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5 POSITIONING DEDICATED SIGNALS
5.5 Special Registers (SP.D)
There are 256 special register points of D9000 to D9255 in the Motion CPU.
Of these, 22 points of the D9180 to D9201 are used for the positioning control.
The special registers used for positioning are shown below. (Refer to APPENDIX 3.5
"Special Registers" for the applications of special registers except for D9180 to
D9201.)
Table 5.3 Special register list
Device No. Signal name Refresh cycle Fetch cycle
Signal
direction
D9180
D9181
Unusable
D9182
D9183
Test mode request error information At test mode request
D9184 Motion CPU WDT error cause
At Motion CPU WDT error
occurrence
D9185
D9186
D9187
Manual pulse generator axis setting error
information
At the manual pulse generator
enable flag
D9188 Motion operation cycle Operation cycle
D9189 Error program No.
D9190 Error item information
At start
D9191
D9192
Servo amplifier loading information
At power supply on/
operation cycle
Monitor
device
D9193
D9194
D9195
Unusable
D9196 PC link communication error codes Operation cycle
D9197 Operation cycle of the Motion CPU setting At power supply on
Monitor
device
D9198
D9199
Unusable
D9200 State of switch Main cycle
D9201 State of LED Immediate
Monitor
device
(1) Test mode request error information (D9182, D9183)
........... Monitor device
If there are operating axis at a test mode request from a peripheral device, a test
mode request error occurs, the test mode request error flag (M9078) turns on,
and the during operation/stop data of the each axis are stored.
b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
Axis 16 Axis 15 Axis 14 Axis 13 Axis 12 Axis 11 Axis 10 Axis 9 Axis 8 Axis 7 Axis 6 Axis 5 Axis 4 Axis 3 Axis 2 Axis 1
Axis 32 Axis 31 Axis 30 Axis 29 Axis 28 Axis 27 Axis 26 Axis 25 Axis 24 Axis 23 Axis 22 Axis 21 Axis 20 Axis 19 Axis 18 Axis 17
Stores the during operation/stop
data of each axis
D9182
D9183
(Note): The range of axis No.1 to 8 is valid in the Q172CPU(N).
0 : During stop
1 : During operation
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