Mitsubishi Electric Q172CPU Programming Manual page 297

APPENDICES
No. Name
Motion operation Motion operation
D9188
cycle cycle
Error program Error program No. of
D9189
No. servo program
Error item Error code of servo
D9190
information program
Servo amplifier
D9191 Servo amplifier
loading
D9192 loading information
information
D9193 Real/virtual mode Real/virtual mode
D9194 switching error Switching
D9195 information error code
PC link PC link
D9196 communication communication error
error codes codes
Operation cycle Operation cycle
D9197 of the Motion of the Motion CPU
CPU setting setting
D9200 State of switch State of CPU switch
D9201 State of LED State of CPU-LED
Table 3.2 Special register list (continued)
Meaning
• The time when the motion operation cycle is stored in the [ µ s] unit.
When the servo program setting error flag (M9079) turns on, the erroneous
servo program No. will be stored.
When the servo program setting error flag (M9079) turns on, the error
code corresponding to the erroneous setting item will be stored.
• The loading status (loading: 1/non-loading: 0) of the servo amplifier checked
in initial process, and stored as the bit data.
D9191: b0 to b15 (axis 1 to axis 16)
D9192: b0 to b15 (axis 17 to axis 32)
• The axis which turned from non-loading to loading status after power-on is
handled as loaded. (However, the axis which turned from loading to non-
loading status remains as loaded.)
• 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.
• The following error code is stored.
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.)
• The time when the setting operation cycle is stored in the [ µ s] unit.
• The CPU switch status is stored in the following format.
B15
1) CPU switch status
2) Memory card switch
3) Dip switch
• Information concerning which of the following states the LEDs on the CPU
are in is stored in the following bit patterns.
• 0 is off, 1 is on, and 2 is flicker
B15
8)
1): RUN
2): ERROR
3): M.RUN
4): BAT.ALARM
Details
B12B11
B8 B7 B4 B3
3) 2)
No used.
0: RUN
1: STOP
2: L.CLR
Always OFF
B8 through B12 correspond to SW1
through SW5 of system setting switch 1.
0: OFF/1: ON
B13 through B15 is not used.
B12 B11 B8 B7 B4 B3
7) 6) 5) 4) 3)
5): BOOT
6): No used
7): No used
8): MODE
Bit patterns for MODE
0: OFF 1: Green
2: Orange
APP - 52
Set by
(When set)
S(Operation cycle)
S(Occur an error)
S(Initial processing)
S(Occur an error)
S(Initial processing)
B0
1)
S(Main processing)
B0
2) 1)
S(Change status)
(Note): It adds newly at the Motion controller Q series.
Remark
New
(Note)
New
(Note)
New
(Note)