Mitsubishi Industrial Robot
CR750-Q/CR751-Q series controller
iQ Platform Supporting
Extended Function Instruction Manual
CRnQ-700 series controller
BFP-A8787-F
All teaching work must be carried out by an operator who has received special
Always read the following precautions and the separate "Safety
Manual" before starting use of the robot to learn the required
measures to be taken.
Safety Precautions
CAUTION
CAUTION
WARNING
CAUTION
DANGER
CAUTION
CAUTION
CAUTION
training. (This also applies to maintenance work with the power source turned
ON.)
Enforcement of safety training
For teaching work, prepare a work plan related to the methods and procedures
of operating the robot, and to the measures to be taken when an error occurs
or when restarting. Carry out work following this plan. (This also applies to
maintenance work with the power source turned ON.)
Preparation of work plan
Prepare a device that allows operation to be stopped immediately during
teaching work. (This also applies to maintenance work with the power source
turned ON.)
Setting of emergency stop switch
During teaching work, place a sign indicating that teaching work is in progress
on the start switch, etc. (This also applies to maintenance work with the power
source turned ON.)
Indication of teaching work in progress
Provide a fence or enclosure during operation to prevent contact of the
operator and robot.
Installation of safety fence
Establish a set signaling method to the related operators for starting work, and
follow this method.
Signaling of operation start
As a principle turn the power OFF during maintenance work. Place a sign
indicating that maintenance work is in progress on the start switch, etc.
Indication of maintenance work in progress
Before starting work, inspect the robot, emergency stop switch and other
related devices, etc., and confirm that there are no errors.
Inspection before starting work
The points of the precautions given in the separate "Safety Manual" are given below.
DANGER
CAUTION
CAUTION
CAUTION
CAUTION
CAUTION
CAUTION
WARNING
WARNING
CAUTION
WARNING
CAUTION
CAUTION
CAUTION
CAUTION
Refer to the actual "Safety Manual" for details.
When automatic operation of the robot is performed using multiple control
devices (GOT, programmable controller, push-button switch), the interlocking of
operation rights of the devices, etc. must be designed by the customer.
Use the robot within the environment given in the specifications. Failure to do
so could lead to a drop or reliability or faults. (Temperature, humidity,
atmosphere, noise environment, etc.)
Transport the robot with the designated transportation posture. Transporting
the robot in a non-designated posture could lead to personal injuries or faults
from dropping.
Always use the robot installed on a secure table. Use in an instable posture
could lead to positional deviation and vibration.
Wire the cable as far away from noise sources as possible. If placed near a noise
source, positional deviation or malfunction could occur.
Do not apply excessive force on the connector or excessively bend the cable.
Failure to observe this could lead to contact defects or wire breakage.
Make sure that the workpiece weight, including the hand, does not exceed the
rated load or tolerable torque. Exceeding these values could lead to alarms or
faults.
Securely install the hand and tool, and securely grasp the workpiece. Failure to
observe this could lead to personal injuries or damage if the object comes off or
flies off during operation.
Securely ground the robot and controller. Failure to observe this could lead to
malfunctioning by noise or to electric shock accidents.
Indicate the operation state during robot operation. Failure to indicate the state
could lead to operators approaching the robot or to incorrect operation.
When carrying out teaching work in the robot's movement range, always secure
the priority right for the robot control. Failure to observe this could lead to
personal injuries or damage if the robot is started with external commands.
Keep the jog speed as low as possible, and always watch the robot. Failure to do
so could lead to interference with the workpiece or peripheral devices.
After editing the program, always confirm the operation with step operation
before starting automatic operation. Failure to do so could lead to interference
with peripheral devices because of programming mistakes, etc.
Make sure that if the safety fence entrance door is opened during automatic
operation, the door is locked or that the robot will automatically stop. Failure to
do so could lead to personal injuries.
Never carry out modifications based on personal judgments, or use nondesignated maintenance parts.
Failure to observe this could lead to faults or failures.
When the robot arm has to be moved by hand from an external area, do not
WARNING
CAUTION
CAUTION
DANGER
DANGER
DANGER
DANGER
DANGER
CAUTION
place hands or fingers in the openings. Failure to observe this could lead to
hands or fingers catching depending on the posture.
Do not stop the robot or apply emergency stop by turning the robot controller's
main power OFF. If the robot controller main power is turned OFF during
automatic operation, the robot accuracy could be adversely affected. Moreover,
it may interfere with the peripheral device by drop or move by inertia of the arm.
Do not turn off the main power to the robot controller while rewriting the
internal information of the robot controller such as the program or parameters.
If the main power to the robot controller is turned off while in automatic
operation or rewriting the program or parameters, the internal information of the
robot controller may be damaged.
Do not connect the Handy GOT when using the GOT direct connection function
of this product. Failure to observe this may result in property damage or bodily
injury because the Handy GOT can automatically operate the robot regardless
of whether the operation rights are enabled or not.
Do not connect the Handy GOT to a programmable controller when using an iQ
Platform compatible product with the CR7xx-Q controller. Failure to observe
this may result in property damage or bodily injury because the Handy GOT can
automatically operate the robot regardless of whether the operation rights are
enabled or not.
Do not remove the SSCNET III cable while power is supplied to the multiple
CPU system or the servo amplifier. Do not look directly at light emitted from
the tip of SSCNET III connectors or SSCNET III cables of the Motion CPU or
the servo amplifier. Eye discomfort may be felt if exposed to the light.
