Cooperative Control Simulation; Cooperative Operation - Mitsubishi Electric MELFA CR750 Series User Manual

17.13.

Cooperative control simulation

Cooperative control by multiple robots can be simulated. Cooperative control is available only when
"CR7xx-Q" controller is selected.
This function is available from RT ToolBox2 Ver.3.71Z or later.
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.
first slot.
Figure 17-74 Correspondence between robot number and mounting position of robot CPU
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). However, if you have projects "CR500" or "CR7xx-D" on the way, you cannot use this
function.
Figure 17-75 Correspondence between robot number and mounting position of robot CPU
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.
17.13.1.

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
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The robot CPU must be installed in order from the
Module No. 2 (Robot No. 1)
Module No. 3 (Robot No. 2)
Module No. 4 (Robot No. 3)
Explanation
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