Adjustment - Mitsubishi Electric CR750-Q Instruction Manual

7.5.5 Adjustment

(1) Adjustment 1: Adjustment of the common base coordinates
Use the robot program BFRM.prg to set the common coordinates in robot No.1 and robot No.2. (Use the
setting of the robot No.1 base coordinates for robot No.2 base coordinates.)
■Outline of setting procedure
1) Set the position data (PPL1, PPL2, and PPL3) to define the common frame coordinates in robot No.1
and robot No.2. (Specify the common position data in the common frame coordinates of robot No.1
and robot No.2.)
2) Set the common frame coordinates in robot No.1 and robot No.2.
<Program>
PFR1=Fram(PPL1,PPL2,PPL3)
PFR2=Fram(PPL1,PPL2,PPL3)
3) Use the setting of the robot No.1 base coordinates for robot No.2 base coordinates. (setting on robot
No.2 only)
<Program>
Share the setting of the robot No.1 base coordinates with robot No.2.
PBTMP=PFR2*Inv(PFR1)
PBASE=Inv(PBTMP)
Base PBASE
Fig.7-121:Adjustment of the common base coordinates
'Calculate the origin data of common frame of robot No.1.
'Calculate the origin data of common frame of robot No.2.
'Set the base coordinate.
Common frame
PPL3
PFR1
Inv(PFR1)
Robot No.1
(Master)
PBASE=Inv(PFR2*Inv(PFR1))
PPL2
PPL1
PFR2
Cooperative operation function Appendix-697
7Appendix
Robot No.2
(Slave)