(Reference: SSCNET III employs a Class 1 or equivalent light source as
specified in JIS C 6802 and IEC60825-1 (domestic standards in Japan).)
Do not remove the SSCNET III cable while power is supplied to the controller.
Do not look directly at light emitted from the tip of SSCNET III connectors or
SSCNET III cables. Eye discomfort may be felt if exposed to the light.
(Reference: SSCNET III employs a Class 1 or equivalent light source as
specified in JIS C 6802 and IEC60825-1 (domestic standards in Japan).)
Attach the cap to the SSCNET III connector after disconnecting the SSCNET
III cable. If the cap is not attached, dirt or dust may adhere to the connector
pins, resulting in deterioration connector properties, and leading to malfunction.
Make sure there are no mistakes in the wiring. Connecting differently to the way
specified in the manual can result in errors, such as the emergency stop not
being released. In order to prevent errors occurring, please be sure to check
that all functions (such as the teaching box emergency stop, customer emer
gency stop, and door switch) are working properly after the wiring setup is com
pleted.
-
-
Use the network equipments (personal computer, USB hub, LAN hub, etc)
CAUTION
confirmed by manufacturer. The thing unsuitable for the FA environment
(related with conformity, temperature or noise) exists in the equipments
connected to USB. When using network equipment, measures against the noise,
such as measures against EMI and the addition of the ferrite core, may be
necessary. Please fully confirm the operation by customer. Guarantee and
maintenance of the equipment on the market (usual office automation
equipment) cannot be performed.
*CR751-D or CR751-Q controller
CAUTION
PE terminal
Grounding screw
Controller
ACIN connector
AC200V AC200V
Primary
Secondary
PE terminal
Grounding screw
123 123
ACIN connector
ACIN connector
Note 2)
Note 1) Crimping swage is recommended for connecting the attachment ACIN connector (soldering is also possible)
Recommendation compression tools: 234171-1(Tyco Electronics)
Note 2) The earth leakage breaker is the customer preparation. Always use the cover below.
Recommendation: For single primary power supply .........NV30FAU-2P-10A-AC100-240V-30mA, (Cover: TCS-05FA2)
For three primary power supply .......... NV30FAU-3P-10A-AC100-240V-30mA, (Cover: TCS-05FA3)
Note 3) If necessary, as shown in the figure, connects the noise filter between ACIN terminal blocks and primary power supply.
(Recommended noise filter: SUP-EL20-ER6 *OKAYA ELECTRIC INDUSTRIES)
Controller
<4> LINE/LOAD
<3> LINE/LOAD
<1> LINE/LOAD
<2> LINE/LOAD
Noise filter
Label
ACIN connector or
power cable
(Attachment)
Note 1)
For three phaseFor single phase
Three phase Single phase
Earth leak
-
age breaker
(NV)
Note 3)
* The controller is an
example.
Notes of the basic component are shown.
Please install the earth leakage breaker in the primary side supply power supply
of the controller of CR751-D or CR751-Q because of leakage protection.
1) Please prepare the following: Leakage current breaker (with the terminal cover), cable for connecting the
primary power supply (AWG #14 (2mm
2
or above).
(3.5mm
The secondary power cable (with the ACIN connector) for single phase or three phase power is supplied with
the product to match the specifications. When you build a cable suitable for your environment using the ACIN
connector and the ACIN terminal supplied, prepare a secondary power cable (AWG #14 (2mm
2) Confirm that the primary power matches the specifications.
3) Confirm that the primary power is OFF and that the earth leakage breaker power switch is OFF.
4) Connect the secondary power cable.
a) When using the supplied power cable with the ACIN connector
Refer to the figure above and connect the cable from the secondary side of the earth leakage breaker.
b) When building a power cable using the ACIN connector and the ACIN terminals supplied
Connect the ACIN terminals with the secondary power cable (prepared by customers), and insert the ACIN
terminals to the ACIN connector pins with the following numbers. Crimping caulking is recommended to
connect the ACIN terminals.
For single phase: 1 and 3
For three phase: 1, 2, and 3
Refer to the figure above and connect the cable from the secondary side of the earth leakage breaker.
5) Connect this ACIN connector to the ACIN connector on the front of the controller.
6) Connect the grounding cable to the PE terminal. (M4 screw)
7) Connect the primary power cable to the primary side terminal of the earth leakage breaker.
2
or above), cables to ground the primary power supply (AWG #12
2
) or above).
Revision history
Date of print Specifications No. Details of revisions
2009-12-04 BFP-A8787-* • First edition created.
2012-03-05 BFP-A8787-A • CR750-Q/CR751-Q series controller were added.
2012-12-05 BFP-A8787-B • The statement about trademark registration was added.
2014-08-06 BFP-A8787-C • The cover and corporate logo mark of this manual was changed.
• The statement about trademark registration was modified.
2014-12-16 BFP-A8787-D • Correction of errors in a timing chart was corrected.
2015-03-10 BFP-A8787-E • The new function of software version R3p was added.
2017-05-10 BFP-A8787-F • Contact information of the authorized representative was updated.
• Correction of errors in “(3) Hand control image” was corrected.
• The corporate logo mark of illustrations in this manual was changed.
Long-precision integer number and single-precision real number can be used
for reading/writing of numeric value variables.
*Introduction
• No part of this manual may be reproduced by any means or in any form, without prior consent
from Mitsubishi.
• The contents of this manual are subject to change without notice.
