Mitsubishi Electric Q172CPU Programming Manual page 118

4 POSITIONING DEDICATED SIGNALS
b15
D9193
D9194
Axis 16 Axis 15 Axis 14 Axis 13 Axis 12 Axis 11 Axis 10 Axis 9
D9195 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
(8) Real/virtual mode switching error information (D9193 to D9195)
When a mode switching error occurs in real-to-virtual or virtual-to-real mode
switching, or a mode continuation error occurs in the virtual mode, its error
information is stored.
Refer to APPENDIX 2.8 for details of the stored error code.
Error
(9) PC link communication error codes (D9196) ........... Monitor device
When an error occurs during the PC link communication, the error code is stored
in this device.
PC communication error code storage register
D9196
Refer to APPENDIX 2.6 for details of the PC link communication errors.
(10) Operation cycle of the Motion CPU setting (D9197)
The setting operation cycle is stored in [ µs ] unit.
When the "Automatic setting" is set in the system setting, the operation cycle
corresponding to the number of setting axes. When "0.8[ms] / 1.7[ms] / 3.5[ms]
/ 7.1[ms] /14.2[ms]" is set in the system setting, the operation cycle
corresponding to each setting.
(Note): MR-H BN does not support an operation cycle of 0.8[ms]. If the MR-
H BN is set in the system setting, 1.7[ms] is used as the real operation
cycle even if 0.8[ms] is set.
Axis 8 Axis 7 Axis 6 Axis 5 Axis 4
Erroneous axis bit "1"
<Example> For 8 axes error
(Decimal) "128" and (Hexadecimal) "0080H" is stored in the D9194,
(Decimal) "0" and (Hexadecimal) "0000H" is stored in the D9195,
and the error code is stored in the D9193.
00: No error
01: Receiving timing error
02: CRC error
03: Communication response code error
04: Received frame error
05: Communication task start error
(Each error code is reset to "00" when normal
communication is restarted.)
4 - 87
.............. Monitor device
b0
Axis 3 Axis 2 Axis 1
Contents
.............. Monitor device