Mitsubishi Electric MELFA CR750 Series User Manual page 435

Figure 17-78 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, 375->750, 100, 0, 0, 0), (0, 375->0, 100, 0, 0, 180) respectively.
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.
Robot 1 (Master)
M_Mxt(2)=0
Wait M_Mxt(3)=0
'
M_Mxt(2)=1
'
'
Wait M_Mxt(3)=1
Hlt
JOG operation possible
'
Cnt 1
Dly 0.5
Ovrd 15
'
' Automatic operation execute here
'
M_Mxt(2)=0
Wait M_Mxt(3)=0
Hlt
M_Mxt (CPU number) is a special variable that can communicate state between CPUs. Take the timing of
starting and ending cooperative operation using this variable.
When coordinated operation is controlled from a robot program, the robot 1 executes a movement
command while the robot 2 is executing the Mxt command. If the slave side cannot keep up with over speed or
outside the operating range, it generates an error and stops.
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Hand 1 origin
X
Robot 2 (Slave)
Wait M_Mxt(2)=0
M_Mxt(3)=0
'
Wait M_Mxt(2)=1
Open "MXT:QRBUS2" As #1
Mov P_GCurr(2)
M_Mxt(3)=1
'
Mxt 1,0
'
M_Mxt(3)=0
Hlt
Figure 17-79 Sample program
Robot 1 Y
X
750mm
Y Y
Center of work
X
Y
Robot 2
Robot 2：Wait for preparation completion of robot 1
Robot 1：Wait for preparation completion of robot 2
２：Wait for activation request from robot 1
Robot
２：Open shared memory of robot 1 (# 1)
Robot
Robot 2：Move to the current position of the robot 1
Robot 1：Wait for activation request from robot 2
Robot 2： Start cooperative operation with reference to #1
Robot 2：End of coordinated operation
Robot 1：Wait for completion of completion from robot 2
X
Hand 2 origin
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