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2. DETAILS OF MIGRATION FROM Q17nCPUN(-T) TO RnMTCPU
(Continued)
(Note): “n” indicates the corresponding axis No. (Axis No.1 to 32: n=0 to 31).
(Note-1): The Q17nCPUN(-T) error flags are integrated in self-diagnostics error in RnMTCPU. Refer to section 2.2(5) for differences in
error codes system.
(Note-2): The synchronous control function is replaced with “Advanced synchronous control” in RnMTCPU. Refer to "Replacement of
Virtual mode with advanced synchronous control".
(Note-3): Coasting timer (FT) is integrated into the special registers (SD718, SD719). Read SD718 device in 2 words unit.
Items Q17nCPUN(-T) RnMTCPU
Real mode axis information register D790, D791
−
(“M10880+n” is used to distinguish the axis
status (in synchronization or in real mode)
(Note-2)
)
Servo amplifier type D792 to D799
#8000+20n
(Stores the servo amplifier type code)
Home position return re-travel value D9+20n
D9 + 20n (Data shortened to 1 word)
#8006+20n, #8007+20n
Travel value change registers D16+20n, D17+20n
Optional device
(D16+20n and D17+20n are also usable.)
Coasting timer FT SD718, SD719
(Note-3)
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