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2. DETAILS OF MIGRATION FROM Q17nCPUN(-T) TO RnMTCPU
(4) Items that need a review or a change following the servo system network change
Items
Differences
Changes/revisions
Q17nCPUN(-T) RnMTCPU
System setting/
SSCNET configuration
Q173CPUN(-T): 4 lines
(Up to 8 axes/line)
R32MTCPU: 2 lines
(Up to 16 axes/line)
Set the servo amplifier’s rotary switch
and connection according to the
SSCNET configuration.
Q172CPUN(-T): 1 line
(Up to 8 axes/line)
R16MTCPU: 1 line
(Up to 16 axes/line)
Electronic gear
− −
Change “Number of pulses per
revolution” and “Movement amount per
revolution” of the fixed parameters
according to the resolution per the
connected servo motor revolution.
Powering OFF a servo
amplifier in the same
network line
If a servo amplifier is turned OFF,
there is no influence on the other
servo amplifiers in the same
network line.
If a servo amplifier is turned OFF
in the same network, the servo
amplifiers connected after that one
cannot be used.
Use MR-MV200 SSCNETIII/H
compatible optical hub unit.
Connect/disconnect of
SSCNET communication
No special operation is required to
turn OFF/ON a servo amplifier in
the SSCNET network line.
Use the connect/disconnect
function of SSCNET to turn
OFF/ON a servo amplifier in the
SSCNET network line.
This function disconnects the network
connection of the servo amplifiers after
the disconnected one.
In order to turn off only a specific servo
amplifier, use MR-MV200 SSCNETIII/H
compatible optical hub unit.
Battery disconnection
warning,
Battery warning
Servo error code
2102(9F): Battery warning
2103(92): Battery disconnection
warning
Warnings
0C80(9F.1): Low battery
0C80(92.1): Encoder battery cable
disconnection
warning
Revise the program if it uses the servo
error code on the left.
Main circuit OFF
warning
If the main circuit is turned OFF
while the servo OFF command
(M3215+20n) is ON, the main
circuit OFF warning 2149(E9) will
not occur.
If the main circuit is turned OFF
while the servo OFF command
(M3215+20n) is ON, the [OC80
(E9.3): Ready-on signal on during
main circuit off] will be turned ON.
The warning occurs when the main
circuit is turned OFF while the servo
OFF command (M3215+20n) is ON.
In order not to let the [OC80 (E9.3):
Ready-on signal on during main circuit
off] turn ON, change the PC18 servo
parameter from “0000(H)” to
“1000(H)”.
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