Adjustment 2: Setting Of The Common Tool - Mitsubishi Electric CR750-Q Instruction Manual

7Appendix

(2) Adjustment 2: Setting of the common tool

Use the robot program BFRM.prg to set the common tool in robot No.1 and robot No.2. (Establish the tool
position at midpoint between the workpiece grasp positions for robot No.1 and robot No.2.)
■Outline of setting procedure
1) Teach the workpiece grasp positions for robot No.1 and robot No.2. (PPK1, PPK2)
(PPK1: Workpiece picking position of robot 1. PPK2: Workpiece picking position of robot 2.)
2) Set the tool coordinate of robot 1.
<Program>
PBT=(PPK1+PPK2)/2
PTL=Inv(PPK1)*PBT
Tool PTL
3) Set the tool coordinate of robot 2.
<Program>
PBT=(PPK1+PPK2)/2
PTL=Inv(PPK2)*PBT
Tool PTL
Fig.7-122:Setting of the common tool
Appendix-698 Cooperative operation function
PPK1
PPK2
Robot No.1
(Master)
Robot No.1 tool
(PLT1)
' Determine the midpoint by calculation between the work-
piece removing positions for robot No.1 and robot No.2.
' Determine the common tool by calculation in robot No.1 and
robot No.2.
' Determine the midpoint by calculation between the work-
piece removing positions for robot No.1 and robot No.2.
' Determine the common tool by calculation in robot No.1 and
robot No.2.
Common tool
Wprkpiece
PBASE
position
Robot No.2
(Slave)
Robot No.2 tool
(PLT2)