Mitsubishi Electric MELFA BFP-A8787-F - Multiple CPU Configuration with One Sequencer Plus Three Robots

2-13Operation flow
2Preparation for Using Extended Function
(2) Multiple CPU Configuration with One Sequencer plus Three Robots
1) Case 1: All robots: Extended function is enabled, input offset parameter is initial value
All robots use each 1K word for I/O.
The beginning of robot 2 input area starts at 1.0K offset from the beginning of shared memory
address, and the beginning of robot 3 input area starts at 2.0K offset from the beginning of
shared memory address.
Transmission
area of Device #1
(for Device #2)
Device #1
(sequencer)
Transmission
area of Device
#1, 3K word
(1K x 3)
Transmission
area of Device
#2, 1K word
Device #2 (robot 1)
Extended Function:
Val id
Device #3 (robot 2)
Extended Function:
Valid
Device #4 (robot 3)
Extended Function:
Val id
Transmission
area of Device #1
(for Device #3)
Transmission
area of Device #1
(for Device #4)
Transmission
area of Device
#3, 1K word
Transmission
area of Device
#4, 1K word
Robot input
Robot output
Robot input
Robot output
Robot input
Robot output
Transmission
area of Device #3
Transmission
area of Device #4
Transmission
area of Device #2
U3E0\G10000
U3E0\G11024
U3E0\G12048
U3E1\G10000
U3E2\G10000
U3E3\G10000