Mitsubishi Electronics Q172HCPU User Manual

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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

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

12 #8108 to #8111

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