Instruction manual

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4 POSITIONING DEDICATED SIGNALS
4.5 Special registers (SD)
There are 2256 special register points of SD0 to SD2255 in the Motion CPU.
Of these, 20 points of the SD200, SD500 to SD506, SD508, SD510 to SD517, SD522,
SD523 and SD803 are used for the positioning control.
The special register list used for the positioning control is shown below.
(Refer to the "Q173DCPU/Q172DCPU Motion controller Programming Manual
(COMMON)" for the applications of special registers except SD200, SD500 to SD506,
SD508, SD510 to SD517, SD522, SD523 and SD803.)
Table 4.5 Special register list
Device No. Signal name Refresh cycle Fetch cycle Signal direction
SD200 State of switch
SD500
SD501
Real mode axis information register (SV22)
Main cycle
SD502
SD503
Servo amplifier loading information
At power supply on/
operation cycle
SD504
SD505
SD506
Real mode/virtual mode switching error
information (SV22)
At virtual mode transition
SD508 Connect/disconnect (status) Main cycle
SD510
SD511
Test mode request error information At test mode request
SD512 Motion CPU WDT error cause
At Motion CPU
WDT error occurrence
SD513
SD514
SD515
Manual pulse generator axis setting error
information
At the manual pulse generator
enable flag
SD516 Error program No.
SD517 Error item information
At start
SD522 Motion operation cycle Operation cycle
SD523 Operation cycle of the Motion CPU setting At power supply on
Monitor device
SD803 Connect/disconnect (command) Main cycle Command device