Mitsubishi Electric CR800-D Series - 8 Function Relevant Parameter; Function Definition Parameter

8-43Function Definition Parameter
8Function Relevant Parameter
8 Function Relevant Parameter
8.1 Function Definition Parameter
The access sequence of the CPU buffer memory of the robot controller is direction to the final address from
the top address for both of reading and writing. However, the GOT’s communication specification among
robot controllers is direction from last to start address for writing. Thus, when a system is designed accord-
ing to the CPU buffer memory map specification, the interlock of dataset may be impossible. (For more
information, refer to the Fig. 8-1.)
Therefore, when utilizing CPU buffer memory expanded function, it is necessary to make the CPU buffer
memory access order the same as the specification of the GOT. We provide the parameter (IQSPEC) to
solve it. The initial value is set to the same specification as the GOT, so its change by customer is not nec-
essary at all. If the access sequence of the CPU buffer memory direction to the final address from the top
address for both of reading and writing is necessary, it can specify with this parameter.
Fig.8-1:Change the writing order of CPU buffer memory data
Parameter
Parameter
Name
Array Qty
Character
Qty
Description Factory Default
Define function IQSPEC 1 digit inte-
ger
Set up function for robots.
Set each function allocated by each bit.
0000000000000000 bit1-15: Not used
+--- bit0: Direction to write
into CPU buffer
memory
0: Reads/writes in order from first to last address
1: Reads in order from first to last address, writes in
order from last to first address
(communication specification among robot CPU of
GOT)
0000000000000001
Interlock
Shared memory
Sequencer
Robot output
Transmission
data
Interlock
Transmission
data
Write
Read
Sequencer's
handling
Robot's
handling
Write
Read
Robot's writing direction
is changed to the same
as sequencer
Low
High
Prevention of separation of data over 32 bits
When user’s free area is used
The program reads in order from start of user’s free area. In write command, the transmission data is
written in order from last to start address of user’s free area.
Consequently, the interlock device at the start of data for communication can prevent separation of data
for communication
GOT’s
handling
GOT
Robot’s writing direction
is changed to the same
as GOT
CPU buffer memory