Mitsubishi Electric CR750 Series, Instruction Manual

Page: 557 / 730

5 Functions set with parameters
Interference avoidance function 6-537
5.24.6 Setting the shared memory expanded function (Checking for interference between robots)
Set the shared memory expanded function with the parameters.
When the shared memory expanded function is selected, the shared memory is occupied. (Refer to
Fig. 5-
24 .)
(1) Parameter setting
Set parameter: IQMEM bit 4 to “1” and enable the robot cooperative control function.
Set the number of CPU modules mounted on the main base unit in the multi-CPU system in parameter:
QMLTCPUN, and set the parameter: QMLTCPUn element 1 to “2”.
Table 5-39:Shared memory expanded function selection parameter
Parameter
Parameter
name
No. of arrays
No. of characters
Details explanation Factory setting
Shared memory
expanded func-
tion selection IQMEM Real number 1 Select the shared memory expanded function.
A function is assigned to each bit. 1/0 = Enable/disable 00000000 00000000
Number of CPU
modules QMLTCPUN Integer 1 Set the number of CPU modules mounted in the main
base unit of the multi-CPU system. 2
CPUn module
high-speed com-
munication area QMLTCPUn
n=1 to 4 Integer 4 Set the number of points for transmitting and receiving
data between each CPU module when using high-speed
communication function between 1 to 4 modules in a
multi-CPU system.
The parameter setting values must match all CPUs. If a
parameter setting value does not match, an error will
occur in the PLC CPU. Make sure that each CPU
parameter value matches.
Element 1: Size of user’s free area (K points)
Range: 1 to 14 (maximum*)
* The maximum value differs according to the
number of CPU modules as shown below.
Element 2: Number of automatically refreshed points
(points)
Range: 0 to 14335
The robot CPU does not support automatic
refreshing, so
always set the number of
automatically refreshed points to 0 .
Element 3: Size of system area (K points)
Range: 1 or 2
Element 4: Multi-CPU synchronous startup
(1: Enable, 0: Disable)
The robot CPU takes time to start up, so
basically
do not change this setting . Leave
it set to 1 (Enable synchronization).
1,0,1,1
15 0
00000000 00000000
| ||
...bit0: Enable expanded function
| |
....bit1: PLC direct execution function
|
|
... bit4: Robot cooperative control function
Bits 2, 3 and 5
to 15 are not
used.
Number of
CPU modules
Setting range
2 0 to 14K points
3 0 to 13K points
4 0 to 12K points