Mitsubishi Electric MELFA BFP-A8787-F Instruction Manual page 27

4) Case 4: Robots 1, 2: Extended function is disabled, Robot 3: Extended function is enabled (#2)
This example allocates 1K area in advance so that the allocation is not changed even when
the extended function is enabled in the future, while the extended function was disabled and
the extended area was not allocated.
Empty area of 0.5K is kept at the back of each transmission area of robot 1 (for robots 2, 3).
By default, the robot 2 input area starts at 0.5K offset from the beginning of shared memory
(By default, the extended function of robots 1 is also assumed to be disabled, similar to robot
2). Therefore, the multiple CPU input offset parameter (QMLTCPUS) of robot 2 should be set
to "1".
U3E0\G10000
U3E0\G11024
Transmission
area of Device
#1, 3K word
(1K x 3)
U3E0\G12048
U3E1\G10000
Transmission
area of Device
#2, 1K word
U3E2\G10000
Transmission
area of Device
#3, 1K word
U3E3\G10000
Transmission
area of Device
#4, 1K word
Device #2 (robot 1)
Device #1
Extended Function:
(sequencer)
Transmission area of Device #1
(for Device #2)
(Empty)
Transmission area of Device #1
(for Device #3)
(Empty)
Transmission area of Device #1
(for Device #4)
Transmission
area of Device #2
(Empty)
Transmission
area of Device #3
(Empty)
Transmission
area of Device #4
2Preparation for Using Extended Function
Device #3 (robot 2)
Extended Function:
Invalid Invalid
Robot input
Robot input
Robot output
Robot output
Device #4 (robot 3)
Extended Function:
Valid
Robot input
Robot output
Input offset parameter of
robot 2 is changed
Operation flow 2-16