Mitsubishi Electric MELSEC iQ-R Series User manual

Migration Guide of Motion Controller
[Q17nCPUN(-T) යRnMTCPU]
MITSUBISHI ELECTRIC SERVO SYSTEM CONTROLLER

A - 1
● SAFETY PRECAUTIONS ●
(Read these precautions before using this product.)
Before using this product, please read this manual and the relevant manuals carefully and pay full
attention to safety to handle the product correctly.
The precautions given in this manual are concerned with this product only. Refer to the MELSEC iQ-R
Module Configuration Manual for a description of the PLC system safety precautions.
In this manual, the safety precautions are classified into two levels: “ WARNING” and “ CAUTION”.
WARNING Indicates that incorrect handling may cause hazardous conditions,
resulting in death or severe injury.
CAUTION Indicates that incorrect handling may cause hazardous conditions,
resulting in minor or moderate injury or property damage.
Under some circumstances, failure to observe the precautions given under “ CAUTION” may lead to
serious consequences.
Observe the precautions of both levels because they are important for personal and system safety.
Make sure that the end users read this manual and then keep the manual in a safe place for future
reference.

A - 2
[Design Precautions]
WARNING
●Configure safety circuits external to the programmable controller to ensure that the entire system
operates safely even when a fault occurs in the external power supply or the programmable
controller.
Failure to do so may result in an accident due to an incorrect output or malfunction.
(1) Emergency stop circuits, protection circuits, and protective interlock circuits for conflicting
operations (such as forward/reverse rotations or upper/lower limit positioning) must be
configured external to the programmable controller.
(2) When the programmable controller detects an abnormal condition, it stops the operation and
all outputs are:
• Turned off if the overcurrent or overvoltage protection of the power supply module is
activated.
• Held or turned off according to the parameter setting if the self-diagnostic function of the CPU
module detects an error such as a watchdog timer error.
(3) All outputs may be turned on if an error occurs in a part, such as an I/O control part, where the
CPU module cannot detect any error. To ensure safety operation in such a case, provide a
safety mechanism or a fail-safe circuit external to the programmable controller. For a fail-safe
circuit example, refer to "General Safety Requirements" in the MELSEC iQ-R Module
Configuration Manual.
(4) Outputs may remain on or off due to a failure of a component such as a relay and transistor in
an output circuit. Configure an external circuit for monitoring output signals that could cause a
serious accident.
●In an output circuit, when a load current exceeding the rated current or an overcurrent caused by
a load short-circuit flows for a long time, it may cause smoke and fire. To prevent this, configure
an external safety circuit, such as a fuse.
●Configure a circuit so that the programmable controller is turned on first and then the external
power supply. If the external power supply is turned on first, an accident may occur due to an
incorrect output or malfunction.
●For the operating status of each station after a communication failure, refer to manuals relevant to
the network. Incorrect output or malfunction due to a communication failure may result in an
accident.
●When connecting an external device with a CPU module or intelligent function module to modify
data of a running programmable controller, configure an interlock circuit in the program to ensure
that the entire system will always operate safely. For other forms of control (such as program
modification, parameter change, forced output, or operating status change) of a running
programmable controller, read the relevant manuals carefully and ensure that the operation is
safe before proceeding. Improper operation may damage machines or cause accidents.
●Especially, when a remote programmable controller is controlled by an external device,
immediate action cannot be taken if a problem occurs in the programmable controller due to a
communication failure. To prevent this, configure an interlock circuit in the program, and
determine corrective actions to be taken between the external device and CPU module in case
of a communication failure.

