Instruction manual

6. DRIVE MODULE
6 − 32
(3) Synchronous encoder axis monitor device
Device
Axis
No.
A273UHCPU A173UHCPU(S1)
Signal Name
1 D1120 to D1125 D1120 to D1125 (
!
: Valid)
2 D1130 to D1135 D1130 to D1135
Refresh Cycle Fetch Cycle
3 D1140 to D1145 D1140 to D1145
4 D1150 to D1155 D1150 to D1155
Preset number of axes
(Note)
Preset number of axes
(Note)
5 D1160 to D1165
1 to 8 9 to 18 18 to 32 1 to 8 9 to 18 19 to 32
6 D1170 to D1175
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 D1180 to D1185
8 D1190 to D1195
0
1
Current value
3.5
ms
7.1
ms
14.2
ms
9 D1200 to D1205 2 Minor error code
10 D1210 to D1215 3 Major error code
Back
up
!
Immediately
11 D1220 to D1225 4 Unusable
5 Unusable

SCPU
←
PCPU

12 D1230 to D1235
(Note): Upper: A273UHCPU, lower: A173UHCPU(-S1)
(a) Current value storage register (D1120+10n, D1121+10n)
...................................................................... Data sent from PCPU to SCPU
1) The virtual drive module and synchronous encoder current values are
stored in this register.
2) "−2147483648 (−2
31
) PLS to 2147483647 (2
31
−1)" ring address is
established.
3) Data in the 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 (D1122+10n)
...................................................................... Data sent from PCPU to SCPU
1) When a minor error occurs at the synchronous encoder 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-1)
.
To clear error codes for minor errors which occurred at the output
module, execute the output module error reset command
(Note-2)
.
REMARKS
(1) (Note-1): For details regarding the drive module error reset command, see
Section 6.2.3.
(2) (Note-2): For details regarding the output module error reset command, see
Section 8.5.1.
(c) Major error code storage register (D1123+10n)
...................................................................... Data sent from PCPU to SCPU
1) When a major error occurs at the synchronous encoder or at the output
module, the corresponding error code (see Section 11.3 and 11.5) is
stored in this register.
Each time a major error occurs, the previous error code stored in this
register will be overwritten by the new error code.
2) To clear error codes for major errors which occurred at the virtual servo
motor or synchronous encoder, execute the drive module error reset
command.
To clear error codes for major errors which occurred at the output
module, execute the output module error reset command.