3 - 68
3 POSITIONING DEDICATED SIGNALS
3.5 Special Registers (SD)
There are 2256 special register points of SD0 to SD2255 in the Motion CPU.
Of these, devices in a Table 3.3 are used for the positioning control.
The special register list used for the positioning control is shown below.
(Refer to the "Q173D(S)CPU/Q172D(S)CPU Motion controller Programming Manual
(COMMON)" for the applications of special registers except below.)
Table 3.3 Special register list
Device No. Signal name Refresh cycle Fetch cycle Signal direction
SD200 State of switch
Main cycle
Monitor device
SD500
Real mode axis information register (SV22)
(Note-1)
SD501
SD502
Servo amplifier loading information
At power supply on/
operation cycle
SD503
SD504
Real mode/virtual mode switching error
information (SV22)
(Note-1)
At virtual mode transition
SD505
SD506
SD508 SSCNET control (status) Main cycle
SD510
Test mode request error information At test mode request
SD511
SD512 Motion CPU WDT error cause
At Motion CPU
WDT error occurrence
SD513
Manual pulse generator axis setting error
information
At the manual pulse generator
enable flag OFF to ON
SD514
SD515
SD516 Error program No.
At start
SD517 Error item information
SD522 Motion operation cycle Operation cycle
SD523 Operation cycle of the Motion CPU setting At power supply on
SD524 Maximum Motion operation cycle
QDS
Operation cycle
SD550
System setting error information
QDS
At System setting error
occurrence
SD551
SD560 Operation method
QDS
Ver.!
At power supply on
SD803 SSCNET control (command) Main cycle Command device
(Note-1): It is unusable in the SV22 advanced synchronous control.
(1) State of switch (SD200) ............................................ Monitor device
The switch state of CPU is stored in the form of the following.
SD200
No used
Switch state of CPU
0 : RUN
1 : STOP
b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
Ver.!
: Refer to Section 1.3 for the software version that supports this function.
To Next Page
Loading...
