4 - 83
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, devices in a Table 4.5 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 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 SSCNET control (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
SD524 Maximum Motion operation cycle
QDS
Operation cycle
SD550
SD551
System setting error information
QDS
At System setting error
occurrence
SD560 Operation method
QDS
Ver.!
At power supply on
Monitor device
SD803 SSCNET control (command) Main cycle Command device
Ver.!
: Refer to Section 1.4 for the software version that supports this function.
To Next Page
Loading...
