Table Of Contents - Mitsubishi Electric MELFA BFP-A8787-F Instruction Manual

1 Overview ......................................................................................................................................... 1-1
1.1 Shared Memory Extended Function List ................................................................................... 1-1
1.2 Features .................................................................................................................................... 1-2
1.3 Shared Memory Configuration .................................................................................................. 1-4
1.3.1 Memory Configuration for Valid/Invalid Extended Function ................................................ 1-4
1.3.2 Memory Map of Extended Function Area ........................................................................... 1-5
2 Preparation for Using Extended Function ....................................................................................... 2-6
2.1 Operation flow ........................................................................................................................... 2-6
2.1.1 Set up Sequencer's Multiple CPUs ..................................................................................... 2-7
2.1.2 Set up Robot's Multiple CPUs ............................................................................................. 2-8
2.1.3 Set up Parameter for Selecting Shared Memory Extended Function ................................. 2-9
2.1.4 Check Robot Language Setting ........................................................................................ 2-10
2.1.5 Allocation Example of Shared Memory ............................................................................. 2-11
(1) Multiple CPU Configuration with One Sequencer plus One Robot ................................ 2-11
(2) Multiple CPU Configuration with One Sequencer plus Three Robots ............................ 2-13
3 Monitor Robot Information ............................................................................................................ 3-17
3.1 Operation Flow ........................................................................................................................ 3-18
3.1.1 Select Monitoring Items .................................................................................................... 3-19
3.1.2 Select Target Mecha ......................................................................................................... 3-19
3.1.3 Timing Chart ..................................................................................................................... 3-20
3.1.4 Sample Ladder ................................................................................................................. 3-21
3.2 Monitoring Item ....................................................................................................................... 3-23
3.2.1 Monitor Operation Control Setting Values ........................................................................ 3-23
3.2.2 Monitor Activities ............................................................................................................... 3-25
3.2.3 Monitor Current and Aimed Positions ............................................................................... 3-26
3.2.4 Monitor Position and Joint Information ............................................................................. 3-28
(1) Select Position and Joint Data ....................................................................................... 3-28
(2) Position and Joint Data .................................................................................................. 3-30
3.2.5 Monitor Maintenance Information ..................................................................................... 3-33
4 Reads/Writes Robot's Variables ................................................................................................... 4-34
4.1 Function Description ............................................................................................................... 4-34
4.2 Operation Flow ........................................................................................................................ 4-34
4.3 How to Operate Variables ....................................................................................................... 4-35
4.3.1 Data List ............................................................................................................................ 4-35
(1) Sequencer output data ................................................................................................... 4-35
(2) Robot output data ........................................................................................................... 4-36
(3) Completion status ........................................................................................................... 4-37
(4) Data description ............................................................................................................. 4-37
4.3.2 Timing Chart ..................................................................................................................... 4-39
4.3.3 Sample Ladder ................................................................................................................. 4-40
5 Read Current Line of Robot Program ........................................................................................... 5-42
5.1 Function Description ............................................................................................................... 5-42
5.2 Operation flow ......................................................................................................................... 5-42
5.3 How to Operate Program ........................................................................................................ 5-43
5.3.1 Data List ............................................................................................................................ 5-43
5.3.2 Timing Chart ..................................................................................................................... 5-47
5.3.3 Sample Ladder ................................................................................................................. 5-48
6 Set up Robot's Maintenance ......................................................................................................... 6-50
6.1 Function Description ............................................................................................................... 6-50
6.2 Operation flow ......................................................................................................................... 6-50
6.3 How to Operate Maintenance ................................................................................................. 6-51
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