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APP - 2
A
PPENDICES
APPENDIX 1.1 Differences of devices
Table 1.1 Differences of devices
Device No.
Q170MCPU
Q173DCPU/
Q172DCPU
Name Description Remark
D12+20n D12+20n
Execute
program No.
storage register
This register stores the starting program No. at the servo program starting.
• FFFF........JOG operation
• FFFE........Manual pulse generator operation
• FF00 ........Power supply ON
• FFE0........Current value change execution by the Motion dedicated
instruction
Add "FFE0".
#8000+20n #8000+20n
Servo amplifier
type
This register stores the servo amplifier type for each axis at the servo
amplifier power supply ON.
• 0...............Unused
• 256...........MR-J3-
B
MR-J3W-
B (For 2-axis type)
• 257...........MR-J3-
B-RJ006 (For fully closed loop control)
MR-J3-
BS (For safety servo)
• 258...........MR-J3-
B-RJ004 (For linear servo)
• 263...........MR-J3-
B-RJ080W (For direct drive motor)
It is not cleared even if the servo amplifier power supply turns OFF.
Add "263".
#8008+20n —
Servo amplifier
display servo
error code
This register stores the servo error code read from the servo amplifier.
The hexadecimal display is the same as the LED of servo amplifier.
Refer to the "Servo amplifier Instruction Manual" for details of the servo
error codes.
New
Current value (SD720, SD721) is incremented by 1 per 444μs.
Read SD720 device in 2 word unit.
Item Specification
Data size 2 word (-2147483648 to 2147483647)
Latch
Cleared to zero at power-on or reset, a
count rise is continued from now on.
Usable tasks Normal, event, NMI
Access Read only enabled
Timer specifications 444μs timer
SD720,
SD721
—
444μs coasting
timer
New
In the device numbers, "n" in "D12+20n", etc. indicates a value corresponding to axis
No. such as the following tables.
Axis No. n Axis No. n Axis No. n Axis No. n
1 0 5 4 9 8 13 12
2 1 6 5 10 9 14 13
3 2 7 6 11 10 15 14
4 3 8 7 12 11 16 15
• Calculate as follows for the device No. corresponding to each axis.
(Example) For axis 16
D12+20n=D12+20
15=D312