A - 3
[Design Precautions]
WARNING
●Do not write any data to the "system area" and "write-protect area" of the buffer memory in the
module. Also, do not use any "use prohibited" signals as an output signal from the CPU module
to each module. Doing so may cause malfunction of the programmable controller system. For
the "system area", "write-protect area", and the "use prohibited" signals, refer to the user's
manual for the module used.
●If a communication cable is disconnected, the network may be unstable, resulting in a
communication failure of multiple stations. Configure an interlock circuit in the program to
ensure that the entire system will always operate safely even if communications fail. Failure to
do so may result in an accident due to an incorrect output or malfunction.
●To maintain the safety of the programmable controller system against unauthorized access from
external devices via the network, take appropriate measures. To maintain the safety against
unauthorized access via the Internet, take measures such as installing a firewall.
●Configure safety circuits external to the programmable controller to ensure that the entire
system operates safely even when a fault occurs in the external power supply or the
programmable controller. Failure to do so may result in an accident due to an incorrect output or
malfunction.
●If safety standards (ex., robot safety rules, etc.,) apply to the system using the module, servo
amplifier and servomotor, make sure that the safety standards are satisfied.
●Construct a safety circuit externally of the module or servo amplifier if the abnormal operation of
the module or servo amplifier differs from the safety directive operation in the system.
●Do not remove the SSCNETIII cable while turning on the control circuit power supply of
modules and servo amplifier. Do not see directly the light generated from SSCNETIII connector
of the module or servo amplifier and the end of SSCNETIII cable. When the light gets into eyes,
you may feel something wrong with eyes. (The light source of SSCNETIII complies with class1
defined in JISC6802 or IEC60825-1.)

A - 4
[Design Precautions]
WARNING
●Do not install the control lines or communication cables together with the main circuit lines or
power cables. Keep a distance of 100 mm or more between them. Failure to do so may result in
malfunction due to noise.
●During control of an inductive load such as a lamp, heater, or solenoid valve, a large current
(approximately ten times greater than normal) may flow when the output is turned from off to on.
Therefore, use a module that has a sufficient current rating.
●After the CPU module is powered on or is reset, the time taken to enter the RUN status varies
depending on the system configuration, parameter settings, and/or program size. Design
circuits so that the entire system will always operate safely, regardless of the time.
●Do not power off the programmable controller or do not reset the CPU module during the setting
registration. Doing so will make the data in the flash ROM undefined. The data need to be set in
the buffer memory and to be written to the flash ROM again. Doing so may cause malfunction or
failure of the module.
●When changing the operating status of the CPU module from external devices (such as remote
RUN/STOP), select "Do Not Open by Program" for "Opening Method" in the module
parameters. If "Open by Program" is selected, an execution of remote STOP causes the
communication line to close. Consequently, the CPU module cannot reopen the communication
line, and external devices cannot execute the remote RUN.

A - 5
[Installation Precautions]
WARNING
●Shut off the external power supply (all phases) used in the system before mounting or removing
the module. Failure to do so may result in electric shock or cause the module to fail or
malfunction.
[Installation Precautions]
CAUTION
●Use the programmable controller in an environment that meets the general specifications in the
manual "Safety Guidelines" included in the base unit. Failure to do so may result in electric
shock, fire, malfunction, or damage to or deterioration of the product.
●To mount a module, place the concave part(s) located at the bottom onto the guide(s) of the
base unit, and push in the module until the hook(s) located at the top snaps into place. Incorrect
mounting may cause malfunction, failure, or drop of the module.
●To mount a module with no module fixing hook, place the concave part(s) located at the bottom
onto the guide(s) of the base unit, push in the module, and fix it with screw(s).
●When using the programmable controller in an environment of frequent vibrations, fix the
module with a screw.
●Tighten the screws within the specified torque range. Undertightening can cause drop of the
screw, short circuit, or malfunction. Overtightening can damage the screw and/or module,
resulting in drop, short circuiA-5t, or malfunction.
●When using an extension cable, connect it to the extension cable connector of the base unit
securely. Check the connection for looseness. Poor contact may cause incorrect input or output.
●When using an SD memory card, fully insert it into the memory card slot. Check that it is
inserted completely. Poor contact may cause malfunction.
●Securely insert an extended SRAM cassette into the cassette connector of a CPU module. After
insertion, close the cassette cover and check that the cassette is inserted completely. Poor
contact may cause malfunction.
●Do not directly touch any conductive parts and electronic components of the module, SD
memory card, extended SRAM cassette, or connector. Doing so may cause malfunction or
failure of the module.
[Wiring Precautions]
WARNING
●Shut off the external power supply (all phases) used in the system before installation and wiring.
Failure to do so may result in electric shock or damage to the product.
●After installation and wiring, attach the included terminal cover to the module before turning it on
for operation. Failure to do so may result in electric shock.

