Mitsubishi Electric Q Series Programming Manual page 240

Common. motion controller
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APPENDICES
No.
Name
Operation cycle
Operation cycle
SD523
of the Motion
of the Motion CPU
CPU setting
setting
Maximum Motion
Maximum Motion
operation cycle
SD524
operation cycle
QDS
SD550 System setting
Error code
error information
Error individual
SD551
QDS
information
SD552 Servo parameter
Servo parameter
write/read
read value
request
QDS
SD553
Operation
SD560
method
Operation method
QDS
Ver.!
Multiple CPU
Multiple CPU
synchronous
synchronous
SD561
control setting
control setting
status
status
QDS
Ver.!
Number of points
SD700
assigned for #
Number of points
assigned for CPU
SD701
No.1 Multiple CPU
area devices
Number of points
assigned for CPU
SD702
Device
No.2 Multiple CPU
assignment
area devices
Number of points
assigned for CPU
SD703
No.3 Multiple CPU
area devices
Number of points
assigned for CPU
SD704
No.4 Multiple CPU
area devices
SD720
444µs coasting
444µs coasting
SD721
timer
timer
Table 1.2 Special register list (Continued)
Meaning
• The setting operation cycle is stored in the [µs] unit.
• The maximum time for motion operation is stored every motion operation
cycle in [µs] unit.
• The error code indicating the details of system setting error is stored.
• The individual information of system setting error is stored.
• The read value of servo parameter which executed "2: Read request" in
SD804 is stored.
• The read value (low 1 word) of servo parameter which executed "4: 2 word
read request" in SD804 is stored.
• The read value (high 1 word) of servo parameter which executed "4: 2 word
read request" in SD804 is stored.
• When the operating system software is SV22, the operation method
information is stored.
0: Virtual mode switching method
1: Advanced synchronous control method
• The CPU setting status of Multiple CPU synchronous control is stored.
0: Independent CPU
1: Master CPU
2: Slave CPU
• Stores the number of points for device # used in the Motion CPU.
• Stores the number of points currently set for CPU No.1 Multiple CPU area
devices.
• Stores the number of points currently set for CPU No.2 Multiple CPU area
devices.
• Stores the number of points currently set for CPU No.3 Multiple CPU area
devices.
• Stores the number of points currently set for CPU No.4 Multiple CPU area
devices.
• Current value (SD720, SD721) is incremented by 1 per 444µs.
Read SD720 device in 2 word unit.
Item
Data size
Latch
Usable tasks
Access
Timer specifications
Ver.!
: Refer to Section 1.5 for the software version that supports this function.
Details
Specification
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
444µs timer
APP - 11
Set by
Remark
(When set)
S (Initial processing)
S (Operation cycle)
S (Occur an error)
S (Read request)
S (Initial processing)
S (444µs)

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