remedy:
Modify Link Pattern Number at Program List Screen.
INTP-483
Bad Master Number
Cause:
Master Number in program is invalid.
Remedy:

81
Modify Master Number at Program List Screen.

INTP-484
Bad Group number (MASTER)
Cause:
Specified group number about MASTER is invalid.
Remedy:
Confirm group number setup about MASTER.
INTP-485
Bad Group number (SLAVE)
Cause:
Specified group number about SLAVE is invalid.
Remedy:
Confirm group number setup about SLAVE.
INTP-486
SLAVE is not calibrated
Cause:
Specified SLAVE is not calibrated.
Remedy:
Calibrate SLAVE robot.
INTP-487
No Valid Slave in Link Pattern
Cause:
No valid SLAVE is specified in Link Pattern data.
Remedy:
Confirm Link Pattern at RobotLink SETUP screen.
INTP-488
RLINK communication timeout
Cause:
At comm-buffer init, comm-processor is too busy.
Remedy:
Increase $RK_SYSCFG.$RMGR_PHTOUT by 100.
INTP-489
Bad Hostname or Address, Group
Cause:
Hostname or IP Address, Group number setup is invalid.

82
Remedy:
Check HOST Comm TCP/IP and RobotLink SETUP.
INTP-490
Timeout for link start
Cause:
Hostname or IP Address, Group number setup may be invalid.
Or another link robot is not running robot link program.
Remedy:
Check HOST Comm TCP/IP and RobotLink SETUP, and another robot's status.
INTP-491
Linked robot or comm stopped
Cause:
Another robot's link program is paused.
Or communication stopped by power fail or another cause.
Remedy:
Check another robot's status.
INTP-492
Master program stopped
Cause:
When the robot is slave status, master robot's link program is stopped.
Remedy:
Check master robot's status.
INTP-493
Slave program stopped
Cause:
When the robot is master status, slave robot's link program is stopped.
Remedy:
Check slave robot's status.
MOTN-173
Robot link configuration error
Cause:
Robot Link setup is not correct.
Remedy:
Confirm the host names / IP addresses at HOST COMMUNICATION and Robot Link Setup.

83
MOTN-174
No motion control
Cause:
Forced to be master or slave while robot is moving with running a normal program or jogging
Remedy:
Operate after aborting the normal program.
MOTN-175
Failed to be MASTER
Cause:
When the robot is forced to be master with a master program calling or manual operation, the robot have not
done previous motion yet. Or the setup of Robot Link is wrong.
Remedy:
Modify the program or check the Robot Link setup.
MOTN-176
Failed to be SLAVE
Cause:
When the robot is forced to be slave with a slave program calling or manual operation, the robot has not done
previous motion yet. Or the setup of Robot Link is wrong.
Remedy:
Modify the program or check the Robot Link setup.
MOTN-177
Failed to end sync motion
Cause:
Can not stop the synchronized motion when the master robot or the slave robot is not stopped or when the
Robot Link setup is wrong.
Remedy:
Confirm the motion instruction on the program and the Robot Link setup.
MOTN-178
Link robot is HELD
Cause:
While synchronized motion, the linked robot became to alone state for example because of program holding.
Remedy:
The program will be held. Re-start the mater and slave programs.
MOTN-180
Robot link Calib-data not found
Cause:

84
There is no calibration data.

Remedy:
Please perform the calibration for the robot link.
MOTN-181
Robot link Version mismatch
Cause:
The software version of the master robot is different from that of the slave robot.
Remedy:
Please match software version.
MOTN-182
Failed to get data from master
Cause:
The translation data from the master robot has not translated.
Remedy:
Please check the Ethernet cable, connection, HUB, Mainboard or the setup of the robot link.
MOTN-183
Invalid MNUTOOLNUM data array
Cause:
The data array of $MNUTOOLNUM is invalid.
Remedy:
Please check the $MNUTOOLNUM.
MOTN-184
Invalid MNUTOOL data array
Cause:
The data array of $MNUTOLL is invalid.
Remedy:
Please check the $MNUTOOL.
MOTN-185
Protect of ACK BF to be sent
Cause:
The translation memory in the slave from the slave robot to the master robot is protected.
Remedy:
No action. This is not a problem.
MOTN-186
Protect of BCST BF to be sent

85
Cause:
The translation memory in the master robot from the master robot to the slave robot is protected.
Remedy:
MOTN-187
Protect of ACK BF to be read
Cause:
The translation memory in the master from the slave robot to the master robot is protected.
Remedy:
MOTN-188
Protect of BCST BF to be read
Cause:
The translation memory in the slave robot from the master robot to the slave robot is protected.
Remedy:
MOTN-189
Slave motion remained
Cause:
For the slave robot, there is the rest of the previous motion at the start of the slave program.
Remedy:
Please re-start after the previous motion.
MOTN-190
Slave cannot use JOINT pos
Cause:
In the slave program the Joint position type for the motion statement is not executed.
Remedy:
Please change to the Cartesian position type.
MOTN-191
Slave cannot JOINT motion
Cause:
In the slave program the JOINT motion is not executed.
Remedy:
Please change to the Linear/Circular motion.

