Cooperative Operation Function - Mitsubishi Electric CR750-Q Instruction Manual

7Appendix

7.5 Cooperative operation function

7.5.1 Outline
The cooperative operation function by two robots enables the transportation that two robots grasp the target
workpiece at one end, respectively, together in synchronization.
A position-tracking control of robots enables this operation. After the common coordinates are set in a mas-
ter robot (robot No.1) and a slave robot (robot No.2), robot No.2 obtains the current position data of robot
No.1 every controller control time (approximately 7.1 msec) via a PLC, and tracks robot No.1 operation.
: Robot No.1 motion path
: Robot No.2 motion path
Fig.7-119:Cooperative operation
CAUTION
Appendix-692 Cooperative operation function
Workpiece
Robot No.1
(Master)
Robots' synchronized
points on the workpiece
transport path
The accuracy of the transport path by both robots operation and the tracking
intervals of robot No.2 are not guaranteed.
When the operation speed of robot No.1 is set to high, the operation of robot
No.2 may be delayed.
Robot No.2 obtains the current
position data of robot No.1 at
established intervals and tracks
the position.
(Example command: Mxt 1,0)
Robot No.2
(Slave)