Special Registers (Sp.d) - Mitsubishi Electric Q172CPU Programming Manual

4 POSITIONING DEDICATED SIGNALS

4.5 Special registers (SP.D)

Device No.
D9180
Unusable
D9181
D9182
Test mode request error information
D9183
D9184 Motion CPU WDT error cause
D9185
Manual pulse generator axis setting error
D9186
information
D9187
D9188 Motion operation cycle
D9189 Error program No.
D9190 Error item information
D9191
Servo amplifier loading information
D9192
D9193
Real/virtual mode switching error
D9194
information
D9195
D9196 PC link communication error codes
D9197 Operation cycle of the Motion CPU setting
D9198
Unusable
D9199
D9200 State of switch
D9201 State of LED
b15 b14 b13
D9182
Axis 16 Axis 15 Axis 14 Axis 13 Axis 12 Axis 11 Axis 10 Axis 9
D9183
Axis 32 Axis 31 Axis 30 Axis 29 Axis 28 Axis 27 Axis 26 Axis 25 Axis 24 Axis 23 Axis 22 Axis 21 Axis 20 Axis 19 Axis 18 Axis 17
(Note-1) : The range of axis No.1 to 8 is valid in the Q172CPU(N).
(Note-2) : Refer to APPENDIX 2.1 for the expression method of axis No. corresponding
to the each bit of word data.
There are 256 special register points of D9000 to D9255 in the Motion CPU.
Of these, 22 points of the D9180 to D9201 are used for the positioning control.
The special registers used for positioning are shown below. (Refer to APPENDIX 3.2
"Special registers" for the applications of the special registers except D9180 to
D9201.)
Table 4.5 Special register list
Signal name
(1) Test mode request error information (D9182, D9183)
If there are operating axis at a test mode request from a peripheral device, a test
mode request error occurs, the test mode request error flag (M9078) turns on,
and the during operation/stop data of the each axis are stored.
b12 b11 b10 b9 b8
Refresh cycle
At test mode request
At Motion CPU WDT error
occurrence
At the manual pulse generator
enable flag
Operation cycle
At start
At power supply on/
operation cycle
At virtual mode transition
Operation cycle
At power supply on
Main cycle
Immediate
b7 b6 b5 b4 b3
Axis 8 Axis 7 Axis 6 Axis 5 Axis 4
4 - 83
Fetch cycle
.............. Monitor device
b2 b1 b0
Axis 3 Axis 2 Axis 1
Stores the during operation/stop
data of each axis
0 : During stop
1 : During operation
Signal
direction
Monitor
device
Monitor
device