Mitsubishi Electric Q Series, Programming Manual

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4 POSITIONING DEDICATED SIGNALS
4.2.1 Axis monitor devices
The monitoring data area is used by the Motion CPU to store data such as the feed
current value during positioning control, the real current value and the deviation
counter value.
It can be used to check the positioning control state using the Motion SFC program.
The user cannot write data to the monitoring data area.
Refer to "APPENDIX 3 Processing Times of the Motion CPU" for the delay time
between a positioning device (input, internal relay and special relay) turning on/off and
storage of data in the monitor data area.
(1) Feed current value/roller cycle speed storage register
(D0+20n, D1+20n) ..................................................... Monitor device
(a) The target address which is output to the servo amplifier is stored in this
register. The target address is based on the command address calculated
from the mechanical system program settings.
(b) The stroke range check is performed on this feed current value data.
(c) Roller cycle speed is stored.
The storage range for cycle speed the roller cycle speed storage register is
shown below.
Setting Units Storage Range Real Roller Cycle Speed
mm 0.01 to 6000000.00 [mm/min]
inch
1 to 600000000
0.001 to 600000.000 [inch/min]
(2) Real current value storage register (D2+20n, D3+20n)
..................... Monitor device
(a) This register stores the real current value which took the droop pulses of the
servo amplifier into consideration to the feed current value.
(b) The "feed current value" is equal to the "real current value" in the stopped
state.
(3) Deviation counter value storage register (D4+20n, D5+20n)
..................... Monitor device
This register stores the droop pulses read from the servo amplifier.
(4) Minor error code storage register (D6+20n) .............. Monitor device
(a) This register stores the corresponding error code (Refer to APPENDIX 1.4
and 1.6) at the minor error occurrence. If another minor error occurs after
error code storing, the previous error code is overwritten by the new error
code.
(b) Minor error codes can be cleared by an error reset command (M3207+20n).