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2. DETAILS OF MIGRATION FROM Q17nCPUN(-T) TO RnMTCPU
(Continued)
Models
Items
Q173CPUN(-T) Q172CPUN(-T) R32MTCPU R16MTCPU Points for migration
Limit output data
Output enable/disable bit,
Forced output bit
Forced OFF bit,
Forced ON bit
The setting of “Output enable/disable
bit” and “Forced output bit” in
Q17nCPUN(-T) are respectively
diverted as “Forced OFF bit” and
“Forced ON bit” in RnMTCPU.
The program can be diverted as it is.
Shared CPU
memory
H0 to HFFF (4096 words)
U3E \G0 to U3E \G2097151
(2097152 words)
If MULTW /MULTR instructions are
used for writing/reading of data to/from
the shared memory, review the
program. (Refer to section 2.2(6).)
Cancelling errors of
Multiple CPU
[Self-diagnostic error code]
• 10000: M2039 OFF
• Less than 10000:
M9060 OFF→ ON
(The error code needs to be
stored to the special register of
D9060.)
SM50 ON
• All errors can be cancelled.
• After cancelling errors,
SM50 turns OFF automatically.
For details of RnMTCPU errors, refer to
section 2.2(5).
Self-diagnostic
errors
Motion CPU-specific errors
→”10000” is stored in the
diagnostic error (D9008).
At this time, the self-diagnostic
error flag (M9008) and the
diagnostic error flag (M9010) do
not turn ON.
All errors are assigned to the
self-diagnostic error codes.
When an error occurs, an error code
is set in SD0, and then SM0 and SM1
turns ON.
Motion SFC error
detection flag
(M2039)
It depends on the error whether
M2039 is turned ON or not.
None
(integrated into the self-diagnostic
errors)
Battery error check
of Motion CPU
Provided
None
(Battery-less)
Peripheral I/F USB/RS232/SSCNET
USB/Ethernet
(via PLC CPU)
/
PERIPHERAL I/F
(Motion CPU)
Use a compatible I/F to communicate
with peripheral devices.
If PC link communication is used,
replace it with USB communication.
In that case, replace the existing cable
with the A-miniB USB cable as well.
Servo system
network
SSCNET SSCNETIII/H or SSCNETIII −
Limit switch output
function
Up to 32 points Up to 64 points −
Mark detection
function
Not available UP to 64 settings −
RUN/STOP RUN/STOP switch
RUN/STOP switch,
remote RUN/STOP, RUN contact
►If M2000, M3072, or D704 is directly
operated in the program to switch the
RUN/STOP status, revise the
program. (Refer to section 2.2(7).)
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