Mitsubishi Electric A173UHCPU Programming Manual page 68

3. POSITIONING SIGNALS
(6) Servo error code register (D8+20n) ..............Data from the PCPU to the SCPU
(a) This register stores the relevant error code (see Appendix 2.4) when a
servo error occurs.
If another servo error occurs, the previous error code is overwritten by the
new error code.
(b) Servo error codes can be cleared by a servo error reset signal
(M3208+20n).
(7) Zeroing second travel value register (D9+20n) ............................... Data from the
PCPU to the SCPU
If the position at which motion stops in accordance with the travel value setting
(see Section 7.21) after the proximity dog has been switched ON by a
peripheral device is not the zero point, the servo system CPU will initiate a
second travel to the zero point. The travel value for travel to the zero point
during this second operation is stored in this register (with no sign appended).
When the feedback pulse count of the motor connected is 131072 PLS, the
value found by dividing the second travel value to home position by 10 is
stored.
Note that in the case of a data set type zeroing operation, the data remains
unchanged (the previous value stands).
(8) Travel value after proximity dog comes ON register
(D10+20n, D11+20n) ....................................Data from the PCPU to the SCPU
(a) When a zeroing operation is performed, the travel value from the point
where the proximity dog comes ON to the point where the zeroing operation
is completed is stored in this register (with no sign appended).
(b) In speed/position switching control, the travel value during position control is
stored in this register (with no sign appended).
(9) Executed program number register (D12+20n) ........ Data from the PCPU to the
SCPU
(a) The program number of the program being executed is stored in this
register when the SVST instruction is executed.
(b) In JOG operation and manual pulse generator operation, the values
indicated below are stored in this register.
1) JOG operation...................................... FFFF
2) Manual pulse generator operation ....... FFFE
3) When the power is turned on ............... FF00
(c) When either of the following is being executed by a peripheral device in the
test mode, FFFD is stored in this register.
1) A zeroing
2) A position loop gain or position control gain 1 check in servo diagnosis.
(10) M-code register (D13+20n) ...........................Data from the PCPU to the SCPU
(Note)
(a) The M-code
register when positioning starts. If no M-code is set for the servo program,
the value stored is "0".
(b) If positioning is started by a means other than a servo program, the
existing value does not change.
(c) The stored value changes to "0" at the leading edge of the PLC READY
signal (M2000).
set for the executed servo program is stored in this
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