5.25 Sequencer input/output unit direct control
In the robot controller of CR7xx-Q series, the following functions are possible.
* The reference of the input output signal of the input output unit / input output mixing unit which installed to
the base unit managed by other CPU is possible.
* The output directly of signal by setting up the output unit / input output mixing unit which robot CPU man-
ages is possible.
It is direct control from robot CPU, without passing the rudder program of the sequencer)
The outline of that specification and procedure is shown below.
Robot CPU system
Fig.5-27:Sequencer input/output unit direct control
Specify the input output unit will be managed by robot CPU with parameter QXYUNIT. And sets up valid/
invalid of the reference to input output signal of the input output unit / input output mixing unit managed by
other CPU with parameter QXYREAD. Specification is shown in
Available software version
Available device range
*1) To refer the signals which managed by robot CPU with sequencer CPU (or GX Developer/GX
Works connected to sequencer CPU), it is necessary to validate the "ALL CPUs can read all
inputs and outputs" under the "I/O sharing when using Multiple CPUs" setting. Refer to
"Multiple CPU settings" of the sequencer"
This function can be used with in the following software version.
Note) There exists no limitation of the software version of R32TB/R33TB, R56TB/
All the slots of the basic base and the extension base (seven stage) are available.
All the input output units to which the sequencer MELSEC-Q series corresponding
to Mitsubishi iQ Platform corresponds are available.
Input signal: X0-XFFF (4096 points)
Output signal: Y0-YFFF (4096 points)
Robot CPU unit
R57TB, and RT ToolBox2.
Sequencer input/output unit direct control 6-545
5Functions set with parameters