Function Definition Parameter - Mitsubishi Electric MELFA BFP-A8787-F Instruction Manual

9Shared Memory Extended Function Relevant Parameter

9.2 Function Definition Parameter

Parameter
Define function
The access sequence of the shared memory before the software version N7 of the robot controller is direc-
tion to the final address from the top address for both of reading and writing. However, the sequencer's com-
munication specification among iQ Platform multiple CPUs is direction from last to start address for writing.
Thus, when a system is designed according to the shared memory map specification, the interlock of data-
set may be impossible. (For more information, refer to the
Therefore, when utilizing shared memory expanded function, it is necessary to make the shared memory
access order the same as the specification of the sequencer. We provide the parameter (IQSPEC) to solve
it. The initial value is set to the same specification as the sequencer, so its change by customer is not nec-
essary at all. But, in order to assure the compatibility with previous models, the behavior based on the previ-
ous specification is possible.
Prevention of separation of data over 32 bits
When user's free area is used
The program reads in order from start of user's free area. In write command, the transmission data is
written in order from last to start address of user's free area.
Consequently, the interlock device at the start of data for communication can prevent separation of data
for communication
Fig.9-1:Change the writing order of shared memory data
9-117 Function Definition Parameter
Array Qty
Parameter
Character
Name
Qty
IQSPEC 1 digit inte-
ger
Write
Sequencer's
Sequencer's
handling
handling
Read
Description
Set up function for robots.
Set each function allocated by each bit.
0000000000000000 bit1-15: Not used
+--- bit0: Direction to write
0: Reads/writes in order from first to last address
(until Ver. N7)
1: Reads in order from first to last address, writes in
order from last to first address
(communication specification among iQ Platform
multiple CPUs)
Fig. 9-1.)
Shared memory
Low
Sequencer
Sequencer
Interlock Read
Transmission
data
Robot output
Interlock
Transmission
data
High
0000000000000001
into shared memory
Robot's
handling
Robot's writing direction
Robot's writing direction
is changed to the same
is changed to the same
as sequencer
as sequencer
Write
Factory Default