Mitsubishi Electric MELFA BFP-A8787-F - Page 26

2-15Operation flow
2Preparation for Using Extended Function
3) Case 3: Robots 1, 2: Extended function is disabled, Robot 3: Extended function is enabled (#1)
By default, the robot 3 input area starts at 2.0K offset from the beginning of shared memory
(By default, the extended function of robots 1, 2 is also assumed to be enabled, similar to
robot 3). Therefore, the multiple CPU input offset parameter (QMLTCPUS) of robot 3 should
be set to "1."
Device #1
(sequencer)
Transmission
area of Device
#1, 2K word
(0.5K x 2, 1K x1)
Transmission
area of Device
#2, 1K word
Device #2 (robot 1)
Extended
Function: Invalid
Device #3 (robot 2)
Extended
Function: Invalid
Device #4 (robot 3)
Extended
Function: Valid
Transmission area of Device #1
(for Device #4)
Transmission
area of Device #4
Transmission
area of Device
#4, 1K word
Robot input
Robot output
Transmission area of Device #1
(for Device #2)
Robot input
Transmission
area of Device #2
(Empty)
Robot output
Transmission area of Device #1
(for Device #3)
Transmission
area of Device #3
(Empty)
Transmission
area of Device
#3, 1K word
Robot output
Robot input
U3E0\G10000
U3E0\G10512
U3E0\G11024
U3E1\G10000
U3E2\G10000
U3E3\G10000
Input offset parameter of
robot 3 is changed