Case (B) - Mitsubishi MELFA CR1D Instruction Manual

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
Sequencer (word device)
U3E0\G10000+( * 1) to U3E0\G10511+( * 1)
U3E0\G10000+( * 2) to U3E0\G10511+( * 2)
Output
U3E0\G10000+( * 3) to U3E0\G10511+( * 3)
U3E1\G10000 to U3E1\G10511
U3E2\G10000 to U3E2\G10511
Input
U3E3\G10000 to U3E3\G10511
Shared memory Sequencer
(word units)
Sequencer
U3E0\G10000+(*1)
output
～
robot (No.1)
U3E0\G10511+(*1)
0.5kwords
(Not used)
Shared memory Sequencer
(word units)
Sequencer
U3E0\G10000+(*2)
output
～
robot (No.2)
U3E0\G10511+(*2)
0.5kwords
(Not used)
Sequencer
Shared memory
(word units)
Sequencer
U3E0\G10000+(*3) output
～
robot (No.3)
U3E0\G10511+(*3)
0.5kwords
(Not used)
Sequencer
Shared memory
(word units)
Sequencer
U3E1\G10000
input
～
robot (No.3)
U3E1\G10511
0.5kwords
(Not used)
Shared memory Sequencer
(word units)
Sequencer
U3E2\G10000
input
～
robot (No.3)
U3E2\G10511
0.5kwords
(Not used)
Sequencer
Shared memory
(word units)
Sequencer
U3E3\G10000
input
～
robot (No.3)
U3E3\G10511
0.5kwords
(Not used)
Fig.5-2:CPU shared memory and robot I/O signal compatibility (Case (B))
5-355 Signal parameter
Robot CPU
Robot I/O no.
(No.1)
(bit units)
Robot 10000
～
input
18191
(Not used)
Robot CPU
(No.2)
Robot
input
(Not used)
Robot CPU
Robot I/O no.
(No.1)
(bit units)
Robot
10000
～
output
18191
(Not used)
Robot CPU
(No.2)
Robot
output
(Not used)
Robot CPU No.1 / 10000 to 18191
Robot CPU No.2 / 10000 to 18191
Input
Robot CPU No.3 / 10000 to 18191
Robot CPU No.1 / 10000 to 18191
Robot CPU No.2 / 10000 to 18191
Output
Robot CPU No.3 / 10000 to 18191
Robot I/O no.
(bit units)
10000
～
18191
Robot CPU
Robot I/O no.
(No.3)
(bit units)
Robot
10000
～
input
18191
(Not used)
Robot I/O no.
(bit units)
10000
～
18191
Robot CPU
Robot I/O no.
(No.3)
(bit units)
Robot
10000
～
output
18191
(Not used)
Robot (bit device)