3. POSITIONING SIGNALS
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3.2.1 Monitoring data area
The monitoring data area is used by the PCPU to store data such as the feed
current value during positioning control, the real current value, and the number of
droop pulses in the deviation counter.
It can be used to check the positioning control status using the sequence program.
The user cannot write data into the monitoring data area (with the exception of the
travel value register).
For details on the delay time between a positioning device (input, internal relay,
special relay) going ON or OFF and storage of data in the monitor data area, see
APPENDIX 6 “Processing Times”.
(1) Feed current value register (D0+20n)...........Data from the PCPU to the SCPU
(a) This register stores the target address output to the servo amplifier on the
basis of the positioning address/travel value designated in the servo
program.
1) In fixed-pitch feed control, the travel value counted up from 0 after motion
starts is stored.
2) In speed/position switching control, the current value counted up from the
address when motion starts is stored.
However, the address at start time varies depending on the ON/OFF
status of the feed current value update command (M3212+20n) at start
time.
• M3212+20n: OFF.........Resets the feed current value to 0 at start time.
• M3212+20n: ON...........Not reset the feed current value at start time.
3) During speed control, "0" is stored.
(b) The stroke range check is performed on this feed current value data.
(2) Real current value register (D2+20n) ............Data from the PCPU to the SCPU
(a) This register stores the current value attained in real travel (the feed current
value minus the droop pulses in the deviation counter).
(b) In the stopped status, the feed current value is equal to the real current
value.
(3) Deviation counter value register (D4+20n)....Data from the PCPU to the SCPU
This register stores the difference between the feed current value and the real
current value.
(4) Minor error code register (D6+20n).......... Data from the PCPU to the SCPU
(a) This register stores the relevant error code (see Appendix 2.2) when a
minor error occurs.
If another minor error occurs, the previous error code is overwritten by the
new error code.
(b) Minor error codes can be cleared by an error reset signal (M3207+20n).
(5) Major error code register (D7+20n)...........Data from the PCPU to the SCPU
(a) This register stores the relevant error code (see Appendix 2.3) when a
major error occurs.
If another major error occurs, the previous error code is overwritten by the
new error code.
(b) Major error codes can be cleared by an error reset signal (M3207+20n).
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