1-1Shared Memory Extended Function List
1Overview
1 Overview
These specifications describe the functions (sequencer direct performances) which extend the shared
memory in CR750-Q/CR751-Q series and CRnQ-700 series robot controller, exchange various robot infor-
mation between sequencer and robot through the extended shared memory, and operate the robot without a
robot program.
Note: These shared memory extended functions only support MELFA-BASIC V or later. They do not support
MELFA-BASIC IV.
(For more information, refer to Page 10, "2.1.4 Check Robot Language Setting")
Sequencer direct performance does not support mecha 2 and 3 for multiple mecha. It supports addi-
tional axis.
1.1 Shared Memory Extended Function List
These shared memory extended functions are largely classified into monitoring and operation functions.
Monitoring function periodically updates and outputs the data in shared memory on the robot. Operation
function outputs a request from the sequencer to the robot as needed and exchanges the data. Shared
memory extended functions also provide a direct performance function to directly operate the robot.
No Item Description
I/F btwn
Robots
Update Cycle
1 Monitor-
ing func-
tion
Monitor operation con-
trol setting values
Monitors the setting values relating to
operation control command and opera-
tion control.
Motoring output
(Robot side peri-
odically updates
the data in
shared memory)
7.1msec
2 Monitor activities Monitors the robot's activities (current
speed, arrival factor to the aimed posi-
tion, etc.)
7.1msec
3 Monitor current and
aimed positions
Monitors current and aimed positions of
robot.
7.1msec
4 Monitor general position
and joint information
Monitors various position type data (ori-
entation at collision, etc.) and joint type
data (current value, load factor, etc.)
It may differ accord-
ing to each item.
Refer to Page 28,
"3.2.4 Monitor Posi-
tion and Joint Infor-
mation".
5 Monitor maintenance
information
Monitors the maintenance information
(battery and grease remaining times).
Depending on the
parameter MFINTVL
Note)
Note) The figure is the DU-700 series drive unit. The DU750-Q/DU751-Q series drive unit is also the same.
Monitor information
Operate robot
Instruct robot operation
Instruct robot operation
Sequence program
Shared
memory
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