Direct Communication With Robot Cpus - Mitsubishi Electric CR750-Q Instruction Manual

5.26 Direct communication with robot CPUs

This function is to exchange the signals directly with two or more robot CPUs in the robot controller of
CR7xx-Q series.
Since the rudder program of the sequencer is not needed, the exchange of the signal can be executed more
speedily. And, the reference of shared memory information other than robot CPUs, such as motion CPU, is
also possible.
Robot CPU system
Fig.5-29:Direct communication with robot CPUs
(1) Specification
This function is available at the software version or later shown in
unnecessary.
Specification is shown in
Table 5-47:Specification
No
1 Available software version
2 Available device range
3 Assignment of the dedicated input
output signal
(2) The usage
Read/Write of the multi-CPU share device are possible by using the "M_UDevW: Writing/Reference per
word unit (the 16 bits)" and "M_UDevD: Writing/Reference per double word unit (the 16 bits)" of the Robot
Status Variable of program.
(3) Description of the status variable
Explains the outline of the Robot Status Variable to
"4.14.2 Explanation of Each Robot Status Variable"
Table 5-48:Related Robot Status Variable
Variable
name
M_UDevW Read/Write the multi-CPU shared device per word. (U3En\G□)
ex.) M_UDevW(&H3E1, 10010)=&HFFFF
M_XDevD Read/Write the multi-CPU shared device per double word. (U3En\G□)
ex.) 1 M_UDevD(&H3E1, 10011)=P1.X * 1000 ' Write the multiplication result value of X coordi-
Direct communication with robot CPUs
Table 5-47.
Item
This function can be used with in the following software version.
Controller: R2b
Note) There exists no limitation of the software version of R32TB/R33TB, R56TB/
Range which can be specified by the multi-CPU shared device. (U3En\G10000 to
G24335)
The control of the robot by dedicated signal is executed by the sequencer (No. 1).
The dedicated input output signal is not assigned to the shared memory device No.2
or later.
Assign the dedicated input output signal to the shared memory of the sequencer No.1
always.
Robot CPU unit
Table
R57TB, and RT ToolBox2.
Table 5-48. Refer to each description page of
for details.
Details
' Write the &HFFFF (hexadecimal number) to the
shared memory address 10010 of No. 2 CPU.
nate value of the position variable P1 by 1000 to
shared memory address 10011/10012 (two
words) of No. 2 CPU.
Direct communication with robot CPUs 6-549
5Functions set with parameters
5-47. The setup of the parameter is
Specification
Page 311,
Reference
page
Page 370
Page 370