Overview; Shared Memory Extended Function List - Mitsubishi Electric MELFA BFP-A8787-F Instruction Manual

1Overview

1 Overview
These specifications describe the functions (sequencer direct performances) which extend the shared
memory in CR750-Q/CR751-Q series and CRnQ-700 series robot controller, exchange various robot infor-
mation between sequencer and robot through the extended shared memory, and operate the robot without a
robot program.
Note: These shared memory extended functions only support MELFA-BASIC V or later. They do not support
MELFA-BASIC IV.
(For more information, refer to
Sequencer direct performance does not support mecha 2 and 3 for multiple mecha. It supports addi-
tional axis.
Sequence program
Note) The figure is the DU-700 series drive unit. The DU750-Q/DU751-Q series drive unit is also the same.

1.1 Shared Memory Extended Function List

These shared memory extended functions are largely classified into monitoring and operation functions.
Monitoring function periodically updates and outputs the data in shared memory on the robot. Operation
function outputs a request from the sequencer to the robot as needed and exchanges the data. Shared
memory extended functions also provide a direct performance function to directly operate the robot.
No
1 Monitor- Monitor operation con-
ing func- trol setting values
tion
2 Monitor activities
3 Monitor current and
aimed positions
4 Monitor general position
and joint information
5 Monitor maintenance
information
1-1Shared Memory Extended Function List
Page 10, "2.1.4 Check Robot Language
Monitor information
Operate robot
Instruct robot operation
Item
Monitors the setting values relating to
operation control command and opera-
tion control.
Monitors the robot's activities (current
speed, arrival factor to the aimed posi-
tion, etc.)
Monitors current and aimed positions of
robot.
Monitors various position type data (ori-
entation at collision, etc.) and joint type
data (current value, load factor, etc.)
Monitors the maintenance information
(battery and grease remaining times).
Shared
memory
Note)
Instruct robot operation
Description
Setting")
I/F btwn
Update Cycle
Robots
Motoring output 7.1msec
(Robot side peri-
odically updates
7.1msec
the data in
shared memory)
7.1msec
It may differ accord-
ing to each item.
Refer to
"3.2.4 Monitor Posi-
tion and Joint Infor-
mation".
Depending on the
parameter MFINTVL
Page 28,