Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 97

[Md.1004] Error code (R: D32007+48n/Q: D7+20n)
• This register stores the corresponding error code at the error occurrence. If another error occurs after error code storing,
the previous error code is overwritten by the new error code.
• The servo error (Minor error (error code: 1C80H)) is not stored in this device. It is stored in "[Md.1005] Servo error code (R:
D32008+48n/Q: D8+20n)".
• Error codes can be cleared by "[Rq.1147] Error reset command (R: M34487+32n/Q: M3207+20n)" or "Error reset (SM50)".
Refer to the following for details of the error codes.
MELSEC iQ-R Motion controller Programming Manual (Common)
[Md.1005] Servo error code (R: D32008+48n/Q: D8+20n)
• This device stores the applicable minor error (error code: 1C80H) or the warning (error code: 0C80H) when a servo error or
a servo warning occurs. The error code or the warning code read from the servo amplifier is stored in "[Md.1019] Servo
amplifier display servo error code (R: D32028+48n/Q: #8008+20n)". If another servo error occurs after error code storing,
the previous error code is overwritten by the new error code.
• The servo error code is stored several ms 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
• Servo error codes can be cleared by "[Rq.1148] Servo error reset command (R: M34488+32n/Q: M3208+20n)" or "Error
reset (SM50)".
[Md.1006] Home position return re-travel value (R: D32009+48n/Q: D9+20n)
If the position stopped in the position specified with the travel value after proximity dog ON (Page 181 Travel value after
proximity dog ON) using MT Developer2 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 setting type.)
The following value is stored according to the number of feedback pulses of the motor connected.
Number of feedback pulses
Less than 131072 [pulse]
131072 [pulse] or more, 262144 [pulse] or less
More than 262144 [pulse]
*1 Refer to "[Md.100] Home position return re-travel value (R: D32026+48n, D32027+48n/Q: #8006+20n, #8007+20n)". (Page 100
[Md.100] Home position return re-travel value (R: D32026+48n, D32027+48n/Q: #8006+20n, #8007+20n))
[Md.34] Travel value after proximity dog ON (R: D32010+48n, D32011+48n/Q: D10+20n,
D11+20n)
• This register stores the travel value (unsigned) from the proximity dog ON to home position return completion after the
home position return start.
• The travel value (unsigned) of the position control is stored at the time of speed/position switching control.
Device name
• "[St.1068] Servo error detection (R: M32408+32n/Q: M2408+20n)"
• "Servo alarm (b7)" of "[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)"
Storage data
*1
Feedback pulses
1/10 of feedback pulses
1/10000 of feedback pulses
2 POSITIONING DEDICATED SIGNALS
2.2 Data Registers
2
95