A - 6
[Wiring Precautions]
CAUTION
●Individually ground the FG and LG terminals of the programmable controller with a ground
resistance of 100 ohm or less. Failure to do so may result in electric shock or malfunction.
●Use applicable solderless terminals and tighten them within the specified torque range. If any
spade solderless terminal is used, it may be disconnected when the terminal screw comes
loose, resulting in failure.
●Check the rated voltage and signal layout before wiring to the module, and connect the cables
correctly. Connecting a power supply with a different voltage rating or incorrect wiring may
cause fire or failure.
●Connectors for external devices or coaxial cables must be crimped or pressed with the tool
specified by the manufacturer, or must be correctly soldered. Incomplete connections may
cause short circuit, fire, or malfunction.
●Securely connect the connector to the module. Poor contact may cause malfunction.
●Do not install the control lines or communication cables together with the main circuit lines or
power cables. Keep a distance of 100 mm or more between them. Failure to do so may result in
malfunction due to noise.
●Place the cables in a duct or clamp them. If not, dangling cable may swing or inadvertently be
pulled, resulting in damage to the module or cables or malfunction due to poor contact. Do not
clamp the extension cables with the jacket stripped. Doing so may change the characteristics of
the cables, resulting in malfunction.
●Check the interface type and correctly connect the cable. Incorrect wiring (connecting the cable
to an incorrect interface) may cause failure of the module and external device.
●Tighten the terminal screws or connector screws within the specified torque range.
Undertightening can cause drop of the screw, short circuit, fire, or malfunction. Overtightening
can damage the screw and/or module, resulting in drop, short circuit, fire, or malfunction.
●When disconnecting the cable from the module, do not pull the cable by the cable part. For the
cable with connector, hold the connector part of the cable. For the cable connected to the
terminal block, loosen the terminal screw. Pulling the cable connected to the module may result
in malfunction or damage to the module or cable.
●Prevent foreign matter such as dust or wire chips from entering the module. Such foreign matter
can cause a fire, failure, or malfunction.
●A protective film is attached to the top of the module to prevent foreign matter, such as wire
chips, from entering the module during wiring. Do not remove the film during wiring. Remove it
for heat dissipation before system operation.
●Programmable controllers must be installed in control panels. Connect the main power supply
to the power supply module in the control panel through a relay terminal block. Wiring and
replacement of a power supply module must be performed by qualified maintenance personnel
with knowledge of protection against electric shock. For wiring, refer to the MELSEC iQ-R
Module Configuration Manual.
●For Ethernet cables to be used in the system, select the ones that meet the specifications in the
user's manual for the module used. If not, normal data transmission is not guaranteed.

A - 7
[Startup and Maintenance Precautions]
WARNING
●Do not touch any terminal while power is on. Doing so will cause electric shock or malfunction.
●Correctly connect the battery connector. Do not charge, disassemble, heat, short-circuit, solder,
or throw the battery into the fire. Also, do not expose it to liquid or strong shock. Doing so may
cause the battery to generate heat, explode, ignite, or leak, resulting in injury or fire.
●Shut off the external power supply (all phases) used in the system before cleaning the module
or retightening the terminal screws, connector screws, or module fixing screws. Failure to do so
may result in electric shock or cause the module to fail or malfunction.
[Startup and Maintenance Precautions]
CAUTION
●When connecting an external device with a CPU module or intelligent function module to modify
data of a running programmable controller, configure an interlock circuit in the program to
ensure that theentire system will always operate safely. For other forms of control (such as
program modification, parameter change, forced output, or operating status change) of a
running programmable controller, read the relevant manuals carefully and ensure that the
operation is safe before proceeding. Improper operation may damage machines or cause
accidents.
●Especially, when a remote programmable controller is controlled by an external device,
immediate action cannot be taken if a problem occurs in the programmable controller due to a
communication failure. To prevent this, configure an interlock circuit in the program, and
determine corrective actions to be taken between the external device and CPU module in case
of a communication failure.
●Do not disassemble or modify the modules. Doing so may cause failure, malfunction, injury, or a
fire.
●Use any radio communication device such as a cellular phone or PHS (Personal Handyphone
System) more than 25 cm away in all directions from the programmable controller. Failure to do
so may cause malfunction.

