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

Device No.

 

 

 

 

Signal name

 

 

No.

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

1

#8064 to #8067

 

 

 

 

 

 

 

 

2

#8068 to #8071

 

 

 

Signal name

 

 

Signal

 

3

#8072 to #8075

 

 

 

Signal description

Refresh cycle

 

 

 

 

(Note-1)

direction

 

4

#8076 to #8079

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

5

#8080 to #8083

 

 

 

 

0 : Unused

 

 

 

6

#8084 to #8087

 

 

 

Servo amplifier

256 : MR-J3-B

 

 

 

 

 

 

 

 

When the servo amplifier power-on

 

 

7

#8088 to #8091

 

+0

 

type

257 : MR-J3-B (Fully closed

 

 

8

#8092 to #8095

 

 

 

loop control)

 

Monitor

 

 

 

 

 

 

 

9

#8096 to #8099

 

 

 

 

258 : MR-J3-B (Linear)

 

devise

 

10

#8100 to #8103

 

+1

 

Motor current

0.1[%]

Operation cycle 1.7[ms] or less: Operation cycle

 

 

11

#8104 to #8107

 

+2

 

 

 

 

 

 

 

Motor speed

0.1[r/min]

Operation cycle 3.5[ms] or more: 3.5[ms]

 

 

12

#8108 to #8111

 

+3

 

 

 

 

 

 

 

 

 

 

13

#8112 to #8115

 

 

 

(Note-1) : The value that the lowest servo monitor device No. was added "+0, +1 ···" on each axis is shown.

14

#8116 to #8119

 

 

 

 

 

 

 

 

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

 

 

 

 

 

 

 

 

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