Instruction manual

6. DRIVE MODULE
6 − 30
6.2.3 Synchronous encoder axis device (internal relay, data register)
(1) Synchronous encoder axis device
Device
Axis
No.
A273UHCPU A173UHCPU(S1)
Signal Name
1 M4640 to M4643 M4640 to M4643 (
!
: Valid)
2 M4644 to M4647 M4644 to M4647
Refresh Cycle Fetch Cycle
3 M4648 to M4651 M4648 to M4651
4 M4652 to M4655 M4652 to M4655
Preset number of axes
(Note)
Preset number of axes
(Note)
5 M4656 to M4659
1 to 8 9 to 18 19 to 32 1 to 8 9 to 18 19 to 32
6 M4660 to M4663
Signal Name REAL VIRTUAL
Signal
Direction
1 to 12 13 to 24 25 to 32 1 to 12 13 to 24 25 to 32
7 M4664 to M4667 0 Error detection
!!
Immediately
8 M4668 to M4671
9 M4672 to M4675
1
External signal
TRA
!!
10 M4676 to M4679
11 M4680 to M4683
12 M4684 to M4687
2
VIRTUAL mode
continuation
disabled warning
!!
10ms 20ms
3 Unusable

SCPU
←
PCPU

(Note): Upper: A273UHCPU, lower: A173UHCPU(-S1)
(a) Error detection signal (M4640+4n)
1) The error detection signal switches ON when a minor or major error
occurs at the drive module, or at an output module which is connected to
the drive module. ON/OFF switching of this signal permits error
valid/invalid identification processing.
2) When the error detection signal switches ON, the corresponding error
code is recorded at the error code storage area.
• Minor error code
(Note-1)
…Stored at minor error code storage area
(Note-
2)
.
• Major error code
(Note-1)
…Stored at major error code storage area
(Note-2)
.
The error code or the output module error detection signal's ON/OFF
status indicates whether the error occurred at the drive module or the
output module.
3) When a normal status is restored at the drive module and output module,
and the error reset command (M5440+4n) is switched ON, the error
detection signal will switch OFF.
(b) External signal TRA (M4641+4n)
1) The external signal TRA is used for clutch control in the external input
mode. This signal switches ON when input occurs at the
A273EX/A172SENC
"TRA" input terminal, and indicates the TRA terminal's input ON/OFF
status.
(c) VIRTUAL mode continuation disabled warning signal (M4642+4n)
1) As happens when the absolute type synchronous encoder is moved while
power is OFF, this signal will switch ON when the current value read at
power ON differs from that which was stored at power OFF (final current
value of VIRTUAL mode operation).
This signal status indicates whether VIRTUAL mode operation can be
continued following a power ON or servo system CPU reset.