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3. POSITIONING SIGNALS
Axis
A172SHCPUN
No.
Device No.
D800
1
to
D819
D820
2
to
D839
D840
3
to
D859
D860
4
to
D879
D880
5
to
D899
D900
6
to
D919
D920
7
to
D939
D940
8
to
D959
Axis
A172SHCPUN
No.
Device No.
D960
1
to
D965
D966
2
to
D971
D972
3
to
D977
D978
4
to
D983
D984
5
to
D989
D990
6
to
D995
D996
7
to
D1001
D1002
8
to
D1007
* The entry "END" in the Refresh Cycle column indicates 80ms or a longer sequence program scan time.
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(2) Axis monitor devices
A171SHCPUN
Device No.
D800
to
D819
0
D820
Feed current value
1
to
D839
2
Real current value
3
D840
to
4
Deviation counter value
D859
5
6
Minor error code
D860
to
7
Major error code
D879
8
Servo error code
Travel value when the
9
proximity DOG/CHANGE
10
is ON
Zeroing second travel
11
value
Execution program num-
12
ber
13 M-code
14 Torque limit value
15
Travel value change reg-
16
ister
17
Real current value when
18
STOP is input
Data set pointer for con-
19
stant speed control
(3) Control change registers
A171SHCPUN
Device No.
D960
to
D965
0
Current value change
D966
1
register
to
D971
2
Speed change register
3
D972
to
4
JOG speed setting
D977
5
register (Note)
D978
(Note) :
to
D983
search engine
Signal Name
Signal Name
Unit
Com-
mand unit
Com-
mand unit
PLS
Com-
mand unit
PLS
%
Com-
mand unit
Com-
mand unit
Signal Name
Signal Name
Unit
Com-
mand unit
Com-
mand unit
Com-
mand unit
This register is a backup register.
3 − 28
Signal
Refresh Cy-
Fetch
Direction
cle
Cycle
3.5ms
Immediately
SCPU
10ms
←PCPU
END
3.5ms
SCPU
3.5ms
→PCPU
END
SCPU
←PCPU
At driving or
during driving
Signal
Refresh Cy-
Fetch
Direction
cle
Cycle
DSFLP
execution
SCPU
DSFLP
→PCPU
execution
At driving
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