Instruction manual
6. DRIVE MODULE
6 − 21
(3) Virtual servo motor axis monitor device
Axis
No.
Device Number Signal Name
1 D800 to D805 (
!
: Valid)
2 D810 to D815
Refresh Cycle Fetch Cycle
3 D820 to D825
Preset number of axes
(Note)
Preset number of axes
(Note)
4 D830 to D835
1 to 8 9 to 18 19 to 32 1 to 8 9 to 18 19 to 32
5 D840 to D845
Signal Name REAL VIRTUAL
Signal
Direction
1 to 12 13 to 24 25 to 32 1 to 12 13 to 24 25 to 32
6 D850 to D855
7 D860 to D865
0
1
Feed current value 3.5 ms 7.1 ms 14.2ms
8 D870 to D875 2 Minor error code
9 D880 to D885 3 Major error code
Immediately
10 D890 to D895
11 D900 to D905
4
Execution program
Number
At start
12 D910 to D915 5 M-code
Backup
!
SCPU
←
PCPU
3.5 ms 7.1 ms 14.2ms
13 D920 to D925
14 D930 to D935
15 D940 to D945
16 D950 to D955
17 D960 to D965
18 D970 to D975
19 D980 to D985
20 D990 to D995
21 D1000 to D1005
22 D1010 to D1015
23 D1020 to D1025
24 D1030 to D1035
25 D1040 to D1045
26 D1050 to D1055
27 D1060 to D1065
28 D1070 to D1075
29 D1080 to D1085
30 D1090 to D1095
31 D1100 to D1105
32 D1110 to D1115
(Note): Upper: A273UHCPU, lower: A173UHCPU(-S1)
(a) Feed current value storage register(D800+10n)
(Note-1)
...................................................................... Data sent from PCPU to SCPU
1) The target address which was output to the virtual servo motor in
accordance with the servo program's positioning address and travel
value is stored at this register.
2) This feed current value data is subjected to a stroke range check.
3) "−2
31
PLS to (2
31
−1) PLS" ring address is established.
(2
31
–1)
–2
31
4) Data in the feed current value storage register is stored in a backup
memory when a power OFF or servo system CPU reset occurs.
(b) Minor error code storage register (D802+10n)
...................................................................... Data sent from PCPU to SCPU
1) When a minor error occurs at the virtual servo motor or at the output
module, the corresponding error code (see Section 11.3 and 11.5) is
stored in this register.
Each time a minor error occurs, the previous error code stored in this
register will be overwritten by the new error code.
2) To clear error codes for minor errors which occurred at the virtual servo
motor or synchronous encoder, execute the drive module error reset
command
(Note-2)
.
To clear error codes for minor errors which occurred at the output
module, execute the output module error reset command
(Note-3)
.