Instruction manual

6. DRIVE MODULE
6 − 33
(4) Current value after synchronous encoder axis main shaft differential gear
Device
Axis
No.
A273UHCPU A173UHCPU(S1)
Signal Name
1 D1126 to D1129 D1126 to D1129 (
!
: Valid)
2 D1136 to D1139 D1136 to D1139
Refresh Cycle Fetch Cycle
3 D1146 to D1149 D1146 to D1149
4 D1156 to D1159 D1156 to D1159
Preset number of
axes (Note)
Preset number of
axes (Note)
5 D1166 to D1169
1 to 8 9 to 18 18 to 32 1 to 8 9 to 18 19 to 32
6 D1176 to D1179
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 D1186 to D1189
8 D1196 to D1199
0
1
Current value after
synchronous encoder
axis main shaft's
differential gear
9 D1206 to D1209
10 D1216 to D1219
2
Error detection output
axis No.
Back
up
!
3.5
ms
7.1
ms
14.2
ms
11 D1226 to D1229 3
Unusable

SCPU
←
PCPU

12 D1236 to D1239
(Note): Upper: A273UHCPU, lower: A173UHCPU(-S1)
(a) Current value storage registers after synchronous encoder axis main shaft
differential gear (D1126+10n, D1127+10n)..................... PCPU→SCPU data
1) When switching the virtual mode the current value will be the same as
the main shaft side drive module current value.
2) When a current value change is carried out in relation to the main shaft
side drive module, the current value after the main shaft differential gear
will also be changed to the set current value at the same time.
3) If the differential gear is not connected to the main shaft, the main shaft
drive module current value will always be stored in current value storage
register after the main shaft differential gear.
(b) Error search output axis No. storage register (D1128+10n) ..... Data from
SCPU to PCPU
1) This register is designed to store the axis number of the output module in
error which was detected by the error search function in the virtual mode.
2) If there are no errors at the synchronous encoder axes of the main shaft
and auxiliary input axis, the error occurrence output axis No. is stored
into the error search output axis No. storage register of the
corresponding drive module No. when a minor or major error occurs at
the connected output axis.
3) Error search and error reset
a) Searching the main shaft for error
The output axes connected to the main shaft are searched for an
error in order of lower to higher numbers. If either a minor or major
error has occurred, the corresponding output axis No. is stored into
the error search output axis No. storage register.
Resetting the error of the corresponding output axis stores the other
error occurrence output axis No. connected to the same main shaft.
b) Searching the auxiliary input axis for error
If either a minor or major error has occurred at the output axis
connected to the auxiliary input axis, the corresponding output axis
No. is stored into the error search output axis No. storage register.
However, when the differential gear (for virtual main shaft connection)
is used to provide auxiliary input to the main shaft, the output axis
connected to the auxiliary input axis is not searched for an error. Use
the main shaft side error search output axis No. storage register to
confirm the error occurrence output axis No.
4) When error occurs at the drive module axis
When an error occurs at the main shaft/auxiliary input axis to which the
output axis is connected, "0" (no error) is stored into the error search
output axis No. storage device if an error occurred at the output axis.