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3. POSITIONING SIGNALS
<A172SHCPUN>
D9191
<A171SHCPUN>
D9191
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(6) Error program No. (D9189) .......Data from the PCPU to the SCPU
(a) Stores the number of the subprogram (range: 0 to 4095) affected by the
error when the subprogram setting error flag (M9079) comes ON.
(b) If, once an error program number has been stored, an error occurs in
another servo program, the program number of the subprogram with the
new error is stored.
(7) Error item information (D9190) ......Data from the PCPU to the SCPU
When an error occurs at servo program operation (DSFRP/SVST instruction),
the servo program setting error flag (M9079) comes ON and the error code that
corresponds to the error is stored in this device.
For details of servo program setting errors, see Appendix 2-1.
(8) Servo amplifier installation information (D9191) .......Data from the PCPU to the
SCPU
On switching on the control power supply to the servo system CPU or resetting,
the servo amplifier installation status is checked and the result is set in this
device.
Lower 4 bits ...... Servo amplifier installation status
The "installed" status will be stored for axes for which an amplifier is installed
after the power is switched on. However, if the amplifier for an axis is removed,
the "installed" status will not change to "not installed".
b15
to
0
b15
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b8
b7
b6
b5
b4
Axis8
Axis7
Axis6
Axis5
Servo amplifier installation
status
to
b4
0
Servo amplifier installation
status
3 − 49
b3
b2
b1
b0
Axis4
Axis3
Axis2
Axis1
Installed
1
Not installed
0
b3
b2
b1
b0
Axis 4 Axis 3 Axis 2 Axis 1
Installed
1
Not installed
0
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