System Configuration - Mitsubishi Electric CR750-Q Instruction Manual

7.5.2 System configuration

This is a multi-CPU system configured with three CPU modules; a PLC CPU module and two robot CPU
modules.
A position data is transmitted between robots through the shared memory by the PLC.
Note) This function can be used in CR7xx-Q controller software version R3m or later.
Teaching
pendant
Robot No.1
(Master)
Fig.7-120:System configuration
7.5.3 Sample program
Sample programs are shown below.
Robot
Robot 1
(Master)
Robot 2
(Slave)
PLC CPU
Drive unit
Program
1.prg
BFRM.prg
1.prg
BFRM.prg
Robot No.1's CPU
Robot No.2's CPU
Teaching
pendant
Robot No.2
(Slave)
A program for automatic operation of the robot (actuation between two teach-
ing positions)
A program for adjustment of setting the common coordinates in robot No.1 and
robot No.2
A program for automatic operation of the robot (tracking robot No.1 to its desti-
nation)
A program for adjustment of setting the common coordinates in robot No.1 and
robot No.2
Cooperative operation function Appendix-693
Drive unit
Content
7Appendix