6External input/output functions
Sequencer link I/O function
6-553
(2) Robot CPU parameter setting
Use RT ToolBox to perform multi CPU parameter settings.
Table 6-2:Robot CPU parameter settings
Note1) Refer to separate manual: "Extended Function Instruction (BFP-A8787)" for details.
Parameter name
Details
Factory setting
QMLTCPUN
Multi CPU quantity setting
At the multi CPU system, set the number of CPU units with which the standard
base unit is equipped.
Range: 1 to 4
2
QMLTCPUn
n = 1 to 4
Multi CPUn high-speed communication area setting (n = 1 to 4)
At the multi CPU system, set the number of points performing transmission and
receipt between each CPU unit for the high speed communication function
between multi CPU nos. 1 to 4.
It is necessary to match the parameter settings for all CPUs.
An error will occur at the sequencer CPU If the parameter settings do not
match, and therefore care should be taken to ensure that the parameter set-
tings for each CPU match.
First element: User free area size (k points)
Range: 1 to 14 (Max.)
Second element: No. of auto refresh points (points)
Range: 0 to 14335
However, the robot CPU does not support auto refresh, and therefore the
number of points for the robot CPU auto refresh are should always be set to
0.
Third element: System area size (K points)
Range: 1 or 2
Fourth element: Multi CPU synchronous start-up (1: Yes, 2: No)
Robot CPUs take some time to start up and therefore the current setting of 1
(synchronous start-up) should not be changed.
Make the same settings for all CPUs.
1,0,1,1
IQMEM
Note1)
Select the shared memory expanded function.
The function is assigned for each bit. 1/0 = available/unavailable
000000000000
0000
IQSPEC
Note1)
Set up CR7xx-Q series robot's function
The function is assigned for each bit.
000000000000
0001
Table 6-3:Setting range by number of CPU
CPU quantity
Setting range
2
0 to 14K point
3
0 to 13K point
4
0 to 12K point
15
0
00000000 00000000
||...bit0:Function of shared memory expanded
|....bit1:Function of sequencer direct execution
bit2-15 is
unused
15
0
00000000 00000000
|...bit0:The direction of shared memory write-in
=0:
Read-out and write-in process are both
executed in order of head address to
final address
=1:Read-out process is executed in order
of head address to final address.
Write-in process is executed in order
of final address to head address.
bit2-15 is
unused