• The specifications values are based on Mitsubishi standard testing methods.
• The information contained in this document has been written to be accurate as much as possi-
ble. Please interpret that items not described in this document "cannot be performed." or "alarm
may occur".
Please contact your nearest dealer if you find any doubtful, wrong or skipped point.
•This specifications is original.
• Microsoft, Windows, Windows XP, Windows Vista, Windows 7, Windows 8, Windows 8.1 are
either registered trademarks or trademarks of Microsoft Corporation in the United States and/or
other countries.
• Windows®XP, Windows Vista®, Windows® 7, Windows® 8, Windows® 8.1 are either product
names of Microsoft Corporation in the United States.
• Ethernet is registered trademarks or trademarks of Xerox Corporation in the United States.
• All other company names and production names in this document are the trademarks or regis-
tered trademarks of their respective owners.
Copyright(C) 2009-2017 MITSUBISHI ELECTRIC CORPORATION
Thank you for buying the industrial robot MELFA manufactured by Mitsubishi Electric.
This document provides the instructions for iQ Platform supporting extended functions. Our
extended functions allows the sequencer easily to monitor the robot through shared memory
between sequencer and robot, set up data, and operate the robot without a program (sequencer
direct performance). This document provides the detailed description of data configuration of shared
memory, monitoring, and operating procedures.
Please carefully read and fully understand this document before making use of the extended functions.
Target controller of this document
This document supports the robot controller below:
• CR750-Q/CR751-Q series controller: ... Ver. R3 or later
• CRnQ-700 series controller: ................. Ver. N8 or later
Robot language MELFA BASIC V or later
Contents
Page
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 ..................................................................................................
6.1 Function Description ............................................................................................................... 6-50
6.2 Operation flow ......................................................................................................................... 6-50
6.3 How to Operate Maintenance ................................................................................................. 6-51
....... 6-50
i
Contents
Page
6.3.1 Data List ............................................................................................................................ 6-51
6.3.2 Timing Chart ..................................................................................................................... 6-53
6.3.3 Sample Ladder ................................................................................................................. 6-54
7 Read Robot Information ................................................................................................................ 7-56
7.1 Function Description ............................................................................................................... 7-56
7.2 Operation flow ......................................................................................................................... 7-56
7.3 How to Operate Robot Information ......................................................................................... 7-57
7.3.1 Data List ............................................................................................................................ 7-57
7.3.2 Timing Chart ..................................................................................................................... 7-60
7.3.3 Sample Ladder ................................................................................................................. 7-61
8 Perform Sequencer Direct ............................................................................................................ 8-63
8.1 Sequencer Direct Performance Function ................................................................................ 8-63
8.2 Operation flow ......................................................................................................................... 8-64
8.2.1 Parameter Setting ............................................................................................................. 8-65
8.2.2 Teaching ........................................................................................................................... 8-66
(1) Position Data .................................................................................................................. 8-66
(2) Position Teaching in Position Box (R32TB) ................................................................... 8-67
8.2.3 Prepare to Perform Sequencer Direct .............................................................................. 8-71
8.3 How to Operate Sequencer Direct .......................................................................................... 8-72
8.3.1 Operation Command ........................................................................................................ 8-72
(1) Sequencer output ................................................................................................................................................... 8-72
(2) Robot output .............................................................................................................................................................. 8-74
(3) Data description ............................................................................................................. 8-74
8.3.2 Timing Chart for Performing Operation Command ........................................................... 8-81
(1) Perform Operation (Normal Operation) .......................................................................... 8-81
(2) Operation Command Is Impracticable: ........................................................................... 8-82
(3) Suspend/Resume Operation .......................................................................................... 8-83
(4) Support on Occurrence of Error ..................................................................................... 8-84
(5) Suspension when Robot's External Operation Authority Gets Invalid ............................ 8-85
(6) Cancel Based on Command Request OFF Signal ......................................................... 8-86
8.3.3 Sample Ladder for Performing Operation Command ....................................................... 8-87
8.3.4 Control Robot Hand .......................................................................................................... 8-89
(2) Mapping hand signal with parameter HANDTYPE ......................................................... 8-90
(3) Hand control image ........................................................................................................ 8-91
8.3.5 Timing Chart for Robot Hand Control ............................................................................... 8-93
8.3.6 Sample Ladder for Robot Hand Control ........................................................................... 8-98
8.4 Samples ................................................................................................................................ 8-100
8.4.1 Robot Program ............................................................................................................... 8-100
8.4.2 Sample Ladder Program ................................................................................................. 8-101
8.4.3 Sample Operation Setting in GOT Screen ...................................................................... 8-109
8.5 Precautions for Sequencer Direct Performance ................................................................... 8-113
8.5.1 Requirements ................................................................................................................. 8-113
8.5.2 Running together with Program ...................................................................................... 8-113
8.5.3 Prohibit Program Startup with always Running Program ................................................ 8-113
8.5.4 Robot Language Setting ................................................................................................. 8-113
8.5.5 Operation Panel Display ................................................................................................. 8-114
9 Shared Memory Extended Function Relevant Parameter .......................................................... 9-115
9.1 Parameter of Selecting Shared Memory Extended Function ................................................ 9-115
9.2 Function Definition Parameter .............................................................................................. 9-117
10 Extended Function Relevant Error List ................................................................................... 10-118
ii
1Overview
Note)
Note) The figure is the DU-700 series drive unit. The DU750-Q/DU751-Q series drive unit is also the same.
