Mitsubishi Electric MELFA FR CR800 Series User Manual page 501

Figure 20-16 Example of controlling the center of the work (Detail image)
The control point need not be the center of the workpiece. When moving a long work with two robots, it may be
easier to teach if there is a control point at the tip of the work. For example, in the above example, the control
points of robots 1 and 2 are (0,
4. Confirmation of collaborative operation
To move robot 2 (slave) according to the movement of robot 1 (master), specify the shared memory of robot 1
and execute the Mxt command.
In the next sample program, Mxt instruction is executed after confirming preparation completion. The robot 2
reads the posture of the robot 1 and moves to the grasping posture of the work. The robot 1 pauses with the Hlt
command, but since the robot 2 continues cooperative operation, if JOG operation is performed on the robot 1,
the robot 2 will follow up.
*To execute the program, start up in order of robot 2 -> robot 1.
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Figure 20-15 Example of controlling the center of the work
Hand 1 origin
375 -> 750, 100, 0, 0, 0), (0,
Robot 1
Robot 2
Robot 2 hand
Work (750mm)
Center of the work
Robot 1 hand
Robot 1
X
750mm
Y
X
Center of
X
Y
Robot 2
375 -> 0, 100, 0, 0, 180) respectively.
Y
X
Y
Hand 2 origin
work
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