Differences Between Q17Ncpun(-T) And Rnmtcpu - Mitsubishi Electric MELSEC iQ-R Series Migration Manual

2. DETAILS OF MIGRATION FROM Q17nCPUN(-T) TO RnMTCPU

2.2 Differences Between Q17nCPUN(-T) and RnMTCPU

(1) Performance and specifications
Models
Q173CPUN(-T)
Items
Number of control
Up to 32
axes
SV13
Operation
cycle
(default)
SV22
Positioning control, Speed control,
Speed/position switching control,
Fixed-pitch feed, Constant speed
Control methods control, Position follow-up control,
High-speed oscillation control,
Synchronous control (SV22)
S(P).DDRD, S(P).DDWR,
Motion dedicated S(P).SFCS, S(P).SVST,
PLC instruction S(P).CHGT, S(P).CHGV,
S(P).CHGA, S(P).GINT
Program language
Mechanical support language
Servo external
signal
Cancel signal of
servo program
Q172CPUN(-T)
Up to 8
0.88ms/ 1 to 8 axes
1.77ms/ 9 to 16 axes
3.55ms/17 to 32 axes
0.88ms/ 1 to 4 axes
1.77ms/ 5 to 12 axes
3.55ms/13 to 24 axes
7.11ms/25 to 32 axes
Speed switching control,
Motion SFC,
Dedicated instruction,
Q172LX signal
Available
► An item that requires a setting change at migration.
R32MTCPU R16MTCPU
Up to 32 Up to 16
0.222ms/ 1 to 2 axes
0.444ms/ 3 to 8 axes
0.888ms/ 9 to 20 axes
1.777ms/21 to 32 axes
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
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
Motion SFC,
Dedicated instruction
Bit device
(When "Inter-module
synchronization" is valid,
"High accuracy" setting of actual
input signal is possible),
Amplifier input
Not available
2 - 6
Points for migration
−
►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).)
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).)
►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).)
►For replacement of a mechanical
system program (mechanical
support language), refer to
"Replacement of Virtual mode with
avanced synchronous control".
►When the servo external signals are
used, review the settings.
(Refer to section 2.2(12).)
►Delete the cancel command of the
servo program, and assign the same
signal to the external signal (STOP
signal) or use stop
Rq.1140
command.