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3 POSITIONING DEDICATED SIGNALS
(8) Servo amplifier loading information (D9191 to D9192)
........... Monitor device
The installation state of the servo amplifier is checked at the power supply on or
resetting of the Motion CPU and its results are stored in this device.
If communication with servo amplifier stops, it is reset.
Installation state is stored also about the axis which from non-installation to
installation or from installation to non-installation after power supply on.
Axis 16 Axis 15 Axis 14 Axis 13 Axis 12 Axis 11 Axis 10 Axis 9 Axis 8 Axis 7 Axis 6 Axis 5 Axis 4 Axis 3 Axis 2 Axis 1
Axis 32 Axis 31 Axis 30 Axis 29 Axis 28 Axis 27 Axis 26 Axis 25 Axis 24 Axis 23 Axis 22 Axis 21 Axis 20 Axis 19 Axis 18 Axis 17
b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
D9191
D9192
(Note): The range of axis No.1 to 8 is valid in the Q172HCPU.
Servo amplifier installation state
Installation
Non-installation
. . . . . . . . 1
. . . . 0
(a) Servo amplifier installation state
1) Installation/non-installation state
• "Installation" state ..…..... The servo amplifier is normal.
(Communication with the servo amplifier is
normal.)
• "Non-installation" state ... No servo amplifier is installed.
The servo amplifier power is off.
Normal communication with the servo
amplifier is not possible due to a
connecting cable fault, etc.
2) The system settings and servo amplifier installation states are shown
below.
Servo amplifier
System Settings
Installation Non-installation
Used (axis No. setting) 1 is stored 0 is stored
Unused 0 is stored
(9) PC link communication error codes (D9196) ........... Monitor device
When an error occurs during the PC link communication, the error code 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: Received frame error
05: Communication task start error
(Each error code is reset to "00" when normal
communication is restarted.)
Refer to APPENDIX 1.5 for details of the PC link communication errors.