Base Coordinate Cooperative Control; Overview - Mitsubishi Electric MELFA CR800-D Series User Manual

6 Coordinated control for additional axes

Base coordinate cooperative control

6.2

6.2.1 Overview

You can move robot base coordinate by using additional axis(traveling axis).
If you move traveling axis on which robot rides, robot moves. In that case, if the origin of the base coordinate
system of robot is on the traveling axis, the base coordinates will also draw a similar trajectry with the
movement of the traveling axis. In this way, it becomes possible to move the base coordinates of robot
attached to the additional axis.
The example of moving robot base coordinate is shown by Figure 6-2.
Figure 6-2 Move image of base coordinate
Next, consider the case that the target position is outside the movement range for the robot alone as shown in
Figure 6-3.
Base coordinate cooperative control 6-85