About Multi Cpu Input Offsets (Crnq-700 Controller Only); Case (A) - Mitsubishi MELFA CR1D Instruction Manual

5.2.1 About multi CPU input offsets (CRnQ-700 controller only)

(1)

Case (A)

When using no offset for input (Parameter: when QMLTCPUS = -1)
Table 5-3:CPU shared memory and robot I/O signal compatibility
Sequencer (word device)
U3E0\G10000 to U3E0\G10511
U3E0\G10512 to U3E0\G11023
Output
U3E0\G11024 to U3E0\G11535
U3E1\G10000 to U3E1\G10511
U3E2\G10000 to U3E2\G10511
Input
U3E3\G10000 to U3E3\G10511
Sequencer
Shared memory
(word units)
Sequencer
U3E0\G10000
output
～
robot (No.1)
U3E0\G10511
0.5kwords
Sequencer
U3E0\G10512
output
～
robot (No. 2)
U3E0\G11023
0.5kwords
Sequencer
U3E0\G11024
output
～
robot (No.3)
U3E0\G11535
0.5kwords
Sequencer
Shared memory
(word units)
Sequencer
U3E 1\G10000
output
～
robot (No.1)
U3E1\G10511
0.5kwords
(Not used)
Sequencer
Shared memory
(word units)
Sequencer
U3E2\G10000
output
～
robot (No. 2)
U3E2\G10511
0.5kwords
(Not used)
Shared memory
Sequencer
(word units)
Sequencer
U3E3\G10000
output
～
robot (No.3)
U3E3\G10511
0.5kwords
(Not used)
Fig.5-1:CPU shared memory and robot I/O signal compatibility (Case (A))
Input
Output
Robot CPU Robot CPU
Robot I/O no.
(No.1) (No. 2)
(bit units)
Robot
10000
(Not used)
～
input
18191
Robot
(Not used)
input
(Not used)
(Not used)
Robot CPU
Robot I/O no.
(No.1)
(bit units)
10000
Robot
～
output
18191
(Not used)
Robot CPU
(No. 2)
Robot
output
(Not used)
5Functions set with parameters
Robot (bit device)
Robot CPU No.1 / 10000 to 18191
Robot CPU No.2 / 10000 to 18191
Robot CPU No.3 / 10000 to 18191
Robot CPU No.1 / 10000 to 18191
Robot CPU No.2 / 10000 to 18191
Robot CPU No.3 / 10000 to 18191
Robot CPU
Robot I/O no. Robot I/O no.
(No. 3)
(bit units) (bit units)
(Not used)
10000
(Not used)
～
18191
10000
Robot
～
input
18191
Robot I/O no.
(bit units)
10000
～
18191
Robot CPU
Robot I/O no.
(No. 3)
(bit units)
Robot
10000
～
output
18191
(Not used)
Signal parameter 5-354