Set Up Robot's Multiple Cpus - Mitsubishi Electric MELFA BFP-A8787-F Instruction Manual

2.1.2 Set up Robot's Multiple CPUs

Here, sets up the multiple CPUs as a robot's parameter. In the description below, parameter setting screen
of RT ToolBox 2 illustrates this setting. This can also be set up by specifying the parameter name in the
teaching box's parameter setting screen.
Set the same value as specified in
RT-ToolBox2 multiple CPU setting screen (three robots. Shared memory extended functions are valid in
all robots)
[Start address of robot input offset]
The Table 2-1 lists the start addresses of robot input area in the robot's initial setting (multiple CPU input off-
set parameter "QMLTCPUS" is set to "-1") (The start address changes according to whether the shared
memory extended functions are enabled or not).
Table 2-1:Start address of robot input area when the multiple CPU input offset parameter is initial value
Device No
Device #2 (robot 1)
Device #3 (robot 2)
Device #4 (robot 3)
The start address of robot's input area may differ, when the valid/invalid setting for shared memory extended
function may differ in other devices or when a unit other than robot is installed. In these cases, set up the
multiple CPU input offset parameter (QMLTCPUS).
For setting example, refer to
About input offset parameter (QMLTCPUS)
Sets up the offset of robot's input signals in multiple CPUs in 1K word unit.
For example, when QMLTCPUS is set to one, the start address of robot's input area is an address
(U3E0\G11024) offset by 1K word from the start address of transmission area of device #1 (sequencer).
When QMLTCPUS is set to -1 (initial value), the start address of robot's input area is as listed in the table
above.
Page 7, "2.1.1 Set up Sequencer's Multiple
Shared Memory Extended
Functions
Invalid Valid
0K 0K
0.5K 1.0K
1.0K 2.0K
Page 11, "2.1.5 Allocation Example of Shared
2Preparation for Using Extended Function
CPUs".
 The multiple CPU input
offset parameter
"QMLTCPUS" can also
be set.
Memory".
Operation flow 2-8