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Mitsubishi Electric Q173CPU Programming Manual Page 75

Q series motion controller.
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1 OVERVIEW
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 mode/virtual
Real mode/virtual
D9194
mode switching
mode Switching
D9195
error information
error code
PC link
PC link
D9196
communication
communication error
error codes
codes
Operation cycle
Operation cycle of
D9197
of the Motion
the Motion CPU
CPU setting
setting
D9200 State of switch
State of CPU switch
D9201 State of LED
State of CPU-LED
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 stroed 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
1 - 54
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)
.

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