Monitor information
Operate robot
Instruct robot operation
Instruct robot operation
Sequence program
Shared
memory
1 Overview
These specifications describe the functions (sequencer direct performances) which extend the shared
memory in CR750-Q/CR751-Q series and CRnQ-700 series robot controller, exchange various robot information between sequencer and robot through the extended shared memory, and operate the robot without a
robot program.
Note: These shared memory extended functions only support MELFA-BASIC V or later. They do not support
MELFA-BASIC IV.
(For more information, refer to Page 10, "2.1.4 Check Robot Language Setting")
Sequencer direct performance does not support mecha 2 and 3 for multiple mecha. It supports additional axis.
1.1 Shared Memory Extended Function List
These shared memory extended functions are largely classified into monitoring and operation functions.
Monitoring function periodically updates and outputs the data in shared memory on the robot. Operation
function outputs a request from the sequencer to the robot as needed and exchanges the data. Shared
memory extended functions also provide a direct performance function to directly operate the robot.
No Item Description
1 Monitor-
ing function
2 Monitor activities Monitors the robot's activities (current
3 Monitor current and
4 Monitor general position
Monitor operation control setting values
aimed positions
and joint information
Monitors the setting values relating to
operation control command and operation control.
speed, arrival factor to the aimed position, etc.)
Monitors current and aimed positions of
robot.
Monitors various position type data (orientation at collision, etc.) and joint type
data (current value, load factor, etc.)
5 Monitor maintenance
information
Monitors the maintenance information
(battery and grease remaining times).
I/F btwn
Robots
Motoring output
(Robot side periodically updates
the data in
shared memory)
Update Cycle
7.1msec
7.1msec
7.1msec
It may differ according to each item.
Refer to Page 28,
"3.2.4 Monitor Position and Joint Information".
Depending on the
parameter MFINTVL
1-1Shared Memory Extended Function List
1Overview
No Item Description
6 Operation
function
7 Read program's current
8 Set up maintenance Resets the servomotor information.
9 Read error information Reads detailed error information (pro-
10 Read product information Reads the robot's product information
11 Perform sequencer direct Operates the robot from the sequencer
Read/write variables Reads/ writes variables used in the
robot's program.
line
Reads currently performing line of the
robot program on a per line basis (up to
128 characters).
gram name, occurred line, etc.)
(model name, version, and serial number).
through shared memory
I/F btwn
Robots
Request reply
method
(The robot side
answers by the
output request of
the sequencer,
and delivers the
data on the
shared memory)
Update Cycle
Responds within 1s
(It may vary according to the load status
of robot control)
1.2 Features
(1) Fulfilling functions to monitor and operate robot from GOT. Advances T/B and PC-less solution.
→ Various functions can be performed by reading/ writing the data in shared memory from GOT.
● Allows you to check activities, position information, and setting values of operation control command and
thereby analyze the operation in case of debugging or problem. (Monitoring current and aimed positions,
activities, and operation control setting values)
● Allows you to read and write the contents of program and variables and thereby change the robot's oper-
ation in case of debugging or problem.
● Allows you to check and set up maintenance status.
● Allows you to check error's detailed content. (Reading error information)
● Allows you to display and check various information in the robot (product, servo information, etc.)
(2) Controls peripheral devices and system according to the robot activities with the sequencer
The sequencer allows you to monitor the data in shared memory and responsively control the peripheral
device connected to the sequencer according to the monitored value.
● Allows you to control the peripheral devices by monitoring the robot's activities (current speed, arrival fac-
tor to the aimed position, etc.)
● Allows you to generate an alarm to the system and report to the upper side by monitoring the mainte-
nance and servomotor information (load factor, etc.)
(3) Analyzes the data and performs the quality control by logging the robot information through sequencer
Allows you to analyze the system data and perform the products' quality control by sending the logged robot
information in shared memory to the sequencer and upper device connected to the sequencer.
● Allows you to control the system's operating situation by logging error information.
● Allows you to perform the quality control of product assembly by logging servo monitor information (cur-
rent value, etc.)
Features 1-2
1Overview
(4) Allows to operate the robot without learning robot language (sequencer direct performance)
● Allows to operate the robot without knowing robot language.
Allows you to operate the robot by writing predetermined setting value into the specified address in
shared memory. Therefore, this function can be fulfilled regardless of sequencer language (ladder, ST
language, SFC, etc.)
● Allows you to select either joint or linear interpolation. Also, allows you to adequately specify the robot
operations such as override, acceleration and deceleration, tool setting.
Command Action
Operation control
Definition command
Hand command
Mov Move for joint interpolation
Mvs Move for linear interpolation
Ovrd Specify the overall speed
Spd Specify the linear interpolation speed
Accel Specify the acceleration and deceleration speed
Tool Specify the tool data
Hopen/Hclose
Open/close a hand
● Allows you to operate the robot with a sense, which is familiar to the sequencer programmer, to move a
positioning unit.
● Allows you to control the system operations only with sequencer.
Makes the program management easy so that a sequencer programmer can support for the change of
system specification and the problem.
● Allows you to control the system settings only with the sequencer in the GOT screen.
A sequencer programmer can support for the change of system specification and the problem so that the
program management gets so easy.
