Mitsubishi Electric RV-FR Series Instruction Manual page 18

1 FUNCTIONS AND CONFIGURATION
◆ Multiple CPU system
This function allows multiple CPU modules in the multiple CPU system to use one master/local module.
Programmable controller CPU module (CPU No.1) can perform standard communication, and robot CPU module
of robot controllers (CPU No.2 to No.4) can perform safety communication with the master station individually.
CPU No.1 CPU No.2
Programmable Robot CPU
controller CPU module 1
module
SCNI01-08
Data received
SCNO01-04
Send data
X/W
Data received
U3E0\HG Input signal
Y/W
Send data
U3E1\HG Output signal
U3E2\HG
U3E3\HG
1-4 System Configuration
CPU No.3 CPU No.4
Robot CPU Robot CPU
module 2 module 3
SCNI01-08
Data received
SCNI01-08
Data received
SCNO01-04
Send data
SCNO01-04
Send data
Devices shared among multiple CPUs
Input signal
Input signal
Devices shared among multiple CPUs
Output signal
Output signal
Fig. 1-2: Overview of data transfer devices
Station No.1
(local station)
Master/local
module
Safety
communication
RX/RWr
Standard
communication
Data received
RY/RWw
Send data
Station No.0
(master station)
Master/local Safety CPU
module module
SA\Y
Send data
000
Station No.1 -
00F
CPU No.2
Send data
010
Station No.1 -
01F
CPU No.3
Send data
020
Station No.1 -
02F
CPU No.4
SA\X
000 Data received
Station No.1 -
00F
CPU No.2
010 Data received
Station No.1 -
01F
CPU No.3
020
Data received
Station No.1 -
02F
CPU No.4
RY/RWw Y/W
Send data Send data
Station No.1 Station No.1
RX/RWr X/W
Data received Data received
Station No.1 Station No.1