Axis 25 Axis 26 Axis 27 Axis 28 Axis 29 Axis 30 Axis 31 Axis 32JOG speed
3.4 Special Register (SP.D)
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
Refresh Cycle Import Cycle Signal Name
Number of set axes Number of set axes A173UHCPU 1 to 20 21 to 32 1 to 20 21 to 32
SV13 A273UHCPU 1 to 12 13 to 24 25 to 32 1 to 12 13 to 24 25 to 32 A173UHCPU 1 to 12 13 to 24 25 to 32 1 to 12 13 to 24 25 to 32 Device
Number
SV22 A273UHCPU 1 to 8 9 to 18 19 to 32 1 to 8 9 to 18 19 to 32
Signal Direction
D9180
D9181 User usable
D9182
D9183 Test mode request error information At test mode request
D9184 PCPU WDT error cause At PCPU WDT error
occurrence D9185
D9186 D9187
Manual pulse generator axis setting error information
On leading edge of manual pulse generator
enable
SCPU←PCPU
D9188 User usable
D9189 Error program No.
D9190 Error item information At start
D9191 At power-on and
D9192 Servo amplifier loading information
10ms 20ms
SCPU←PCPU
D9193 D9194 D9195
User usable
D9196 Personal computer link communication error
code 3.5ms 7.1ms 14.2ms SCPU←PCPU
D9197 D9198 D9199
User usable
(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.
Axis16
D9182 D9183
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
b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
3. POSITIONING SIGNALS
(2) PCPU error cause(D9184) ...Data from the PCPU to the SCPU This register is used to identify the nature of errors occurring in the PCPU part of the sequence program.
Error Code Error Cause Operation when Error Occurs Action to Take
1 PCPU software fault 1
2 PCPU operation synchronization time over 3 PCPU software fault 2
30 PCPU/SCPU hard ware fault
All axes stop immediately, after which operation cannot be started.
Reset with the reset key.
100 to 107 110 to 117 120 to 127 130 to 137 140 to 147
AC servo motor drive module CPU fault 100
Indicates the slot No.(0 to 7) where the AC motor drive module with the fault is loaded.
Indicates the stage No. of the base on which the AC motor drive module with the fault is loaded.
0: CPU base
1: Extension base 1st stage 2: Extension base 2nd stage 3: Extension base 3rd stage 4: Extension base 4th stage
The servo error detection flag (M2408+20n) of the
corresponding axis turns ON, resulting in a servo-off status.
After that, operation is performed in accordance with "ADU servo error-time processing setting" in system settings.
Perform reset with the key.
If the error occurs after reset, change the ADU module since it may be faulty.
200 to 207 210 to 217 220 to 227 230 to 237 240 to 247
Hardware fault of module loaded on motion CPU base unit or extension base unit.
200
Indicates the slot No.(0 to 7) where the module with the fault is loaded.
Indicates the stage No. of the base on which the module with the fault is loaded.
0: CPU base
1: Extension base 1st stage 2: Extension base 2nd stage 3: Extension base 3rd stage 4: Extension base 4th stage
250 to 253
Separate servo amplifier (MR- -B) interface hardware fault
250
Faulty SSCNET No.
0: SSCNET 1 1: SSCNET 2 2: SSCNET 3 3: SSCNET 4
Reset with the reset key.
If the error reoccurs after resetting, the relevant module or the relevant slot(base unit) is probably faulty: replace the module/base unit.
300 PCPU software fault 3 Reset with the reset key.
8 or more points of CPSTART instruction were used to start programs in excess of simultaneously startable programs.
Number of simultaneously startable programs Conventional
function version 20
Function added version 14 301
All axes stop immediately, after which operation cannot be started.
Perform reset with the key.
Use 8 or more points of CPSTART instruction to start programs within the number of simultaneously startable programs.
3. POSITIONING SIGNALS
(3) Manual pulse generator axis setting error information
(D9185 to D9187)... Data from PCPU to SCPU If an error is found by the set data check made on the leading edge of the manual pulse generator enable signal, the following error information is stored into D9185 to D9187 and the manual pulse generator axis setting error flag (M9077) turns ON.
0 0 0 0 P1 P1
b15 b14 b13 b12 b11 b10 b9 b8 b7 b4 b3 b2 b1 b0
D9185 0
b6 0
b5
P3 P2 P3 P2
0 0 0 0
Axis16
D9186 D9187
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
Store the smoothing magnification setting errors of the manual pulse generators connected to P1 to P3 of A273EX.
0: Normal 1: Setting error
(Axis setting in each digit is other than 0 to 59) Store the axis setting errors of the manual pulse generators connected to P1 to P3 of A273EX.
0: Normal 1: Setting error
(Axis setting in each digit is other than 1 to 32)
All turn to 0.
Store the 1-pulse input magnification setting errors of the axes.
0: Stopping 1: Operating
(Input magnification of each axis is other than 1 to 100)
(4) Error program No. (D9189) ...Data from the PCPU to the SCPU (a) When an error occurs at servo program operation (SVST instruction), stores the number of the subprogram (range: 0 to 4095) affected by the error when the subprogram setting error flag (M9079) comes ON.
(b) If, once an error program number has been stored, an error occurs in another servo program, the program number of the subprogram with the new error is stored.
(5) Error item information (D9190) ...Data from the PCPU to the SCPU The servo program setting error flag (M9079) comes ON and the error code that corresponds to the error is stored in this device.
For details of servo program setting errors, see Appendix 2-1.
3. POSITIONING SIGNALS
(6) Servo amplifier loading information
(D9191 to D9192)...Data from PCPU to SCPU When the servo system CPU control power supply (A6 P) is switched on or reset, the servo amplifier and option slot loading states are checked and its results are stored.
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.
Sarvo amplifier loading status Loaded 1
Non-loaded 0
Axis16
D9191 D9192
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
b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
(a) Servo amplifier installation status 1) Installed/not installed status
• "installed" status... The MR- -B is normal
(i.e. communication with the servo amplifier is normal)
• "not installed" status... No servo amplifier is installed.
The servo amplifier power is OFF.
Normal communication with the servo amplifier is not possible due, for example, to a connecting cable fault.
2) The system settings and servo amplifier installation statuses are indicated below.
ADU MR- -B
System Settings
Loaded Not loaded Loaded Not loaded Used (axis No. setting) 1 is stored Major error 1 is stored 0 is stored Unused 0 is stored 0 is stored 0 is stored 0 is stored (7) PC link communication error code (D9196)
When an error occurs during PC link communication, the error code that corresponds to the error is stored in this device.
PC Communication Error Code
Storage Register Contents
D9196
00: No error
01: Receiving timing error 02: CRC error
03: Communication response code error 04: Receiving flame error
05: Communication task start error (Each error code is reset to 00 when normal communication is restarted.) For details of PC link communication errors, see Appendix 2.5.