1-3Features
1Overview
Robot input area
(Sequencer output area)
0
511
0
511
0
511
512
1023
User area
User area
0
511
User area
User area
Extended
function area
・
・
・
Robot output area
(Sequencer input area)
0.5K
words
extended
Total 1K
word used
512
1023
Extended
function area
0.5K
words
extended
Total 1K
words used
Sequencer shared memory address (per word)
* Above notation is an offset address from the beginning
・
・
・
Sequencer shared memory address (per word)
* Above notation is an offset address from the beginning
Robot input area
(Sequencer output area)
Robot output area
(Sequencer input area)
Sequencer shared memory address (per word)
* Above notation is an offset address from the beginning.
Sequencer shared memory address (per word)
* Above notation is an offset address from the beginning.
1.3 Shared Memory Configuration
Here, describes the shared memory configuration among multiple CPUs.
1.3.1 Memory Configuration for Valid/Invalid Extended Function
To use the shared memory extended functions, enable the shared memory extended functions with the
parameter "IQMEM".
After enabling the shared memory extended functions, the shared memory is used by extending the robot I/
O area by 0.5 K word.
Extended Function Invalid
Extended Function Valid
Note) Only the user area can be referred to by robot program, signal monitor, and dedicated I/O signal allo-
cation. They cannot refer to the extended function area.
Shared Memory Configuration 1-4
1Overview
1.3.2 Memory Map of Extended Function Area
The table below lists the memory map of extended function area in the shared memory among multiple
CPUs.
* As the sequencer address may differ according to each CPU device, the sequencer address is described
in the offset address from start address.
* When not otherwise specified, the values are stored in binary format.
(1) Robot input (sequencer output) area (2) Robot output (sequencer input) area
Shared
Memory Addr
Sequencer
Description
Addr
512 Common setting area of extended function 512 Common setting area of extended function
Sequencer direct performance area Sequencer direct performance area
600 600
Shared
Memory Addr
Sequencer
Addr
Description
Common area of operation function
Read/write variables
Reading area of program's current line
Reset area of servo monitor information
Reading area of information
700 Common area of operation function 700
Reading/ writing/ teaching area of variables
Common area of monitoring function
Reading area of program's current line Monitoring area of operation control setting
values
800 800
Monitoring area of activities
Reset area of servo monitor information
Reading area of error and product information
Common area of monitoring function
Monitoring area of general position and joint
information
(Reserved: Future extended area)
900 900 Monitoring area of general position and joint
Monitoring area of current and aimed posi-
tions
information
1000 1000
1023 1023
1024 1024
1-5Shared Memory Configuration
Monitoring area of maintenance information
(Reserved)
2 Preparation for Using Extended Function
…
…
…
● Sets up sequencer's parameter (multiple CPU setting).
For robot CPU, allocate 1K word of free user area in high-speed
communication area of multiple CPUs to robot's I/O area.
(Refer to Page 7, "2.1.1 Set up Sequencer's Multiple CPUs")
● Sets up multiple CPUs' parameters.
(Refer to Page 8, "2.1.2 Set up Robot's Multiple CPUs")
● Sets up parameter IQMEM.
1) To enable the extended function, set bit 0 to one.
2) To enable the sequencer direct performance, set bit 1 to one.
(Refer to Page 9, "2.1.3 Set up Parameter for Selecting Shared
Memory Extended Function")
● Set robot language to "MELFA BASIC V."
(Refer to Page 10, "2.1.4 Check Robot Language Setting")
"3Monitor Robot Information"
"4Reads/Writes Robot's Variables"
"5Read Current Line of Robot Program"
"6Set up Robot's Maintenance"
"7Read Robot Information"
"8Perform Sequencer Direct"
Set up sequencer's multiple CPUs
Start
Reset sequencer
Reset sequencer
Did the sequencer
successfully restart?
Carry out the functions described in
chapters 3 to 8
● Carry out the reset operation of sequencer or reset the sequencer
by turning ON the power.
2.1 Operation flow
2Preparation for Using Extended Function
Operation flow 2-6
2Preparation for Using Extended Function
2.1.1 Set up Sequencer's Multiple CPUs
Here, sets up the multiple CPU setting as a sequencer's PC parameter. Also refer to the description of
sequencer link I/O functions described in Supplement volume "Instruction Manual, Detailed Description of
Functions and Operations."
GX-Developer multiple CPU setting screen (three robots. The shared memory extended functions are valid
in all robots)
Setting Item Description Setting Value
CPU quantity Set up the quantity of CPU units used in multiple CPU
system.
Synchronous startup
among multiple CPUs
High-speed communication area setting among
multiple CPUs
Automatic refresh setting Set up this when the device data is automatically
Set up this to synchronize the startup times of CPU
units in multiple CPU system.
* Because the robot CPU takes a dozen second for
startup, select the synchronize startup
Set up this when the data is transferred by using the
high-speed communication area
CPUs.
The necessary area for robot is as follows:
Shared memory extended functions are valid:
Robot input area: 1.0K
Robot output area: 1.0K
Shared memory extended functions are invalid:
Robot input area: 0.5K
Robot output area: 0.5K
refreshed by using the high-speed communication area
among multiple CPUs.
* Robot CPU is not supported. Always set this to zero.
Note1)
among multiple
Note1) For information about multiple CPUs and high-speed communication area among multiple CPUs, refer to the QCPU
manual (QCPU User Manual, Multiple CPU System).
Note2) Because the area is set up in 1K unit, allocate 1K even in case of 0.5K.
