Mitsubishi Electric MELSEC iQ-R Series Migration Manual page 49

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.
Function
Motion control parameter
(Parameter block)
Axis setting parameter
Axis setting parameter
(Speed-torque control data)
Axis setting parameter
(Home position return data)
(Note):Only when the stopper
method is executed
Servo program
Data register
(Monitor device)
Motion SFC instruction
Motion dedicated PLC
instruction
(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.
Item
Q17nCPUN(-T)
Torque limit value
Torque limit value
Torque limit value
Torque command
device
Torque limit value at
creep speed
Torque limit value
(common)
Torque limit value
( parameter block )
Torque limit value
(D14+20n)
Torque limit value
change request
(CHGT)
Torque limit value
change request
instruction from
the PLC CPU to the
Motion CPU
(S(P).CHGT)
2 - 17
Unit
RnMTCPU
1 [%]
1 [%]
0.1 [%]
1 [%]
0.1 [%]
1 [%]
1 [%]
1 [%]
1 [%]
Points for migration
The unit is automatically converted to
0.1 [%] at project diversion.
No need to change.
No need to change.
No need to change.
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.
The unit is not automatically converted
regardless of direct or indirect
designation. A program revision is
required.
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".
Since the instruction method has been
changed, a program revision is
required.
(Note-1)