Mitsubishi Electric MELFA BFP-A8787-F Instruction Manual page 26

2Preparation for Using Extended Function
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."
U3E0\G10000
Transmission
U3E0\G10512
area of Device
#1, 2K word
U3E0\G11024
(0.5K x 2, 1K x1)
U3E1\G10000
Transmission
area of Device
#2, 1K word
U3E2\G10000
Transmission
area of Device
#3, 1K word
U3E3\G10000
Transmission
area of Device
#4, 1K word
2-15Operation flow
Device #1
(sequencer)
Transmission area of Device #1
(for Device #2)
Transmission area of Device #1
(for Device #3)
Transmission area of Device #1
(for Device #4)
Transmission
area of Device #2
(Empty)
Transmission
area of Device #3
(Empty)
Transmission
area of Device #4
Device #2 (robot 1)
Device #3 (robot 2)
Extended
Function: Invalid
Function: Invalid
Robot input
Robot output
Device #4 (robot 3)
Extended Extended
Function: Valid
Robot input
Robot input
Robot output
Robot output
Input offset parameter of
robot 3 is changed