Mitsubishi Electric MELFA CR800-D Series - Page 70

4 Calibration assistance function
4-60 Inter-robot relational calibration
Figure 4-13 Inter-robot relational calibration
1) Setting method of parameter RBCORD
For each robot, after performing workpiece coordinate calibration, Please execute the following
program.
For the variable MWrkNo, enter the registered workpiece coordinate number.
<Program>
MWrkNo = 1 ' Workpiece coordinate number of registration destination
PRob2Wrk = P_WkCord(MWrkNo) ‘Get workpiece coordinate data
PRBCORD = Inv(PRob2Wrk) ' From the common coordinate, the base coordinate
origin of each robot
PrmWrite 1, "RBCORD", PRBCORD ‘Write RBCORD
2) Check the parameter RBCORD
a) Select <online> - <parameter> - <parameter list> and display the parameter list.
b) Enter the "RBCORD" on the parameter list and display the parameter editing.
c) Check the RBCORD has been updated.
+Zb1
+Xb1
+Yb1
+Zb2
+Xb2
+Yb2
+Zb3
+Xb3
+Yb3
+Z
+X
+Y
Robot3
Work coordinate
*1)
*1)
Robot2
Base coordinate
Robot1
Base coordinate
Rotation angle Bb1
Rotation angle Ab1
Rotation angle Zb1
*1)
Rotation angle Bb2
Rotation angle Ab2
Rotation angle Zb2
Rotation angle Zb3
Rotation angle
Rotation angle Ab3
*1) The base coordinates origin of each robot viewed from a common
coordinates.
Set the coordinate value to the parameter of each robot: RBCORD.