Instruction manual

4. SERVO SYSTEM CPU DEVICES
4 − 45
(5) Error item information (D9190) ........................... Data sent from PCPU to SCPU
When the servo program setting error flag (M9079) switches ON, the error code
corresponding to the erroneous setting item will be stored.
Error Code Error Description
900 The servo program designated by the SVST instruction does not exist.
901
The axis No. designated by the SVST instruction is different from the axis
No. designated by the servo program.
902 The instruction code is unreadable (incorrect code).
904 A REAL mode servo program was started while in the VIRTUAL mode.
905
An instruction that cannot be executed in the VIRTUAL mode
(VPF,VPR,VVF,VVR,VPSTART, ZERO, OSC) was designated.
906
An axis designated as "unused" at the system settings is used in the servo
program designated by the SVST instruction.
Error item
data
A setting item error exists in the servo program designated by the SVST
instruction. (Note)
REMARK
(Note): For details regarding error item data, see Section 6.3 of the Motion
Controller (SV13/22 REAL Mode) Programming Manual (type
A273UH/A173UH).
(6) Servo amplifier loading information (D9191 to D9192)
....................................................................................Data from PCPU to SCPU
When the servo system CPU control power supply is switched on or reset, the
servo amplifier and option slot loading states are checked and its results are
stored.
The axis which turned from non-loading to loading status after power-on is
handled as loaded. However, the axis which turned from loading to non-loading
status remains as loaded.
Sarvo amplifier loading status
Loaded 1
Non-loaded 0
Axis16
D9191
D9192
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
(a) Servo amplifier installation status
1) Installed/not installed status
• "installed" status ................... The MR-
-B is normal
(i.e. communication with the servo amplifier is
normal)
• "not installed" status ............. No servo amplifier is installed.
The servo amplifier power is OFF.
Normal communication with the servo
amplifier is not possible due, for example, to a
connecting cable fault.
2) The system settings and servo amplifier installation statuses are
indicated below.
ADU MR- -B
System Settings
Loaded Not loaded Loaded Not loaded
Used (axis No. setting) 1 is stored Major error 1 is stored 0 is stored
Unused 0 is stored 0 is stored 0 is stored 0 is stored