Appendix 1.1 Differences Of Devices - Mitsubishi Q170MCPU User Manual

APPENDICES

APPENDIX 1.1 Differences of devices

Device No.
Q173DCPU/
Q170MCPU
Q172DCPU
D12+20n D12+20n
#8000+20n #8000+20n
#8008+20n —
SD720,
—
SD721
Table 1.1 Differences of devices
Name
This register stores the starting program No. at the servo program starting.
• FFFF ........JOG operation
Execute
• FFFE........Manual pulse generator operation
program No.
• FF00 ........Power supply ON
storage register
• FFE0 ........Current value change execution by the Motion dedicated
This register stores the servo amplifier type for each axis at the servo
amplifier power supply ON.
• 0...............Unused
• 256...........MR-J3- B
Servo amplifier
type
• 257...........MR-J3- B (For fully closed loop control)
• 258...........MR-J3- B (For Linear control)
• 263...........MR-J3- B (For direct drive motor)
It is not cleared even if the servo amplifier power supply turns OFF.
This register stores the servo error code read from the servo amplifier.
Servo amplifier
The hexadecimal display is the same as the LED of servo amplifier.
display servo
Refer to the "Servo amplifier Instruction Manual" for details of the servo
error code
error codes.
Current value (SD720, SD721) is incremented by 1 per 444μs.
Read SD720 device in 2 word unit.
Data size
444μs coasting
Latch
timer
Usable tasks
Access
Timer specifications 444μs timer
In the device numbers, "n" in "D12+20n", etc. indicates a value corresponding to axis
No. such as the following tables.
Axis No. n Axis No.
1 0
2 1
3 2
4 3
• Calculate as follows for the device No. corresponding to each axis.
(Example) For axis 16
D12+20n=D12+20 15=D312
Description
instruction
MR-J3- B (For 2-axis type)
Item
2 word (-2147483648 to 2147483647)
Cleared to zero at power-on or reset, a
count rise is continued from now on.
Normal, event, NMI
Read only enabled
n Axis No.
5 4 9
6 5 10
7 6 11
8 7 12
APP - 2
Specification
n Axis No.
8 13
9 14
10 15
11 16
Remark
Add "FFE0".
Add "263".
New
New
n
12
13
14
15