Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 102

[Md.28] Command speed (R: D32024+48n, D32025+48n/Q: #8004+20n, #8005+20n)
This register stores the speed (signed) at which command value to the servo amplifier for every operation cycle is converted
into [pulse/s].
[Md.100] Home position return re-travel value (R: D32026+48n, D32027+48n/Q:
#8006+20n, #8007+20n)
If the position stopped in the position specified with the travel value after proximity dog ON using MT Developer2 (Page
181 Travel value after proximity dog ON) is not zero point, it made to travel to zero point by re-travel in the Motion CPU. The
travel value (signed) of making it travel to zero point by re-travel at this time is stored.
(Data does not change with the last value in the data set method.)
[Md.1019] Servo amplifier display servo error code (R: D32028+48n/Q: #8008+20n)
• This register stores the servo error code read from the servo amplifier. The hexadecimal display is the same as the LED of
servo amplifier.
Servo amplifier model
MR-J3-B
MR-J3W-B
MR-J4(W)-B
Refer to the following for details of the servo error codes.
Servo amplifier Instruction Manual
• The servo error code is stored several ms or to several tens of ms after the servo error or the servo warning is detected.
Refer to the following devices when immediate detection of the servo error or the servo warning is required.
Error classification
Servo error
Servo warning
[Md.107] Parameter error number (R: D32029+48n/Q: #8009+20n)
The parameter number of error servo parameter is stored in hexadecimal at the servo error occurrence.
H
Parameter No.
Parameter group No.
0: PA group
1: PB group
2: PC group
3: PD group
4: PE group
2 POSITIONING DEDICATED SIGNALS
100
2.2 Data Registers
Servo amplifier LED display
The two digits of the LED display are shown.
The upper two digits of the LED display are shown.
The three digits of the LED display are shown.
Device
"Servo alarm (b7)" of "[St.1068] Servo error detection (R: M32408+32n/Q: M2408+20n)" or "[Md.108] Servo status 1 (R:
D32032+48n/Q: #8010+20n)"
"Servo warning (b15)" of [Md.108] Servo status 1 (R: D32032+48n/Q: #8010+20n)"
5: PF group
9: Po group
A: PS group
B: PL group
C: PT group