86
MOTN-192
UT of MASTER was changed
Cause:
During the master status, the Utool of master robot is changed.
Remedy:
Dont change the Utool of master robot during the master status.
MOTN-193
UT of SLAVE was changed
Cause:
During the slave status, the Utool of slave robot is changed.
Remedy:
Dont change the Utool of slave robot during the slave status.
MOTN-194
Machine Lock is ENABLED
Cause:
In machinelock status the robot link is disabled.
Remedy:
Please release the machinelock status.
MOTN-210
Failed to resume program
Cause:
Original Path Resume was used for Robot Link.
But Resume condition was not satisfied.
Remedy:
Abort and re-run the program.
MOTN-212
Link is in held status (G:i)
Cause:
Jog motion of the ith group robot in the status of Held or Link Incomplete is not allowed.
Remedy:
Change status to MASTER or ALONE at MANUAL screen to jog the robot.
MOTN-213
Org path resume not available
Cause:
Original path resume feature is not available
under this configuration.

87
Remedy:
Disable original path resume feature.
MOTN-214
Resume condition mismatch
Cause:
Resume condition does not match among master and slaves
Remedy:
Check if original path resume is enabled, and match the resume condition for all robots.
If some had been aborted and some are resume condition, this alarm may occur, because
the resume condition does not match for all robots.

88

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Preliminary Robot Link Users Manual

FANUC Robot Series

Robot Link Users Manual

This is an optional function

This manual is not yet released for customers !

No part of this manual may be reproduced in any form.

Preliminary Robot Link Users Manual

OVERVIEW OF ROBOT LINK: .............................................................................................................5

LIMITATIONS ON OTHER SOFTWARE OPTIONS ....................................................................................6

NETWORK CONFIGURATION FOR R-J3IC CONTROLLERS:...................................................................9

INPORTANT SYSTEM INFORMATION (READ BEFORE USAGE).....................................10

NETWORK CONFIGURATION ............................................................................................................10

CELL INTERFACE FOR TEACHING SYNCHRONOUS MOTION .............................................................12

ABOUT TEACHING AND OPERATION .................................................................................................18

ADDITIONAL INFORMATION ............................................................................................................19

SETUP NETWORK ......................................................................................................................22

Set up board address ..............................................................................................................22

Set up TCP/IP ........................................................................................................................23

Set up and starting FTP..........................................................................................................24

Set up Full Duplex mode on R-J3iB Controller.....................................................................27

Set up Full Duplex mode on switching hub...........................................................................27

CHECKING NETWORK CONFIGURATION ............................................................................27

SETTING UP ROBOT LINK ........................................................................................................28

Set up Link pattern (Master Robot) .......................................................................................28

Set up master robot information (Slave Robot) .....................................................................31

Setup Status Signal ................................................................................................................32

Set up Calibration Data (Slave Robot) ..................................................................................33

Set up Communication Rate ..................................................................................................34

No part of this manual may be reproduced in any form.

Preliminary Robot Link Users Manual

Set up acceleration time during synchronous motion ............................................................34

SETTING THE TCP FOR CALIBRATION..........................................................................................36

RECORDING REFERENCE POINTS ..................................................................................................37

CALCULATION OF CALIBRATION DATA .........................................................................................37

INDIRECT CALIBRATION ...............................................................................................................39

Idea of indirect calibration..................................................................................................39

Method of indirect calibration............................................................................................40

IF VERIFICATION FAILS, SETUP ITEM REVIEW ................................................................................45

IF VERIFICATION FAILS, COMMUNICATION HARDWARE REVIEW ...................................................48

PROGRAMMING FOR MASTER PROGRAM .........................................................................................50

PROGRAMMING FOR SLAVE PROGRAM ............................................................................................52

RECOVERY FROM THE HALT IN SYNCHRONOUS MOTION...........................................61

TO RESTART AT THE STOPPED POINT ...............................................................................................61

RETURN ALL ROBOTS TO THE RESPECTIVE ORIGINAL POSITION .......................................................62

MANUAL FUNCTION SCREEN ..............................................................................................68

No part of this manual may be reproduced in any form.

Preliminary Robot Link Users Manual

ROBOT CAN NOT BE JOGGED AFTER HOLDING DURING SYNCHRONIZATION. ....................................72

ORIGINAL PATH RESUME FEATURE DOESNT WORK EVEN IF IT IS ENABLED. ....................................73

RECOVERY METHOD WITHOUT MANUAL PROCESS ..................................................74

No part of this manual may be reproduced in any form.

Preliminary Robot Link Users Manual

Overview of Robot Link:

No part of this manual may be reproduced in any form.

Preliminary Robot Link Users Manual

Limitations on other software options

This function has the following restrictions.

No part of this manual may be reproduced in any form.

Preliminary Robot Link Users Manual