Special Register (Sp.d) - Mitsubishi Electric A173UHCPU Programming Manual

3. POSITIONING SIGNALS
3.4

Special Register (SP.D)

Device
Number
D9180
User usable
D9181
D9182
Test mode request error information
D9183
D9184 PCPU WDT error cause
D9185
Manual pulse generator axis setting error
D9186
information
D9187
D9188 User usable
D9189 Error program No.
D9190 Error item information
D9191
Servo amplifier loading information
D9192
D9193
D9194 User usable
D9195
Personal computer link communication error
D9196
code
D9197
D9198 User usable
D9199
D9182
D9183
A servo system CPU has 256 special register points from D9000 to D9255.
Of these, the 20 points from D9180 to D9199 are used for positioning control.
The special registers used for positioning are shown in the table below (for the
applications of special registers other than D9180 to D9199, see Appendix 3.2.)
Table 3.3 Special Register List
Signal Name
A173UHCPU
SV13
A273UHCPU
A173UHCPU
SV22
A273UHCPU
(1) Test mode request error information (D9182, D9183) .............. Data from PCPU
to SCPU
If there are starting axis at a test mode request from the peripheral device, a
test mode request error occurs, the error flag (M9078) turns ON, and the
starting/stopping data of the corresponding axis are stored.
b15 b14 b13 b12 b11 b10
Axis16 Axis15 Axis14 Axis13 Axis12 Axis11 Axis10 Axis9 Axis8 Axis7 Axis6 Axis5 Axis4 Axis3 Axis2 Axis1
Axis32 Axis31 Axis30 Axis29 Axis28 Axis27 Axis26 Axis25 Axis24 Axis23 Axis22 Axis21 Axis20 Axis19 Axis18 Axis17
Refresh Cycle
Number of set axes

1 to 20 21 to 32
1 to 12 13 to 24 25 to 32 1 to 12 13 to 24 25 to 32
1 to 12 13 to 24 25 to 32 1 to 12 13 to 24 25 to 32
1 to 8 9 to 18 19 to 32

At test mode request
At PCPU WDT error
occurrence
On leading edge of
manual pulse generator
enable

At start
At power-on and
10ms 20ms

3.5ms 7.1ms 14.2ms

b9 b8 b7 b6 b5
Stores the operating/stopped
status of each axis
0: Stopped
1: Operating
3 − 51
Import Cycle
Number of set axes

1 to 20 21 to 32
1 to 8 9 to 18 19 to 32




b4 b3 b2 b1 b0
Signal
Direction

SCPU←PCPU

SCPU←PCPU

SCPU←PCPU
