Calibration Between Robots (Checking For Interference Between Robots) - Mitsubishi Electric CR750-Q Instruction Manual

5.24.7 Calibration between robots (Checking for interference between robots)

Set the positional relation for multiple robots which are using the interference avoidance function.
Set a common coordinate system origin point between the robots based on the system layout drawing, etc.
Then, set the Base coordinate system
common coordinate system.
Robot 3 base
coordinate system
+Zb3
Rotation angle
Ab3
+Xb3
+X
*1) The robot's base coordinate system origin point looking from the common coordinate system.
Set these coordinate values in parameter: RBCORD for each robot.
Fig.5-25:Image of calibration between robots
origin point of each robot in parameter: RBCORD looking from that
+Z
Rotation angle
Zb3
Rotation angle
Bb3
+Yb3
*1)
*1)
Robot 1 base
+Zb1
coordinate system
Rotation angle
Zb1
Rotation angle
Ab1
+Xb1
*1)
Rotation angle
Bb1
+Yb1
5Functions set with parameters
Robot 2 base
coordinate system
+Zb2
Rotation angle
Zb2
Rotation angle
Bb2
Rotation angle
Ab2
+Xb2
+Y
Interference avoidance function 6-539
+Yb2