2 - 4
Required for check
<Shared memory extended functions are valid:>
Device #1: Sum of the size (1K) of the data to be
sent to the robot and the size of the data to be
sent to other devices
Robot device: Set 1K for it
Other devices: Set its own transmission size
<Shared memory extended functions are invalid:>
Device #1: Sum of the size (0.5K) of the data to be
sent to the robot and the size of the data to be
sent to other devices
Robot device: Set 1K for it
Other devices: Set its own transmission size
Note 2: Because the area is set up in 1K unit, allocate 1K even in case of 0.5K.
Robot device: Set zero point for it
Other devices: To use automatic refresh function,
set its score and target device
Note2)
2-7Operation flow
2Preparation for Using Extended Function
RT-ToolBox2 multiple CPU setting screen (three robots. Shared memory extended functions are valid in
all robots)
The multiple CPU input
offset parameter
"QMLTCPUS" can also
be set.
About input offset parameter (QMLTCPUS)
Sets up the offset of robot's input signals in multiple CPUs in 1K word unit.
For example, when QMLTCPUS is set to one, the start address of robot's input area is an address
(U3E0\G11024) offset by 1K word from the start address of transmission area of device #1 (sequencer).
When QMLTCPUS is set to -1 (initial value), the start address of robot's input area is as listed in the table
above.
2.1.2 Set up Robot's Multiple CPUs
Here, sets up the multiple CPUs as a robot's parameter. In the description below, parameter setting screen
of RT ToolBox 2 illustrates this setting. This can also be set up by specifying the parameter name in the
teaching box's parameter setting screen.
Set the same value as specified in
Page 7, "2.1.1 Set up Sequencer's Multiple CPUs".
[Start address of robot input offset]
The Table 2-1 lists the start addresses of robot input area in the robot's initial setting (multiple CPU input off-
set parameter "QMLTCPUS" is set to "-1") (The start address changes according to whether the shared
memory extended functions are enabled or not).
Table 2-1:Start address of robot input area when the multiple CPU input offset parameter is initial value
Shared Memory Extended
Device No
Device #2 (robot 1) 0K 0K
Device #3 (robot 2) 0.5K 1.0K
Device #4 (robot 3) 1.0K 2.0K
Functions
Invalid Valid
The start address of robot's input area may differ, when the valid/invalid setting for shared memory extended
function may differ in other devices or when a unit other than robot is installed. In these cases, set up the
multiple CPU input offset parameter (QMLTCPUS).
For setting example, refer to Page 11, "2.1.5 Allocation Example of Shared Memory".
Operation flow 2-8
2Preparation for Using Extended Function
Set both bits 0, 1 of
parameter IQMEM to 1
External program
variable
External program
variable for
sequencer direct
performance
(For instructing
robot location)
Sequencer direct performance is
valid
Sequencer direct performance is
invalid
:
Extend external
program variable
Set either bit 0, 1 of
parameter IQMEM to 0
Extend and delete
external program
variable
External program
variable
System state
variable
System state
variable
Set both bits 0, 1 of
parameter IQMEM to 1
Set either bit 0, 1 of
parameter IQMEM to 0
+
System state
variable for
sequencer direct
performance
Extend system state
variable
Extend and delete
system state
variable
Robot controller's internal memory
+
CAUTION
2.1.3 Set up Parameter for Selecting Shared Memory Extended Function
The parameter "IQMEM" for selecting the shared memory extended function is 16bit data. Set the bit 0 to
one to use the extended functions (monitoring, operation functions). Set the bit 1 to one to use the
sequencer direct performance function. Both bits can be set to one.
For information on how to set up a parameter, refer to Supplement volume "Instruction Manual, Detailed
Description of Functions and Operations."
Array Qty
Character
Qty
ger
Description Factory Default
Set validity (1)/ invalidity (0) for the function.
Sets each bit by allocating a function to each bit.
0000000000000000 bit2-15: Not used
|+- bit0: Use the shared memory
extended function
+-- bit1: Sequencer direct
performance function
0000000000000000
Parameter
Select shared
memory extended
function
Parameter
Name
IQMEM 1 digit inte-
To use the shared memory extended functions and sequencer direct performance functions, set each bit as
follows:
Bit 1 Bit 0
Use the shared memory extended function 0 1
Use the sequencer direct performance function 1 1
When using the sequencer direct performance function, robot's internal memory is extended as follows:
:
2-9Operation flow
When the sequencer direct performance function is valid, external program variable
and system state variable areas are extended in the robot controller (extended variables). When the function gets invalid, the extended variable area is cleared. Consequently, after the sequencer direct performance function was enabled once, the
robot location was taught, and the data was set, when the parameter is turned back,
be aware that the previous teaching and setting data will disappear.
2Preparation for Using Extended Function
CAUTION
2.1.4 Check Robot Language Setting
The shared memory extended functions can be carried out only when the robot language is set to MELFABASIC V.
Check the value of robot language setting parameter "RLNG".
To use the shared memory extended function, set the parameter "RLNG" to 2.
For information on how to set up a parameter, refer to Supplement volume "Instruction Manual, Detailed
Description of Functions and Operations."
Parameter
Robot language RLNG 1 digit inte-
Parameter
Name
Array Qty
Character
Qty
ger
Description Factory Default
Select the robot language to be used:
2: MELFA-BASIC V
1: MELFA-BASIC IV
2
The robot controller's factory default is MELFA-BASIC V. But, when you have selected MELFA-BASIC IV, an
error "L3994" or "L3996" occurs on controller startup.
