Mitsubishi Electric CR760-D User Manual

Appendix-694 Cooperative operation function
7Appendix
(1) Automatic operation program (1.prg)
Note 1) Teach the workpiece transport destination to robot No.1. Refer to Page 699, "(3) Adjustment 3:
Teaching and parameter setting of the workpiece transport destination" for details.
Robot No.1 (Master)
Robot CPU No.2
Robot No.2 (Slave)
Robot CPU No.3
'#### Teaching point ####
'P0 'Start of the cooperative movement
'P1,P2 'Operation point for the cooperative movement
'
M_Mxt(2)=0
Wait M_Mxt(3)=0
'
Mov P0
' Send start command for the cooperative operation at
operational start position.
M_Mxt(2)=1
Wait M_Mxt(3)=1
' Cooperative movement
Dly 0.5 'Wait for MXT command execution
Spd 30 ' Set the operation speed at 30 mm/s.
Mvs P1
Mvs P2
Spd M_NSpd
Dly 0.1
' Send stop command for the cooperative operation
at operational end position.
M_Mxt(2)=0
Wait M_Mxt(3)=0
' Stop cooperation.
'#### Teaching point ####
'P0 'Safe point, before starting the cooperative operation
'
Wait M_Mxt(2)=0
M_Mxt(3)=0
'Wait at the standby position for start command from the
master.
Mov P0
'
Wait M_Mxt(2)=1
Open "MXT:QRBUS2" As #1 'Specify the module No. 2 in the
shared memory.
Mov P_GCurr(2) ' Set the robot arm to the operational
start position.
Dly 0.1
HClose 1
Dly 0.1
M_Mxt(3)=1
' Execute the real-time external control through the shared
memory.
Mxt 1,0 ' Keep execution until the value of M_Mxt(2)
(cooperation start) turns 0.
'
' Stop cooperation.
M_Mxt(3)=0
'
Note 1)

Mitsubishi Electric CR760-D Specifications

General

Brand	Mitsubishi Electric
Model	CR760-D
Category	Controller
Language	English