A - 8
[Startup and Maintenance Precautions]
CAUTION
●Shut off the external power supply (all phases) used in the system before mounting or removing
the module. Failure to do so may cause the module to fail or malfunction.
●Tighten the screws within the specified torque range. Undertightening can cause drop of the
component or wire, short circuit, or malfunction. Overtightening can damage the screw and/or
module, resulting in drop, short circuit, or malfunction.
●After the first use of the product, do not mount/remove the module to/from the base unit, and
the terminal block to/from the module, and do not insert/remove the extended SRAM cassette
to/from the CPU module more than 50 times (IEC 61131-2 compliant) respectively. Exceeding
the limit of 50 times may cause malfunction.
●After the first use of the product, do not insert/remove the SD memory card to/from the CPU
module more than 500 times. Exceeding the limit may cause malfunction.
●Do not touch the metal terminals on the back side of the SD memory card. Doing so may cause
malfunction or failure.
●Do not touch the integrated circuits on the circuit board of an extended SRAM cassette. Doing
so may cause malfunction or failure.
●Do not drop or apply shock to the battery to be installed in the module. Doing so may damage
the battery, causing the battery fluid to leak inside the battery. If the battery is dropped or any
shock is applied to it, dispose of it without using.
●Startup and maintenance of a control panel must be performed by qualified maintenance
personnel with knowledge of protection against electric shock. Lock the control panel so that
only qualified maintenance personnel can operate it.
●Before handling the module, touch a conducting object such as a grounded metal to discharge
the static electricity from the human body. Failure to do so may cause the module to fail or
malfunction.
●Before testing the operation, set a low speed value for the speed limit parameter so that the
operation can be stopped immediately upon occurrence of a hazardous condition.
●Confirm and adjust the program and each parameter before operation. Unpredictable
movements may occur depending on the machine.
●When using the absolute position system function, on starting up, and when the module or
absolute position motor has been replaced, always perform a home position return.
●Before starting the operation, confirm the brake function.
●Do not perform a megger test (insulation resistance measurement) during inspection.
●After maintenance and inspections are completed, confirm that the position detection of the
absolute position detection function is correct.
●Lock the control panel and prevent access to those who are not certified to handle or install
electric equipment.

A - 9
[Operating Precautions]
CAUTION
●When changing data and operating status, and modifying program of the running programmable
controller from an external device such as a personal computer connected to an intelligent
function module, read relevant manuals carefully and ensure the safety before operation.
Incorrect change or modification may cause system malfunction, damage to the machines, or
accidents.
●Do not power off the programmable controller or reset the CPU module while the setting values
in the buffer memory are being written to the flash ROM in the module. Doing so will make the
data in the flash ROM and SD memory card undefined. The values need to be set in the buffer
memory and written to the flash ROM and SD memory card again. Doing so also can cause
malfunction or failure of the module.
●Note that when the reference axis speed is specified for interpolation operation, the speed of
the partner axis (2nd, 3rd, or 4th axis) may exceed the speed limit value.
●Do not go near the machine during test operations or during operations such as teaching. Doing
so may lead to injuries.
[Disposal Precautions]
CAUTION
●When disposing of this product, treat it as industrial waste.
●When disposing of batteries, separate them from other wastes according to the local
regulations. For details on battery regulations in EU member states, refer to the MELSEC iQ-R
Module Configuration Manual.
[Transportation Precautions]
CAUTION
●When transporting lithium batteries, follow the transportation regulations. For details on the
regulated models, refer to the MELSEC iQ-R Module Configuration Manual.
●The halogens (such as fluorine, chlorine, bromine, and iodine), which are contained in a
fumigant used for disinfection and pest control of wood packaging materials, may cause failure
of the product. Prevent the entry of fumigant residues into the product or consider other
methods (such as heat treatment) instead of fumigation. The disinfection and pest control
measures must be applied to unprocessed raw wood.