When the robot language setting is changed from MELFA-BASIC V to MELFABASIC IV, the extended variable area is cleared. Consequently, be aware that the
teaching and setting data for shared memory extended function/ sequencer direct
performance function will disappear.
Operation flow 2-10
2Preparation for Using Extended Function
Transmission
area of Device #1
(for Device #2)
(sequencer)
Transmission
area of Device
#1, 3K word
(1K x 3)
Transmission
area of Device
#2, 1K word
Extended Function: Valid
Robot input
Robot output
Transmission
area of Device #2
U3E0\G10000
U3E1\G10000
2.1.5 Allocation Example of Shared Memory
(1) Multiple CPU Configuration with One Sequencer plus One Robot
1) Case 1: Robot: Extended function is enabled, input offset parameter is initial value
The robot uses each 1K word for I/O.
Device #1
Device #2 (robot 1)
2-11Operation flow
2Preparation for Using Extended Function
Transmission
area of Device #1
Device #1
(sequencer)
Transmission
area of Device
#1, 2K word
(0.5K x 4)
(Empty)
Transmission
area of Device
#2, 1K word
(0.5K x 2)
Transmission
area of Device #2
(Empty)
Robot input
Robot output
Device #2 (robot 1)
Extended Function: Invalid
U3E0¥G10000
U3E1¥G10000
U3E0¥G10512
U3E1¥G10512
2) Case 2: Robot: Extended function is disabled, input offset parameter is initial value
The robot uses each 0.5K word for I/O.
As the transmission score is set yet in 1K word unit, the transmission score setting is as follows:
Operation flow 2-12
2Preparation for Using Extended Function
Transmission
area of Device #1
(for Device #2)
Device #1
(sequencer)
Transmission
area of Device
#1, 3K word
(1K x 3)
Transmission
area of Device
#2, 1K word
Device #2 (robot 1)
Extended Function:
Vali d
Device #3 (robot 2)
Extended Function:
Val id
Device #4 (robot 3)
Extended Function:
Vali d
Transmission
area of Device #1
(for Device #3)
Transmission
area of Device #1
(for Device #4)
Transmission
area of Device
#3, 1K word
Transmission
area of Device
#4, 1K word
Robot input
Robot output
Robot input
Robot output
Robot input
Robot output
Transmission
area of Device #3
Transmission
area of Device #4
Transmission
area of Device #2
U3E0\G10000
U3E0\G11024
U3E0\G12048
U3E1\G10000
U3E2\G10000
U3E3\G10000
(2) Multiple CPU Configuration with One Sequencer plus Three Robots
1) Case 1: All robots: Extended function is enabled, input offset parameter is initial value
All robots use each 1K word for I/O.
The beginning of robot 2 input area starts at 1.0K offset from the beginning of shared memory
address, and the beginning of robot 3 input area starts at 2.0K offset from the beginning of
shared memory address.
2-13Operation flow
2Preparation for Using Extended Function
Transmission area of Device #1
(for Device #2)
Device #1
(sequencer)
Transmission area of Device #1
(for Device #3)
Transmission area of Device #1
(for Device #4)
Transmission
area of Device
#1, 2K word
(0.5K x 4)
(Empty)
Transmission
area of Device
#2, 1K word
(0.5K x 2)
Transmission area
of Device #2
(Empty)
Transmission area
of Device #3
(Empty)
Transmission area
of Device #4
(Empty)
Transmission
area of Device
#3, 1K word
(0.5K x 2)
Transmission
area of Device
#4, 1K word
(0.5K x 2)
Robot input
Robot output
Robot input
Robot output
Robot input
Robot output
Device #2 (robot 1)
Extended Function:
Invalid
Device #3 (robot 2)
Extended Function:
Invalid
Device #4 (robot 3)
Extended Function:
Invalid
U3E0\G10000
U3E0\G10512
U3E0\G11024
U3E1\G10000
U3E2\G10000
U3E3\G10000
2) Case 2: All robots: Extended function is disabled, input offset parameter is initial value
All robots use each 0.5K word for I/O.
The beginning of robot 2 input area starts at 0.5K offset from the beginning of shared memory
address, and the beginning of robot 3 input area starts at 1.0K offset from the beginning of
shared memory address.
The setting is in 1K word unit as follows:
Operation flow 2-14
2Preparation for Using Extended Function
Device #1
(sequencer)
Transmission
area of Device
#1, 2K word
(0.5K x 2, 1K x1)
Transmission
area of Device
#2, 1K word
Device #2 (robot 1)
Extended
Function: Invalid
Device #3 (robot 2)
Extended
Function: Invalid
Device #4 (robot 3)
Extended
Function: Valid
Transmission area of Device #1
(for Device #4)
Transmission
area of Device #4
Transmission
area of Device
#4, 1K word
Robot input
Robot output
Transmission area of Device #1
(for Device #2)
Robot input
Transmission
(Empty)
Robot output
Transmission area of Device #1
(for Device #3)
Transmission
(Empty)
Transmission
area of Device
#3, 1K word
Robot output
Robot input
U3E0\G10000
U3E0\G10512
U3E0\G11024
U3E1\G10000
U3E2\G10000
U3E3\G10000
Input offset parameter of
robot 3 is changed
3) Case 3: Robots 1, 2: Extended function is disabled, Robot 3: Extended function is enabled (#1)
By default, the robot 3 input area starts at 2.0K offset from the beginning of shared memory
(By default, the extended function of robots 1, 2 is also assumed to be enabled, similar to
robot 3). Therefore, the multiple CPU input offset parameter (QMLTCPUS) of robot 3 should
be set to "1."
