Cooperative Control Simulation; Cooperative Operation - Mitsubishi Electric MELFA FR CR800 Series User Manual

20.4. Cooperative control simulation

Cooperative control by multiple robots can be simulated. Cooperative control is available only when
CR800-R/CR800-Q/CR750-Q/CRnQ-700 controller is selected.
The correspondence between the robot number used for coordinated control and the slot number of the robot
CPU installed in the PLC base unit is as shown below.
slot.
Figure 20-12
The correspondence between the project in the workspace and the robot number is as follows.
From the first project, it is assigned as Module No. 2 (Robot No. 1) -> Module No. 3 (Robot No. 2) -> Module No.
4 (Robot No. 3). This function can not be used if there are projects other than CR800-R/CR800-Q/CR750-Q/
CRnQ-700 on the way.
Figure 20-13
With cooperative control simulation support, the following state variables can now be used in simulation.
For details, refer to the instruction manual "Detailed explanations of functions and operations 4.14 Detailed
explanation of Robot Status Variable".
Variable name
M_UDevW Reads/Writes the signals per word directly with two or more robot CPUs.
M_UDevD Reads/Writes the signals per double word directly with two or more robot CPUs.

20.4.1. Cooperative operation

It is possible to simulate the operation of conveying one work in cooperation with up to three robots.
For details, refer to the instruction manual "Detailed explanations of functions and operations 7.5 Cooperative
operation function".
20-499
Correspondence between robot number and mounting position of robot CPU
Correspondence between robot number and mounting position of robot CPU
The robot CPU must be installed in order from the first
Module No. 2 (Robot No. 1)
Module No. 3 (Robot No. 2)
Module No. 4 (Robot No. 3)
Explanation
20-499