A - 10
REVISIONS
Print Date Manual No. Revision
Sep., 2017 L(NA)03156-A First edition
This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent
licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property
rights which may occur as a result of using the contents noted in this manual.
2017 MITSUBISHI ELECTRIC CORPORATION

A - 11
INTRODUCTION
Please read this manual carefully so that equipment is used to its optimum.
CONTENTS
Safety Precautions .........................................................................................................................................A- 1
Revisions ........................................................................................................................................................A-10
Contents .........................................................................................................................................................A-11
1. OVERVIEW OF MIGRATION FROM Q17nCPUN(-T) TO RnMTCPU 1- 1 to 1-18
1.1 Benefits of Migration ............................................................................................................................... 1- 1
1.2 Main Target Models for Migration........................................................................................................... 1- 2
1.3 System Configuration.............................................................................................................................. 1- 6
1.3.1 System configuration using Q17nCPUN(-T) before migration ....................................................... 1- 6
1.3.2 System configuration using RnMTCPU after migration .................................................................. 1- 7
1.4 Case Study on Migration ........................................................................................................................ 1- 8
1.4.1 Whole system migration (recommended) ....................................................................................... 1- 9
1.4.2 Phased migration ............................................................................................................................. 1-10
1.4.3 Separate repair................................................................................................................................. 1-11
1.4.4 Precautions for powering off only a desired servo amplifier ........................................................... 1-12
1.4.5 Configuration when the MR-MV200 optical hub unit is used.......................................................... 1-13
1.5 Project Diversion ..................................................................................................................................... 1-14
1.6 Introduction of R64MTCPU .................................................................................................................... 1-15
1.7 Relevant Documents............................................................................................................................... 1-16
1.7.1 Relevant catalogs............................................................................................................................. 1-16
1.7.2 Relevant manuals ............................................................................................................................ 1-17
2. DETAILS OF MIGRATION FROM Q17nCPUN(-T) TO RnMTCPU 2- 1 to 2-48
2.1 Table of Components and Software....................................................................................................... 2- 1
2.1.1 Servo amplifiers and servo motors .................................................................................................. 2- 4
2.1.2 Operating system software .............................................................................................................. 2- 5
2.1.3 Engineering environment (required)................................................................................................ 2- 5
2.2 Differences Between Q17nCPUN(-T) and RnMTCPU.......................................................................... 2- 6
2.3 Comparison of Devices........................................................................................................................... 2-21
2.3.1 Motion registers................................................................................................................................ 2-21
2.3.2 Special relays ................................................................................................................................... 2-23
2.3.3 Special registers............................................................................................................................... 2-24
2.3.4 Other devices ................................................................................................................................... 2-26
2.4 Project Diversion ..................................................................................................................................... 2-28
2.4.1 Module control with RnMTCPU ....................................................................................................... 2-28
2.4.2 List of divertible/Not divertible data (SV13/SV22) ........................................................................... 2-30
2.4.3 Project diversion procedures by engineering environment ............................................................ 2-31
2.4.4 Replacement of mechanical system program with advanced synchronization ............................. 2-45
2.4.5 Auto refresh settings in MELSOFT GX Works3.............................................................................. 2-46

A - 12
MEMO

1 - 1
1. OVERVIEW OF MIGRATION FROM Q17nCPUN(-T) TO RnMTCPU
1. OVERVIEW OF MIGRATION FROM Q17nCPUN(-T) TO RnMTCPU
1.1 Benefits of Migration
Migrating from the existing system using Q173CPUN(-T)/Q172CPUN(-T) Motion controllers to a
new system using MELSEC iQ-R series Motion controllers R32MTCPU/R16MTCPU (hereinafter
called RnMTCPU), which support the programs on the Q173CPUN(-T)/Q172CPUN(-T), is
recommended. We also recommend migrating servo amplifiers to the MR-J4 series at the same
time.
Migrating not only allows the system to run for longer periods, but also has the following
advantages.
(1) High-speed operation and high functionality of the Motion controller
The Motion controller RnMTCPU achieves the maximum operation cycle of 0.222 ms/2 axes,
enabling a dramatically fast operation.
The controller also achieves further advanced motion control with a wide variety of motion
control functions.
→Increased productivity from higher speeds and functionality of the Motion controller.
(2) High-speed communication by SSCNETIII/H
Speeding up and improving noise tolerance of servo network communications are achieved
by optical communication. A long distance cable of 100 m can be also used.
→Increased speeds over the entire facility
(3) Servo amplifier MR-J4 and servo motor
The latest MR-J4 series achieves high performance operation with a variety of functions
including one-touch tuning, a 22-bit high resolution encoder (4194304 pulse/rev), and 2.5 kHz
speed frequency response. The product lineup includes multi-axis servo amplifiers that
contribute to energy saving, space saving, and reduced wiring of a machine. The MR-J4
series compatible rotary servo motor, HG series enables to output high torque at high speed.
Linear servo motors and direct drive motors are also available. Select the motor type
according to your application from our extensive product lineup.
→Increase of applications, improved performance, energy saving, downsizing, and reduced
wiring of drive systems.
(4) Lower maintenance cost
After 5 years of usage, the products will need maintenance, such as replacement of the whole
circuit board due to the life of components including electrolytic capacitors and memories.
To use the system the longest possible, an early migration to the latest model is
recommended in terms of performance and quality.
→Increased equipment longevity

