Mitsubishi MELFA CR1D User Manual

5-355 Signal parameter
5Functions set with parameters
(2) Case (B)
When using an offset for input (Parameter: when QMLTCPUS = 0 to 14)
(
*1) = (Robot CPU No.1 QMLTCPUS) * 1024
(
*2) = (Robot CPU No.2 QMLTCPUS) * 1024
(
*3) = (Robot CPU No.3 QMLTCPUS) * 1024
Table 5-4:CPU shared memory and robot I/O signal compatibility
Fig.5-2:CPU shared memory and robot I/O signal compatibility (Case (B))
Sequencer (word device) Robot (bit device)
Output
U3E0\G10000+(*1) to U3E0\G10511+(*1)
Input
Robot CPU No.1 / 10000 to 18191
U3E0\G10000+(
*2) to U3E0\G10511+(*2) Robot CPU No.2 / 10000 to 18191
U3E0\G10000+(
*3) to U3E0\G10511+(*3) Robot CPU No.3 / 10000 to 18191
Input
U3E1\G10000 to U3E1\G10511
Output
Robot CPU No.1 / 10000 to 18191
U3E2\G10000 to U3E2\G10511
Robot
CPU No.2 / 10000 to 18191
U3E3\G10000 to U3E3\G10511
Robot
CPU No.3 / 10000 to 18191
10000
～
18191
U3E1\G10000
～
U3E1\G10511
10000
～
18191
U3E2\G10000
～
U3E2\G10511
10000
～
18191
U3E3\G10000
～
U3E3\G10511
10000
～
18191
U3E0\G10000+(*1)
～
U3E0\G10511+(*1)
10000
～
18191
U3E0\G10000+(*2)
～
U3E0\G10511+(*2)
10000
～
18191
U3E0\G10000+(*3)
～
U3E0\G10511+(*3)
Shared memory
(word units)
Shared memory
(word units)
Shared memory
(word units)
Shared memory
(word units)
Shared memory
(word units)
Shared memory
(word units)
Sequencer
Sequencer
Sequencer
Sequencer
Sequencer
Sequencer
Sequencer
output
robot (No.1)
0.5kwords
Sequencer
output
robot (No.2)
0.5kwords
Sequencer
output
robot (No.3)
0.5kwords
Robot
input
Robot
input
Robot
input
Robot
output
Robot
output
Robot
output
Sequencer
input
robot (No.3)
0.5kwords
Sequencer
input
robot (No.3)
0.5kwords
Sequencer
input
robot (No.3)
0.5kwords
(Not used) (Not used)
(Not used) (Not used)
(Not used) (Not used)
(Not used) (Not used)
(Not used)
(Not used) (Not used)
(Not used)
Robot CPU
(No.1)
Robot CPU
(No.2)
Robot CPU
(No.3)
Robot CPU
(No.1)
Robot CPU
(No.2)
Robot CPU
(No.3)
Robot I/O no.
(bit units)
Robot I/O no.
(bit units)
Robot I/O no.
(bit units)
Robot I/O no.
(bit units)
Robot I/O no.
(bit units)
Robot I/O no.
(bit units)

Mitsubishi MELFA CR1D Specifications

General

Brand	Mitsubishi
Model	MELFA CR1D
Category	Controller
Language	English