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2. DETAILS OF MIGRATION FROM Q17nCPUN(-T) TO RnMTCPU
(9) Torque limit value settings
Torque limit value is set by 0.1 [%] unit in RnMTCPU.
Refer to the following table for the program revision.
(Note-1): CHGT and S(P).CHGT instructions are used to set a separate torque limit value for positive/negative direction in RnMTCPU.
However, the same torque limit value will be applied to positive/negative direction if the torque limit value is set by a different
method.
Function Item
Unit
Points for migration
Q17nCPUN(-T) RnMTCPU
Motion control parameter
(Parameter block)
Torque limit value
1 [%]
0.1 [%]
The unit is automatically converted to
0.1 [%] at project diversion.
Axis setting parameter Torque limit value
1 [%]
No need to change.
Axis setting parameter
(Speed-torque control data)
Torque limit value
0.1 [%]
No need to change.
Torque command
device
No need to change.
Axis setting parameter
(Home position return data)
(Note):Only when the stopper
method is executed
Torque limit value at
creep speed
1 [%]
The unit is automatically converted to
0.1 [%] at project diversion.
However, when the unit is indirectly
designated, the unit is not automatically
converted and a program revision is
required.
Servo program Torque limit value
(common)
1 [%]
The unit is not automatically converted
regardless of direct or indirect
designation. A program revision is
required.
Torque limit value
( parameter block )
Data register
(Monitor device)
Torque limit value
(D14+20n)
1 [%]
Since the values stored in this monitor
device will be changed following the unit
change, a revision is needed for
programs which use “D14+20n”.
Motion SFC instruction Torque limit value
change request
(CHGT)
1 [%]
Since the instruction method has been
changed, a program revision is
required.
(Note-1)
Motion dedicated PLC
instruction
Torque limit value
change request
instruction from
the PLC CPU to the
Motion CPU
(S(P).CHGT)
1 [%]
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