1 - 2
1. OVERVIEW OF MIGRATION FROM Q17nCPUN(-T) TO RnMTCPU
1.2 Main Target Models for Migration
The main target models and operating system software for replacement described in this section
are as follows.
If you are using special operating system software or application-specific operating system
software, contact your local sales office.
(1) Modules/Cables
Product name Model
before migration
Model
after migration
Motion CPU module
Q172CPUN R16MTCPU(Note-1)
Q173CPUN R32MTCPU(Note-2)
Q172CPUN-T R16MTCPU(Note-1), (Note-3)
Q173CPUN-T R32MTCPU(Note-2), (Note-3)
Battery unit Q170BAT
(Order if necessary)
−
Dividing unit Q173DV −
Servo external signals
interface module Q172LX MELSEC iQ-R series Input module
Serial absolute synchronous
encoder interface module
Q172EX [Synchronous encoder compatible
servo amplifier]
MR-J4- B-RJ(Note-4)
Q172EX-S1
Q172EX-S2
Q172EX-S3
Manual pulse generator
interface module
Q173PX MELSEC iQ-R series
High-speed counter module
Q173PX-S1
Serial absolute synchronous
encoder
MR-HENC Q171ENC-W8
Q170ENC
Serial absolute synchronous
encoder cable
MR-JHSCBL M-H,L
(For MR-HENC)
Q170ENCCBL M-A
Q170ENCCBL M
(For Q170ENC)
Manual pulse generator MR-HDP01 MR-HDP01(Note-5)
SSC I/F board A10BD-PCF −
A30BD-PCF −
SSC I/F card A30CD-PCF −
SSCNET cable(Note-6)
Q172J2BCBL M
Q172J2BCBL M-B
Q173J2BCBL M
Q173J2B2CBL M
Q173J2B3CBL M
Q173J2B4CBL M
Q172HBCBL M
Q172HBCBL M-B
Q173HBCBL M
Q173HB2CBL M
Q173DVCBL M
[SSCNETIII cable]
MR-J3BUS M
MR-J3BUS M-A
MR-J3BUS M-B(Note-7)
SSC I/F board cable Q170BDCBL M −
SSC I/F card cable Q170CDCBL M −

1 - 3
1. OVERVIEW OF MIGRATION FROM Q17nCPUN(-T) TO RnMTCPU
(Continued)
Product name Model
before migration
Model
after migration
Teaching unit A31TU-D3K13 −
A31TU-DNK13
Cable for teaching unit
Q170TUD3CBL3M −
Q170TUDNCBL3M
Q170TUDNCBL03M-A
Short-circuit connector for
teaching unit
Q170TUTM −
A31TUD3TM
(Note-1): The number of control axes is increased from 8 to 16.
(Note-2): If the number of axes used in the system with Q173CPUN(-T) is 16 or less, R16MTCPU can be also selected.
(Note-3): RnMTCPU does not support teaching units.
(Note-4): The synchronous encoder is connected via the servo amplifier.
(Note-5): The existing MR-HDP01 can be used continuously with RnMTCPU.
When a manual pulse generator is used with RnMTCPU, prepare a power supply separately.
In addition, Mitsubishi Electric has confirmed the operation of the following manual pulse generator.
Contact the manufacturer for details.
Product name Model name Description Manufacturer
Manual pulse
generator UFO-M2-0025-2Z1-B00E Number of pulses per revolution: 25 pulse/rev (100 pulse/rev after magnification by 4)
Nemicon
Corporation
(Note-6): " " indicates the cable length.
(015: 0.15m, 03: 0.3m, 05: 0.5m, 1: 1m, 5:5m, 10: 10m, 20: 20m, 30: 30m, 40: 40m, 50: 50m)
(Note-7): For a long distance cable of up to 100 m or an ultra-long bending life cable, contact Mitsubishi Electric
System & Service Co., Ltd.
[Sales office] FA PRODUCT DIVISION mail: [e-mail]
(2) Operating system software
Before migration After migration
CPU model OS Type OS model CPU model OS model
Q173CPUN(-T)
SV13
SW6RN-SV13QB
R32MTCPU
R16MTCPU
SW10DNC-RMTFW
(installed before shipment)
Q172CPUN(-T) SW6RN-SV13QD
Q173CPUN(-T)
SV22
SW6RN-SV22QA
Q172CPUN(-T) SW6RN-SV22QC

