Instruction manual

4. SERVO SYSTEM CPU DEVICES
4 − 1
4 . SERVO SYSTEM CPU DEVICES
The servo system CPU devices for which positioning control is carried out using
the VIRTUAL mode and the applications of these devices are explained in this
chapter.
The signals which are sent from the PCPU to the SCPU indicate the PCPU device
refresh cycle and the signals sent from the SCPU to the PCPU indicate the PCPU
device fetch cycle.
4.1 Internal Relays
4.1.1 Internal relay list
A273UHCPU (
!
Valid) A173UHCPU(-SI) (
!
Valid)
Device Number Application Real Virtual Device Number Application Real Virtual
M0
User device (2000 points)
M0
User device (2000 points)
M2000
Common device
(320 points)
!!
M2000
Common device
(320 points)
!!
M2320
Unusable (80 points)

M2320
Unusable (80 points)

M2400
Axis status
(20 points
×
32 axes)
Real mode ...... Axis
Virtual mode ... Output module
!!
M2400
Axis status
(20 points
×
32 axes)
Real mode ...... Axis
Virtual mode ... Output module
!!
M3040
Unusable (160 points)

M3040
Unusable (160 points)

M3200
Axis command signal
(20 points
×
32 axes)
Real mode ...... Axis
Virtual mode ... Output module
!!
M3200
Axis command signal
(20 points
×
32 axes)
Real mode ...... Axis
Virtual mode ... Output module
!!
M3840
Unusable (60 points)

M3840
Unusable (60 points)

M4000
(Note-1)
Virtual servo motor axis
status
(20 points
×
32 axes)
(Note-2)
Backup
!
M4000
(Note-1)
Virtual servo motor axis
status
(20 points
×
32 axes)
(Note-2)
Backup
!
M4640
(Note-1)
Synchronous encoder axis
status
(4 points
×
4 axes)
!!
M4640
(Note-1)
Synchronous encoder axis
status
(4 points
×
12 axes)
!!
M4688
(Note-1)
Unusable (112 points)

M4656
(Note-1)
Unusable (144 points)

M4800
(Note-1)
Virtual servo motor axis
command signal
(20 points
×
32 axes)
(Note-2)
×
!
M4800
(Note-1)
Virtual servo motor axis
command signal
(20 points
×
32 axes)
(Note-2)
×
!
M5440
(Note-1)
Synchronous encoder axis
command signal
(4 points
×
4 axes)
×
!
M5440
(Note-1)
Synchronous encoder axis
command signal
(4 points
×
12 axes)
×
!
M5456
(Note-1)
Unusable (32 points)

M5488
(Note-1)
Unusable (113 points)

M5600
M8191
User device (2592 points)
M5488
(Note-1)
M8191
User device (2704 points)