7Appendix
Cooperative operation function Appendix-693
7.5.2 System configuration
This is a multi-CPU system configured with three CPU modules; a PLC CPU module and two robot CPU
modules.
A position data is transmitted between robots through the shared memory by the PLC.
Note) This function can be used in CR7xx-Q controller software version R3m or later.
Fig.7-120:System configuration
7.5.3 Sample program
Sample programs are shown below.
Robot Program Content
Robot 1
(Master)
1.prg A program for automatic operation of the robot (actuation between two teach-
ing positions)
BFRM.prg A program for adjustment of setting the common coordinates in robot No.1 and
robot No.2
Robot 2
(Slave)
1.prg A program for automatic operation of the robot (tracking robot No.1 to its desti-
nation)
BFRM.prg A program for adjustment of setting the common coordinates in robot No.1 and
robot No.2
PLC CPU
Robot No.1’s CPU
Drive unit
Robot No.2’s CPU
Drive unit
Robot No.1
(Master)
Robot No.2
(Slave)
Teaching
pendant
Teaching
pendant
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