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3 POSITIONING DEDICATED SIGNALS
3.5 Special Registers (SP.D)
There are 256 special register points of D9000 to D9255 in the Motion CPU.
Of these, 23 points of the D9112 and D9180 to D9201 are used for the positioning
control.
The special registers used for positioning are shown below. (Refer to APPENDIX 2.2
"Special registers" for the applications of special registers except D9112 and D9180 to
D9201.)
Table 3.3 Special register list
Device No. Signal name Refresh cycle Fetch cycle Signal direction
D9112 Connect/disconnect Main cycle Main cycle
Command device/
Monitor device
D9180
D9181
Unusable
D9182
D9183
Test mode request error information At test mode request
D9184 Motion CPU WDT error cause
At Motion CPU WDT error
occurrence
D9185
D9186
D9187
Manual pulse generator axis setting error
information
At the manual pulse generator
enable flag
D9188 Motion operation cycle Operation cycle
D9189 Error program No.
D9190 Error item information
At start
D9191
D9192
Servo amplifier loading information
At power supply on/
operation cycle
D9193
D9194
D9195
Real/virtual mode switching error
information (SV22)
At virtual mode transition
D9196 PC link communication error codes Operation cycle
D9197 Operation cycle of the Motion CPU setting At power supply on
Monitor device
D9198
D9199
Unusable
D9200 State of switch Main cycle
D9201 State of LED Immediate
Monitor device