1 - 4
1. OVERVIEW OF MIGRATION FROM Q17nCPUN(-T) TO RnMTCPU
(3) Servo amplifiers and servo motors
Before migration from Q17nCPUN(-T) After migration to RnMTCPU
Servo amplifier Servo motor Servo amplifier Servo motor
MR-J2S
series
MR-J2S- B HC-KFS
HC-MFS
HC-SFS
HC-LFS
HC-RFS
HA-LFS
HC-UFS
MR-J4
series
MR-J4- B
MR-J4W2- B
MR-J4W3- B
HG-KR
HG-MR
HG-SR
HG-RR
HG-UR
HG-JR
MR-J2M
series
MR-J2M- DU HC-KFS
HC-MFS
HC-UFS
MR-H
series
MR-H B(N) HA-FF
HA-FH
HA-LH
HA-MH
HA-SH
HA-UH
HC-KF
HC-MF
HC-RF
HC-SF
HC-UF
HA-LF
HA-LH K
MR-J2
series
MR-J2- B HC-MF
HA-FF
HC-SF
HA-RF
HC-UF
MR-J2-Jr
series
MR-J2-03B5 HC-AQ (B)D MR-J4W2-0303B6 HG-AK (B)D
HC-AQ (B)S HG-AK (B)

1 - 5
1. OVERVIEW OF MIGRATION FROM Q17nCPUN(-T) TO RnMTCPU
(4) Servo system network
Item
Communications medium Metal cable Optical fiber cable
Communications speed 5.6 Mbps 150 Mbps
Communications
cycle
Send 0.88 ms/1.77 ms/3.55 ms 0.222 ms/0.444 ms/0.888 ms
Receive 3.55ms 0.222 ms/0.444 ms/0.888 ms
Number of control axes Up to 8 axes/line Up to 16 axes/line
Transmission distance Maximum overall distance:
30 m
[Standard code for inside panel and standard cable for
outside panel]
Up to 20 m between stations
Maximum overall distance: 320 m (20 m × 16 axes)
[Long distance cable]
Up to 100 m between stations
Maximum overall distance: 1600 m (100 m × 16 axes)
(5) Engineering environment (required)
Product name Model Version
MELSOFT MT Works2 SW1DND-MTW2-E Ver.1.100E or later
MELSOFT GX Works3 SW1DND-GXW3-E Ver.1.000A or later
MELSOFT MR Configurator2 (Note-1) SW1DNC-MRC2-E Ver.1.27D or later
(Note-1): The Servo Setup Software MRZJW3-SETUP161E is required when a combination of MR-J4-B-RJ020 and
MR-J4-T20 is used as MR-J2S-B.

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1. OVERVIEW OF MIGRATION FROM Q17nCPUN(-T) TO RnMTCPU
1.3 System Configuration
1.3.1 System configuration using Q17nCPUN(-T) before migration
Main base unit
Q3 B
Power supply module
Q6 P
PLC CPU module
Qn(H)CPU
Motion CPU module
Q17nCPUN(-T)
Manual pulse generator
interface module
Q173PX(-S1) Manual pulse generator
MR-HDP01
Serial absolute
synchronous encoder
interface module
Q172EX(-S1, -S2, -S3)
Servo amplifier
MR-J2S-B
Servo motor
HC/HA series
SSCNET cable
(External signal input)
Servo external
signals interface
module
Q172LX
(Note): Production discontinued
in August 2015.
USB communication
cable or RS-232
communication cable
Serial absolute
synchronous encoder
cable
Q170ENCCBL M
MR-JHSCBL M-H, L
Serial absolute
synchronous
encoder
Q170ENC
MR-HENC