Mitsubishi Electric MELFA CR750 Series User Manual page 434

Cooperative operation function".
Cooperative operation simulation setting
When using cooperative action on actual machine, it is necessary to absorb installation error and
manufacturing error. However, there is no error in the virtual space of the simulation, so you can use the
following simple method.
1. Preparation
Set up two Q Series robots and start the simulation. After that, open the 3D monitor, display the "Robot
arrangement list" screen from the "3D View" menu, and place the robot. In this example, the robot 1 and the
robot 2 are arranged to face each other.
*Robot 1 (-50,-300,0,0,0,90), Robot 2 (50,300,0,0,0,-90)
2. Base setting
In cooperative operation, one is the master and the other robot is the slave that follows the master. In this
example, since the robot 1 is the master, set "the position of the robot 2 seen from the robot 1" on the base of
the robot 2.
In this example, it becomes (600, -100, 0, 0, 0, 180).
3. Tool setting
Set the tool of two robots. When controlling the center of the work grasped by two robots, set both the robot
1 and robot 2 tools to the work center. In this example, it is the tool coordinates (0, 375, 100, 0, 0, 0) of robot 1
and the tool coordinates (0, 375, 100, 0, 0, 180) of robot 2.
*The tool Z elements is set to 100 mm from the mechanical interface.
*The tool C elements of the robot 2 is rotated 180 degrees to match the tool direction of robot 1.
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Figure 17-76 Robot arrangement example
Figure 17-77 Example of controlling the center of the work
Robot 1
Robot 2
Robot 2 hand
Work (750mm)
Center of the work
Robot 1 hand
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