Mitsubishi Electric MELSEC iQ-R Series - Differences between Q17 Ncpun(-T) and Rnmtcpu

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2. DETAILS OF MIGRATION FROM Q17nCPUN(-T) TO RnMTCPU
2.2 Differences Between Q17nCPUN(-T) and RnMTCPU
(1) Performance and specifications
►
An item that requires a setting change at migration.
Models
Items
Q173CPUN(-T) Q172CPUN(-T) R32MTCPU R16MTCPU Points for migration
Number of control
axes
Up to 32 Up to 8 Up to 32 Up to 16 −
Operation
cycle
(default)
SV13
0.88ms/ 1 to 8 axes
1.77ms/ 9 to 16 axes
3.55ms/17 to 32 axes
0.222ms/ 1 to 2 axes
0.444ms/ 3 to 8 axes
0.888ms/ 9 to 20 axes
1.777ms/21 to 32 axes
►If the operation cycle is set as default
(automatic), the operation cycle will
be changed.
Set a fixed operation cycle where
necessary because the change in the
operation cycle may change program
execution timing.
(Refer to section 2.2(11).)
SV22
0.88ms/ 1 to 4 axes
1.77ms/ 5 to 12 axes
3.55ms/13 to 24 axes
7.11ms/25 to 32 axes
Control methods
Positioning control, Speed control,
Speed/position switching control,
Fixed-pitch feed, Constant speed
control, Position follow-up control,
Speed switching control,
High-speed oscillation control,
Synchronous control (SV22)
Positioning control, Speed control,
Speed/position switching control,
Fixed-pitch feed, Continuous
trajectory control, Position follow-up
control, Speed control with fixed
position stop, High-speed oscillation
control, Speed-torque control,
Tightening & press-fit control,
Advanced synchronous control
The term "constant-speed control” has
been changed to "continuous
trajectory control".
However, the program is divertible as
it is.
►If "Speed-switching control" is used,
replace it with "Continuous trajectory
control". (Refer to section 2.2(10).)
Motion dedicated
PLC instruction
S(P).DDRD, S(P).DDWR,
S(P).SFCS, S(P).SVST,
S(P).CHGT, S(P).CHGV,
S(P).CHGA, S(P).GINT
D(P).DDRD, D(P).DDWR,
D(P).SFCS, D(P).SVST,
D(P).CHGT,
D(P).CHGV, D(P).CHGVS,
D(P).CHGA, D(P).CHGAS,
D(P).GINT, D(P).SVSTD
►Replace the Motion dedicated PLC
instruction S(P).
with D(P). .
Revise programs which use CHGT
instructions because the unit of the
torque limit value is different.
(Refer to section 2.2(9).)
Program language
Motion SFC,
Dedicated instruction,
Mechanical support language
Motion SFC,
Dedicated instruction
►For replacement of a mechanical
system program (mechanical
support language), refer to
"Replacement of Virtual mode with
avanced synchronous control".
Servo external
signal
Q172LX signal
Bit device
(When “Inter-module
synchronization” is valid,
“High accuracy” setting of actual
input signal is possible),
Amplifier input
►When the servo external signals are
used, review the settings.
(Refer to section 2.2(12).)
Cancel signal of
servo program
Available Not available
►Delete the cancel command of the
servo program, and assign the same
signal to the external signal (STOP
signal) or use
Rq.1140 stop
command.