Specifications

A- 14
2. REPLACEMENT PROPOSAL FROM A-MOTION TO QDS-MOTION .............................................................. 1
1. OVERVIEW ................................................................................................................................................... 3
2. EQUIPMENT CONFIGURATION, AVAILABLE SOFTWARE ..................................................................... 3
2.1 Equipment Correspondence ...................................................................................................................... 3
2.2 Servo Amplifier Correspondence .............................................................................................................. 4
2.3 Operating System Software Correspondence .......................................................................................... 5
2.4 Engineering Environment .......................................................................................................................... 5
3. DIFFERENCES BETWEEN Q173DSCPU/Q172DSCPU AND A173UHCPU/
A172SHCPUN/A171SHCPUN ...................................................................................................................... 6
3.1 Differences between Q173DSCPU/Q172DSCPU and A173UHCPU/A172SHCPUN/A171SHCPUN .. 6
3.1.1 Differences list .................................................................................................................................... 6
3.1.2 Difference between self diagnosis error and Motion (SFC) error history ......................................... 9
3.1.3 Item that is necessary to change/revise with the change of servo system network ...................... 10
3.2 Device Comparison ................................................................................................................................. 11
3.2.1 I/O device .......................................................................................................................................... 11
3.2.2 Internal relay ..................................................................................................................................... 11
3.2.3 Data register ..................................................................................................................................... 14
3.2.4 Motion register .................................................................................................................................. 17
3.2.5 Special relay ..................................................................................................................................... 18
3.2.6 Special register ................................................................................................................................. 20
3.2.7 Other devices ................................................................................................................................... 23
4. DIVERSION OF PROJECT CREATED BY A173CPUN/A172CPUN ....................................................... 25
4.1 Data List Available for Diversion or Not (SV13/SV22) ............................................................................ 25
4.2 Program Diversion Procedure in Motion CPU Side ................................................................................ 27
4.2.1 Diversion procedure using MT Developer2 ..................................................................................... 27
4.2.2 Without using SFC ........................................................................................................................... 30
4.2.3 Precautions for diverting cam data .................................................................................................. 31
4.3 Program Diversion Procedure in PLC CPU Side ................................................................................... 32
4.3.1 Conversion procedure of a sequence project for QnUD(E)(H)CPU using GX Works2/
GX Developer ................................................................................................................................... 32
5. USING A/QnA->Q CONVERSION SUPPORT TOOL IN SEQUENCE PROGRAM ................................ 37
5.1 Preparation for Using Support Tool ......................................................................................................... 37
5.2 Using Procedure of Support Tool ............................................................................................................ 38
5.3 Sequence Program Correction in Created Embedding File ................................................................... 40
5.3.1 Correction of special relay/special register ...................................................................................... 40
5.3.2 Correction of motion dedicated instructions .................................................................................... 40
5.3.3 Others ............................................................................................................................................... 40
6. POINTS AND PRECAUTIONS OF REPLACEMENT ................................................................................ 41
6.1 Difference of Motion CPU Configuration ................................................................................................. 41
6.1.1 System configuration ........................................................................................................................ 41
6.1.2 Shared device................................................................................................................................... 42
6.2 Precautions about Replacement ............................................................................................................. 43
6.2.1 Slot position (system setting) ........................................................................................................... 43
6.2.2 Communication data device between PLC CPU and Motion CPU ................................................ 44
6.2.3 Block number of refresh setting and total points number restriction .............................................. 46
6.2.4 Timer devices and counter devices ................................................................................................. 50
6.2.5 Indirect designation of servo program ............................................................................................. 50
6.2.6 Parameter block ............................................................................................................................... 51