Mitsubishi Electric CR750-Q Instruction Manual page 557

5.24.6 Setting the shared memory expanded function (Checking for interference between robots)
Set the shared memory expanded function with the parameters.
When the shared memory expanded function is selected, the shared memory is occupied. (Refer to
24.)
(1) Parameter setting
Set parameter: IQMEM bit 4 to "1" and enable the robot cooperative control function.
Set the number of CPU modules mounted on the main base unit in the multi-CPU system in parameter:
QMLTCPUN, and set the parameter: QMLTCPUn element 1 to "2".
Table 5-39:Shared memory expanded function selection parameter
Parameter
Parameter
Shared memory IQMEM
expanded func-
tion selection
Number of CPU QMLTCPUN
modules
CPUn module QMLTCPUn
high-speed com- n=1 to 4
munication area
No. of arrays
name No. of characters
Real number 1
Integer 1
Integer 4
Details explanation
Select the shared memory expanded function.
A function is assigned to each bit. 1/0 = Enable/disable
15 0
00000000 00000000
| || ...bit0: Enable expanded function
Bits 2, 3 and 5 | | ....bit1: PLC direct execution function
to 15 are not
|
used.
| ... bit4: Robot cooperative control function
Set the number of CPU modules mounted in the main
base unit of the multi-CPU system.
Set the number of points for transmitting and receiving
data between each CPU module when using high-speed
communication function between 1 to 4 modules in a
multi-CPU system.
The parameter setting values must match all CPUs. If a
parameter setting value does not match, an error will
occur in the PLC CPU. Make sure that each CPU
parameter value matches.
Element 1: Size of user's free area (K points)
Range: 1 to 14 (maximum*)
* The maximum value differs according to the
number of CPU modules as shown below.
Number of
CPU modules
2
3
4
Element 2: Number of automatically refreshed points
(points)
Range: 0 to 14335
The robot CPU does not support automatic
refreshing, so always set the number of
automatically refreshed points to 0 .
Element 3: Size of system area (K points)
Range: 1 or 2
Element 4: Multi-CPU synchronous startup
(1: Enable, 0: Disable)
The robot CPU takes time to start up, so
basically do not change this setting . Leave
it set to 1 (Enable synchronization).
5Functions set with parameters
Factory setting
00000000 00000000
2
1,0,1,1
Setting range
0 to 14K points
0 to 13K points
0 to 12K points
Interference avoidance function 6-537
Fig. 5-