System Settings - Mitsubishi Electric A173UHCPU Programming Manual

3. POSITIONING SIGNALS
b15 b14 b13 b12 b11 b10
D9191
Axis16 Axis15 Axis14 Axis13 Axis12 Axis11 Axis10
D9192
Axis32 Axis31 Axis30 Axis29 Axis28 Axis27 Axis26 Axis25 Axis24 Axis23 Axis22 Axis21 Axis20 Axis19 Axis18 Axis17
(6) Servo amplifier loading information
(D9191 to D9192)........................................................Data from PCPU to SCPU
When the servo system CPU control power supply (A6 P) is switched on or
reset, the servo amplifier and option slot loading states are checked and its
results are stored.
The axis which turned from non-loading to loading status after power-on is
handled as loaded. However, the axis which turned from loading to non-loading
status remains as loaded.
b9 b8
Axis9
(a) Servo amplifier installation status
1) Installed/not installed status
• "installed" status............... The MR- -B is normal
• "not installed" status......... No servo amplifier is installed.
2) The system settings and servo amplifier installation statuses are
indicated below.

System Settings

Used (axis No. setting)
Unused
(7) PC link communication error code (D9196)
When an error occurs during PC link communication, the error code that
corresponds to the error is stored in this device.
PC Communication Error Code
Storage Register
D9196
For details of PC link communication errors, see Appendix 2.5.
b7 b6 b5 b4 b3
Axis8 Axis7 Axis6 Axis5 Axis4
(i.e. communication with the servo amplifier is
normal)
The servo amplifier power is OFF.
Normal communication with the servo
amplifier is not possible due, for example, to a
connecting cable fault.
ADU
Loaded Not loaded
1 is stored Major error
0 is stored 0 is stored
3 − 54
b2 b1 b0
Axis3 Axis2 Axis1
Sarvo amplifier loading status
Loaded
Non-loaded
MR- -B
Loaded
1 is stored
0 is stored
Contents
00: No error
01: Receiving timing error
02: CRC error
03: Communication response code error
04: Receiving flame error
05: Communication task start error
(Each error code is reset to 00 when
normal communication is restarted.)
1
0
Not loaded
0 is stored
0 is stored