Mitsubishi Electric CR760-D - Robot Adjustment Program (Bfrm.prg)

7Appendix
Cooperative operation function Appendix-695
(2) Robot adjustment program (BFRM.prg)
Note 1) Set the common frame coordinates to robot No.1 and robot No.2. Refer to Page 697, "(1) Adjust-
ment 1: Adjustment of the common base coordinates" for details.
Note 2) Use the setting of the robot No.1 base coordinates for robot No.2 base coordinates. Refer to Page
697, "(1) Adjustment 1: Adjustment of the common base coordinates" for details.
Note 3) Set the common tool in the robots. Refer to Page 698, "(2) Adjustment 2: Setting of the common
tool" for details.
Robot No.1 (Master)
Robot CPU No.2
Robot No.2 (Slave)
Robot CPU No.3
'#### Teaching point ####
'PPL1,PPL2,PPL3 ' Common coordinate
'PPK1 ' Picking point
'
'#### Calcurated point ###
'PFR1 ' Origin point of the common
coordinate (Robot 1)
'
'##### Main process #####
*MAIN
' <1> Theching three point(PPL1, PPL2, PPL3) for create the
common frame. Execute next line.
PFR1=Fram(PPL1,PPL2,PPL3) ' Calculate the origin data of
common frame of Robot 1.
'
'** Set the common TOOL data between Robot 1 and Robot 2 **
' <2> Teaching the operation position of Robot 1 to 'PPK1'
variable.
' <3> Input the theching data of 'PPK2' variable of Robot 2.
Execute next three lines.
PBT=(PPK1+PPK2)/2 ' Calculate the center position
between Robot 1 and Robot 2.
PTL1=Inv(PPK1)*PBT ' Calculate the common TOOL data for
Robot 1.
Tool PTL1
End
'
'#### Teaching point ####
'PPL1,PPL2,PPL3 ' Common coordinate
'
'#### Calcurated point ###
'PFR1 ' Origin point of the common
coordinate (Robot 1)
'PFR2 ' Origin point of the common
coordinate (Robot 2)
'PBASE ' Base coordinate point
'
'##### Main process #####
*MAIN
' <1> Input the origin data of common fram of Robot 1 to
'PFR1' variable.
' <2> Theching three point(PPL1, PPL2, PPL3) for create the
common frame. Execute next line.
PFR2 =Fram(PPL1,PPL2,PPL3) ' Calculate the origin data of
common frame of robot 2.
'
' The base coordinate of Robot 2 will be set same as the
robot1's.
PBTMP=PFR2*Inv(PFR1)
PBASE=Inv(PBTMP)
Base PBASE 'Set the Base coordinate.
'
'** Set the common TOOL data between Robot 1 and Robot 2 **
' <3> Teaching the operation position of Robot 2 to 'PPK2'
variable.
' <4> Input the theching data of 'PPK1' variable of Robot 1.
Execute next three lines.
PBT=(PPK1+PPK2)/2 'Calculate the center position between
Robot1 and Robot 2.
PTL2=Inv(PPK2)*PBT 'Calculate the common TOOL data for
Robot 2.
Tool PTL2
End
'
Note 1)
Note 2)
Note 3)