area of Device #2
area of Device #3
2-15Operation flow
2Preparation for Using Extended Function
Device #1
(sequencer)
Transmission
area of Device
#1, 3K word
(1K x 3)
Transmission
area of Device
#2, 1K word
Device #2 (robot 1)
Extended Function:
Invalid
Device #3 (robot 2)
Extended Function:
Invalid
Device #4 (robot 3)
Extended Function:
Val id
Transmission area of Device #1
(for Device #4)
Transmission
area of Device #4
Transmission
area of Device
#4, 1K word
Robot input
Robot output
Transmission area of Device #1
(for Device #2)
(Empty)
Robot input
Transmission
(Empty)
Robot output
Transmission area of Device #1
(for Device #3)
(Empty)
Transmission
(Empty)
Transmission
area of Device
#3, 1K word
Robot output
Robot input
U3E0\G10000
U3E0\G11024
U3E0\G12048
U3E1\G10000
U3E2\G10000
U3E3\G10000
Input offset parameter of
robot 2 is changed
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".
area of Device #2
area of Device #3
Operation flow 2-16
3Monitor Robot Information
3 Monitor Robot Information
The Table 3-1 lists the robot information monitored from sequencer.
Setting values are also monitored during performing sequencer direct.
Table 3-1:Monitoring item list
No Item Description I/F betw Robots
1 Monitor operation
control setting values
2 Monitor activities Monitors the robot's activities (current
3 Monitor current
and aimed positions
4 Monitor position
and joint information
5 Monitor mainte-
nance information
Monitors the setting values relating to
operation control command and operation control
speed, arrival factor to the aimed position, etc.)
Monitors current and aimed positions of
robot
Monitors various position type data (orientation at collision, etc.) and joint type
data (current value, load factor, etc.)
Monitors the maintenance information
(battery and grease remaining times)
Monitoring output
(Robot side periodically updates
the data in
shared memory
Update
Cycle
7.1msec
7.1msec
7.1msec
Differ according to items
Depending
on the
parameter
MFINTVL
Mecha No
Setting
○
(necessary)
○
○
○
○
Section
No
"3.2.1"
"3.2.2"
"3.2.3"
"3.2.4"
"3.2.5"
3-17
3.1 Operation Flow
…
Refer to Page 6, "2 Preparation for Using Extended Function".
Select items to be monitored from the sequencer.
The robot outputs the signal "Function performing" of the monitoring function.
(Refer to Page 19, "3.1.1 Select Monitoring Items")
Select the mecha number from the sequencer.
The robot outputs the "Mecha No" of monitoring target.
(Refer to Page 19, "3.1.2 Select Target Mecha")
Select the position and joint data from the sequencer.
The robot outputs the "Position and joint data No" of monitoring
target.
(Refer to Page 28, "(1) Select Position and Joint Data")
Start
Prepare for Using Extended Function
Select monitoring items
Is the function selected by
the robot side?
Select mecha
Is the mecha selected by
the robot side?
Whether to monitor posi-
tion and joint information?
Select position and joint data
Is the data selected by the
robot side?
No
Yes
No
Yes
No
No
Yes
Yes
Monitoring starts
• Monitor operation control setting values
• Monitor activities
• Monitor current and aimed positions
• Monitor maintenance information
Monitoring starts
• Monitor position and joint information
3Monitor Robot Information
Operation Flow 3-18
3Monitor Robot Information
3.1.1 Select Monitoring Items
Here, selects the monitoring functions output by the robot from the sequencer.
Only the data specified by items (set to "1") selected with each bit can be monitored. For more information
on each monitoring data, refer to Page 23, "3.2 Monitoring Item" and after.
(1) Sequencer output data
a) Word data
Sequencer Addr
(offset)
Function selection [Allocated to each bit, 0: invalid, 1: valid]
bit15 0
0000000000000000
|||||||+--bit0: (Reserved)
||||||+---bit1: (Reserved)
512
|||||+----bit2: Monitor operation control settings
||||+-----bit3: Monitor activities
|||+------bit4: Monitor current and aimed positions
||+-------bit5: Monitor position and joint information
|+--------bit6: Monitor maintenance information
+---------bit7: (Reserved)
Description Remarks
(2) Robot output data
a) Word data
Sequencer Addr
(offset)
Function performing [allocated to each bit, 0: invalid, 1: valid]
bit15 0
0000000000000000
|||||||+--bit0: (Reserved)
||||||+---bit1: (Reserved)
512
|||||+----bit2: Monitor operation control settings
||||+-----bit3: Monitor activities
|||+------bit4: Monitor current and aimed positions
||+-------bit5: Monitor position and joint information
|+--------bit6: Monitor maintenance information
+---------bit7: (Reserved)
Description Remarks
3.1.2 Select Target Mecha
Here, selects the target mecha number of monitoring data output by the robot from the sequencer.
The robot outputs the data with selected mecha number. The number (1 to 3) is selectable for mecha numbers. When the number other than 1 - 3 is specified, the data is initialized (zeros are put in the whole target
area)
(1) Sequencer output data
a) Word data
Sequencer Addr
(offset)
841 Specify a mecha number [1 - 3]
Description Remarks
(2) Robot output data
a) Word data
Sequencer Addr
(offset)
3-19Operation Flow
Description Remarks
731 Mecha number [1 - 3]
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