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APPENDICES
Number
Test mode
D9188
request error
Error program
D9189
No.
Error item
D9190
information
Servo amplifier
D9191
installation
information
Area for setting
the smoothing
D9192
magnification for
manual pulse
generator 1 (P1)
PC link
D9196
communication
error code
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Table 3.3 Special Register List (Continued)
Name
Stored Data
Test mode request error
Error program number
Servo program setting error
number
Servo amplifier installation
information
Areas for setting manual pulse
generator smoothing
magnifications
PC link communication error code
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Explanation
!
Stores the data of axes being operated when the test mode request error flag
(M9078) comes ON.
(1) When an A172SHCPUN is used
b15
b14
b13
b12
b11
b10
b9
D9188
0
0
0
0
0
0
0
(2) When A171SHCPUN is used
b15
b14
b13
b12
b11
b10
b9
D9188
0
0
0
0
0
0
0
!
Stores the subprogram number (range: 0 to 4095) affected by the error when the
subprogram setting error flag (M9079) comes ON.
!
If, once an error program number has been stored, an error occurs in another
servo program, the program number of the program with the new error is stored.
!
When the servo program setting error flag (M9079) comes ON, the error code that
corresponds to the relevant setting item is stored in this device.
(See Appendix 2.1.)
!
When the power is turned ON, or on resetting, the servo amplifier and option slot
installation statuses are checked and the results stored in this device.
(1) When an A172SHCPUN is used
b15
D9191
0
(2) When an A171SHCPUN is used
b15
D9191
0
!
Stores the manual pulse generator smoothing time constant.
!
The smoothing time constant is calculated using the following formula:
Smoothing time
Smoothing
=
constant (t)
magnification+1
The setting range for smoothing magnification is 0 to 59.
00: No error
01: Receiving timing error
02: CPU error
03: Communication response code error
04: Receiving frame error
05: Communication task start error
(Error codes are reset to 00 by normal communication restart.)
APP − 38
b8
b7
b6
b5
b4
b3
b2
b1
0
Axis 8
Axis 7 Axis 6 Axis 5 Axis 4 Axis 3
Axis 2
Stores the operating/stopped
status of each axis
⋅ 0: Stopped
⋅ 1: Operating
All set to "0"
b8
b7
b6
b5
b4
b3
b2
b1
0
0
0
0
0
Axis 4
Axis 3
Axis 2
Stores the operating/stopped
status of each axis
⋅ 0: Stopped
⋅ 1: Operating
All set to "0"
b8
b7
b6
b5
b4
b3
b2
Axis8
Axis7
Axis6
Axis5
Axis4
Axis3
Stores the operating/stopped
status of each axis
Installed
Not installed
b4
b3
b2
Axis 4 Axis 3 Axis 2 Axis 1
Stores the operating/stopped
status of each axis
Installed
Not installed
×
56.8 [ms]
b0
Axis 1
b0
Axis 1
b1
b0
Axis2
Axis1
1
0
b1
b0
1
0
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