Mitsubishi Electric MELFA CR800-D Series - Inter-Robot Relational Calibration Procedure

4 Calibration assistance function
Inter-robot relational calibration 4-57
4.4 Inter-robot relational calibration
(1) Function Outline
"Inter-robot relational calibration" can determine the positional relationship between robots by defining the
same workpiece coordinate with multiple robots. “Collision avoidance function”and“Cooperative operation
function” is easy to set the required position relationship between robots. (CR800-R/Q only)
Robot 1 Robot 2
Workpiece coordinate
Figure 4-11 Inter-robot relational calibration
(2) Standard Specifications
Table 4-8 Standard specifications of the inter-robot relational calibration
Items
Specifications
Robot
Vertical 6-axis robot
* It can’t be used with the vertical 5-axis robot, the horizontal
4-axis robot and the user robot.
Language
Only MELFA-BASIC
VI
Setting method of vision
sensor
Hand eye method
Output information
Position and posture of the workpiece coordinate of each
robot
Remarks