Instruction manual

4. SERVO SYSTEM CPU DEVICES
4 − 42
4.3.2 Special registers
(
!
!!
!
Valid) Refresh Cycle Fetch Cycle
Preset number of axes (Note) Preset number of axes (Note)
1 to 8 9 to18 19 to 32 1 to 8 9 to18 19 to 32
Device
Number
Signal Name
Real Virtual
Signal
Direction
1 to 12 13 to 24 25 to 32 1 to 12 13 to 24 25 to 32
D9180
D9181
Unusable
    
D9182
D9183
Test mode request error
information
At test mode request
D9184 PCPU WDT error factor
At PCPU WDT error
occurrence
D9185
D9186
D9187
Manual pulse generator axis
setting error information
!!
SCPU
←
PCPU
At manual PG enable
leading edge
D9188 Unusable
    
D9189 Error program No.
D9190 Error item information
At start
D9191
D9192
Servo amplifier loading
information
At servo amplifier power-on
D9193
D9194
D9195
Real/virtual mode change
error information
At real/virtual mode change
D9196
Personal computer link
communication error code
!!
SCPU
←
PCPU
3.5ms 7.1ms 14.2ms
D9197
D9198
D9199
Unusable
    
(Note): Upper: A273UHCPU, lower: A173UHCPU(-S1)
(1) Test mode request error (D9182, D9183)................... Data from PCPU to SCPU
When the TEST mode request error flag (M9078) switches ON, the axis data
for axes in motion at that time will be stored.
Axis16
D9182
D9183
Axis15 Axis14 Axis13 Axis12 Axis11 Axis10 Axis9 Axis8 Axis7 Axis6 Axis5 Axis4 Axis3 Axis2 Axis1
Axis32 Axis31 Axis30 Axis29 Axis28 Axis27 Axis26 Axis25 Axis24 Axis23 Axis22 Axis21 Axis20 Axis19 Axis18 Axis17
b15 b14 b13 b12 b11 b10 b9 b8 b7 b4 b3 b2 b1 b0b6 b5
Stores the operating/stopped
status of each axis
0: Stopped
1: Operating