Calibration Of Base Coordinates; Overview; Specification - Mitsubishi Electric MELFA CR800-D Series User Manual

Calibration of base coordinates

6.1

6.1.1 Overview

In this chapter, we explain how to match the base coordinates of robot and additional axis / user mechanisms.
This setting is necessary when you use base coordinate cooperative control or additional axis tracking.

6.1.2 Specification

You can match the base coordinates of robot and additional axis / user mechanisms by setting the offset from
the robot's world coordinate system origin to the base coordinate origin of the additional axis / user
mechanisms.
The base coordinate system of the additional axis / user mechanisms is the origin where the position data

is 0mm, and the +X axisi is the movement direction.
Set it individually for each joint axis.

Figure 6-1 Offset data of additional axis/user mechanisms base coordinate（Example of user mechanisms）
6 Coordinated control for additional axes
Calibration of base coordinates 6-83