Mitsubishi Electric MELFA CR800-D Series User Manual page 71

② Cooperative operation function
In order to use the cooperative operation functionit is necessary to perform Inter-robot relational
calibration.By using this function, the object can be simplified.
For cooperative operation function, refer to the instruction manual "Detailed explanations of functions
and operations".
1) Setting common frame coordinates of robot 1 and robot 2
The cooperative operation function defines common frame coordinates. The position variables
PFR1 and PFR2 can be obtained as follows.
For each robot, execute the following program after workpiece coordinate calibration.
For the variable MWrkNo, enter the registered workpiece coordinate number.
<Program of robot 1>
MWrkNo =
PRob2Wrk = P_WkCord(MWrkNo)
PFR1 = PRob2Wrk
robot 1
<Program of robot 2>
MWrkNo =
PRob2Wrk = P_WkCord(MWrkNo)
PFR2 = PRob2Wrk
robot 2
2) Setting the base coordinates of robot 2（Only robot 2）
Execute the following program and set base coordinates of robot 2 to base coordinates of robot
1.
< Program >
'The base coordinates of the robot 2 are made common to the robot 1.
PBTMP = PFR2*Inv(PFR1)
PBASE = Inv(PBTMP)
Base PBASE
Figure 4-14 Adjust common base coordinates
1
1
'Setting the base coordinates
' Workpiece coordinate number of registration destination
'Get workpiece coordinate data
'Common frame coordinate origin as viewed from the
' Workpiece coordinate number of registration destination
' Get workpiece coordinate data
' Common frame coordinate origin as viewed from the
Inter-robot relational calibration 4-61
4 Calibration assistance function