Multiple Cpu Configuration With One Sequencer Plus Three Robots - Mitsubishi Electric MELFA BFP-A8787-F Instruction Manual

2Preparation for Using Extended Function

(2) Multiple CPU Configuration with One Sequencer plus Three Robots

1) Case 1: All robots: Extended function is enabled, input offset parameter is initial value
All robots use each 1K word for I/O.
The beginning of robot 2 input area starts at 1.0K offset from the beginning of shared memory
address, and the beginning of robot 3 input area starts at 2.0K offset from the beginning of
shared memory address.
Transmission
area of Device
#1, 3K word
(1K x 3)
Transmission
area of Device
#2, 1K word
Transmission
area of Device
#3, 1K word
Transmission
area of Device
#4, 1K word
2-13Operation flow
Device #1
(sequencer)
U3E0\G10000
Transmission
area of Device #1
(for Device #2)
U3E0\G11024
Transmission
area of Device #1
(for Device #3)
U3E0\G12048
Transmission
area of Device #1
(for Device #4)
U3E1\G10000
Transmission
area of Device #2
U3E2\G10000
Transmission
area of Device #3
U3E3\G10000
Transmission
area of Device #4
Device #2 (robot 1) Device #3 (robot 2)
Extended Function: Extended Function:
Valid
Robot input
Robot input
Robot output
Robot output
Device #4 (robot 3)
Extended Function:
Valid Valid
Robot input
Robot output