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16. SERVO AMPLIFIER CONNECTION
16.6 Device Range that Can Be Set
(f) Alarm
(g) External I/O signal
(h) Current position latch data
(i) The value of the general-purpose register (Rx)
(j) The value of the general-purpose register (Dx)
(k) Input signal for test operation (for test operation)
(l) Forced output of signal pin (for test operation)
(m) Set data (for test operation)
Device
name
Item Symbol
AL0 Current alarm number ―
AL1 Detailed data of current alarms ―
AL11
Servo status when alarm occurs Current
position
―
AL12
Servo status when alarm occurs Command
position
―
AL13
Servo status when alarm occurs Command
remaining distance
―
AL14
Servo status when alarm occurs Program
Number
―
AL15
Servo status when alarm occurs Step Number
―
AL16
Servo status when alarm occurs Cumulative
feedback pulses
―
AL17
Servo status when alarm occurs
Servo motor speed
―
AL18
Servo status when alarm occurs Droop pulses
―
AL19 Servo status when alarm occurs Override ―
AL20
Servo status when alarm occurs Torque limit
voltage
―
AL21
Servo status when alarm occurs
Regenerative load ratio
―
AL22
Servo status when alarm occurs Effective
load ratio
―
AL23
Servo status when alarm occurs Peak load
ratio
―
AL24
Servo status when alarm occurs
Instantaneous torque
―
AL25
Servo status when alarm occurs Within one-
revolution position
―
AL26
Servo status when alarm occurs ABS counter
―
AL27
Servo status when alarm occurs
Load inertia moment ratio
―
AL28 Servo status when alarm occurs Bus voltage ―
AL200
Alarm number from Alarm History
most recent alarm
―
AL201
Alarm number from Alarm History
first alarm in past
―
AL202
Alarm number from Alarm History
second alarm in past
―
AL203
Alarm number from Alarm History
third alarm in past
―
AL204
Alarm number from Alarm History
fourth alarm in past
―
AL205
Alarm number from Alarm History
fifth alarm in past
―
AL210
Alarm occurrence time in alarm history
most recent alarm
―
AL211
Alarm occurrence time in alarm history
first alarm in past
―
AL212
Alarm occurrence time in alarm history
second alarm in past
―
AL213
Alarm occurrence time in alarm history
third alarm in past
―
AL214
Alarm occurrence time in alarm history
fourth alarm in past
―
AL215
Alarm occurrence time in alarm history
fifth alarm in past
―
AL230
Detailed alarm from Alarm History
most recent alarm
―
AL231
Detailed alarm from Alarm History
first alarm in past
―
AL232
Detailed alarm from Alarm History
second alarm in past
―
AL233
Detailed alarm from Alarm History
third alarm in past
―
AL234
Detailed alarm from Alarm History
fourth alarm in past
―
AL235
Detailed alarm from Alarm History
fifth alarm in past
―
Device
name
Item Symbol
DI0 Input device statuses ―
DI1 External input pin statuses ―
DI2
Statuses of input devices switched on
through communication
―
DO0 Output device statuses ―
DO1 External output pin statuses ―
Device
name
Item Symbol
LD1 Current position latch data ―
Device name Item Symbol
RR1, RR1001
The value of the general-
purpose register (R1)
―
RR2, RR1002
The value of the general-
purpose register (R2)
―
RR3, RR1003
The value of the general-
purpose register (R3)
―
RR4, RR1004
The value of the general-
purpose register (R4)
―
Device name Item Symbol
RD1
The value of the general-
purpose register (D1)
―
RD2
The value of the general-
purpose register (D2)
―
RD3
The value of the general-
purpose register (D3)
―
RD4
The value of the general-
purpose register (D4)
―
Device name Item Symbol
TMI0 Input signal for test operation ―
Device name Item Symbol
TMO0 Forced output of signal pin ―
Device
name
Item Symbol
TMD0 Writes the speed (test mode) ―
TMD1
Writes the acceleration/deceleration time
constant(test mode)
―
TMD2
Writes the moving distance in pulses(test
mode)
―
Device
name
Item Symbol