Special Registers (Sp.d) - Mitsubishi Electric SV13/22 Programming Manual

3. POSITIONING SIGNALS
3.4 Special Register (SP.D)
Device
Number
Limit switch output status storage
D9180
area for axis 1 and axis 2
Limit switch output status storage
D9181
area for axis 3 and axis 4
Limit switch output status storage
D9182
area for axis 5 and axis 6
Limit switch output status storage
D9183
area for axis 7 and axis 8
D9184 PCPUWDT error cause
D9185
Servo amplifier type
D9186
Manual pulse generator axis setting
D9187
error information
D9188 Test mode request error information
D9189 Error program number
D9190 Error item information
D9191 Servo amplifier loading information
Area for setting the manual pulse
D9192 generator (P1) smoothing
magnification
D9193
D9194 Unusable
D9195
D9196 PC link communication error code
D9199 Unusable
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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 3.14 Special Registers
Signal
Signal Name
Direction
SCPU
←PCPU
SCPU
→PCPU
SCPU
←PCPU
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Refresh Cycle
3.5ms
At PCPU WDT error
occurrence
Power ON
Manual pulse generator
operation enabled
Test mode request
At driving
Power ON, 10 ms

3.5ms

3 − 44
Fetch Cycle A172SH
!
Manual pulse generator
operation enabled


A171SH
!

!