Mitsubishi Electronics Q172HCPU, Q173HCPU manual 434

APPENDICES

Table 2.2 Special register list (continued)

No.	Name	Meaning			Details			Set by	Remark
								(When set)
D9188	Motion operation	Motion operation	• The time when the motion operation cycle is stored in the [µs] unit.					S(Operation cycle)
	cycle	cycle
D9189	Error program	Error program No. of When the servo program setting error flag (M9079) turns on, the erroneous
	No.	servo program	servo program No. will be stored.					S(Occur an error)
D9190	Error item	Error code of servo	When the servo program setting error flag (M9079) turns on, the error
	information	program	code corresponding to the erroneous setting item will be stored.
			• The loading status (loading: 1/non-loading: 0) of the servo amplifier checked
			in initial process, and stored as the bit data.
D9191	Servo amplifier	Servo amplifier	D9191: b0 to b15 (axis 1 to axis 16)
D9192	loading	loading information	D9192: b0 to b15 (axis 17 to axis 32)					S(Initial processing)
	information		• The axis which turned from non-loading to loading status after power-on is
			handled as loaded. (However, the axis which turned from loading to non-
			loading status remains as loaded.)
D9193	Real/virtual mode Real/virtual mode		• When a mode switching error occurs in real-to-virtual or virtual-to-real
D9194	switching error	Switching	mode switching, or a mode continuation error occurs in the virtual mode,
D9195	information	error code	its error information is stored.
			• The following error code is stored.
			00: No error
			01: Receiving timing error					S(Occur an error)
	PC link	PC link	02: CRC error
D9196	communication	communication error	03: Communication response code error
	error codes	codes	04: Received frame error
			05: Communication task start error
			(Each error code is reset to "00" when normal communication is
			restarted.)
	Operation cycle	Operation cycle	• The time when the setting operation cycle is stored in the [µs] unit.
D9197	of the Motion	of the Motion CPU						S(Initial processing)
	CPU setting	setting
			• The CPU switch status is stored in the following format.
			B15	B12B11	B8 B7	B4 B3	B0

3)		No used. 2)	1)
	1) CPU switch status	0: RUN
D9200 State of switch State of CPU switch		1: STOP		S(Main processing)
		2: L.CLR
	2) Memory card switch	Always OFF
	3) Dip switch	B8 through B12 correspond to SW1
		through SW5 of system setting switch 1.
		0: OFF/1: ON
		B13 through B15 is not used.

•Information concerning which of the following states the LEDs on the CPU are in is stored in the following bit patterns.

•0 is off, 1 is on, and 2 is flicker

B15 B12 B11 B8 B7 B4 B3 B0

		8)	7)	6)	5)	4)	3)	2)	1)
D9201 State of LED	State of CPU-LED	1): RUN			5): BOOT				S(Change status)
		2): ERROR			6): No used
		3): M.RUN			7): No used
		4): BAT.ALARM			8): MODE
					Bit patterns for MODE
					0: OFF		1: Green
					2: Orange

APP - 47