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3 POSITIONING DEDICATED SIGNALS
3.3 Motion Registers (#)
There are motion registers (#0 to #8191) in the Motion CPU. #8000 to #8063 are used
as the Motion SFC dedicated device and #8064 to #8191 are used as the servo
monitor device. Refer to the "Q173HCPU/Q172HCPU Motion Controller (SV13/SV22)
Programming Manual (Motion SFC)" for details of the motion registers and Motion
SFC dedicated device.
(1) Servo monitor devices (#8064 to #8191) ................. Monitor device
Information about "servo amplifier type", "motor current" and "motor speed" for
each axis is stored the servo monitor devices.
The details of the storage data are shown below.
Axis
No.
Device No. Signal name
1 #8064 to #8067
2 #8068 to #8071
3 #8072 to #8075
4 #8076 to #8079
Signal name
(Note-1)
Signal description Refresh cycle
Signal
direction
5 #8080 to #8083
6 #8084 to #8087
7 #8088 to #8091
8 #8092 to #8095
9 #8096 to #8099
+0
Servo amplifier
type
0 : Unused
256 : MR-J3-B
257 : MR-J3-B (Fully closed
loop control)
258 : MR-J3-B (Linear)
When the servo amplifier power-on
10 #8100 to #8103 +1 Motor current 0.1[%]
11 #8104 to #8107
+2
12 #8108 to #8111 +3
Motor speed
0.1[r/min]
Operation cycle 1.7[ms] or less: Operation cycle
Operation cycle 3.5[ms] or more: 3.5[ms]
Monitor
devise
13 #8112 to #8115
14 #8116 to #8119
(Note-1) : The value that the lowest servo monitor device No. was added "+0, +1 ···" on each axis is shown.
15 #8120 to #8123
16 #8124 to #8127
17 #8128 to #8131
18 #8132 to #8135
19 #8136 to #8139
20 #8140 to #8143
21 #8144 to #8147
22 #8148 to #8151
23 #8152 to #8155
24 #8156 to #8159
25 #8160 to #8163
26 #8164 to #8167
27 #8168 to #8171
28 #8172 to #8175
29 #8176 to #8179
30 #8180 to #8183
31 #8184 to #8187
32 #8188 to #8191