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Mitsubishi Electric MELSEC iQ-RD77GF16, User Manual

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Mitsubishi Electric MELSEC iQ-RD77GF16 User Manual Download Page 74

72

7  OPERATION EXAMPLES
7.1  Operation Examples

List of labels to be used

The following table lists the labels used for the program examples in this section. I/O signals or buffer memory areas of the 
modules shown in the system configuration are described in the programs using the labels.
For details on the global labels, refer to the following.

MELSEC iQ-R Programming Manual (Program Design)

■

Module label

The following table lists the module labels of the Simple Motion module used for the program examples in this section.
[RD77MS example]

Device name

Device

Label name

Signal name

Axis 1

I/O signals

X1

RD77_1.bSynchronizationFlag

Synchronization flag

DX1

RD77_1.bSynchronizationFlag_D

Synchronization flag

X0

RD77_1.bReady

READY

X10

RD77_1.bnBusy[0] BUSY 

signal

Y0

RD77_1.bPLC_Ready

PLC READY

Y1

RD77_1.bAllAxisServoOn

All axis servo ON

Buffer memory

U0\G2417.3

RD77_1.stnAxMntr[0].uStatus.3

Axis 1 Home position return request flag

U0\G2417.D

RD77_1.stnAxMntr_D[0].uStatus_D.D

Axis 1 Error detection

U0\G2417.F

RD77_1.stnAxMntr_D[0].uStatus_D.F

Axis 1 Positioning complete

U0\G4326

RD77_1.stnAxCtrl1_D[0].udVP_NewMovementAmount_
D

Axis 1 Speed-position switching control 
movement amount change register

U0\G4328

RD77_1.stnAxCtrl1_D[0].uEnableVP_Switching_D

Axis 1 Speed-position switching enable flag

U0\G4330

RD77_1.stnAxCtrl1_D[0].udPV_NewSpeed_D

Axis 1 Position-speed switching control speed 
change register

U0\G4332

RD77_1.stnAxCtrl1_D[0].uEnablePV_Switching_D

Axis 1 Position-speed switching enable flag

Summary of Contents for MELSEC iQ-RD77GF16

Page 1: ...MELSEC iQ R Simple Motion Module User s Manual Startup RD77MS2 RD77GF4 RD77MS4 RD77GF8 RD77MS8 RD77GF16 RD77MS16 RD77GF32 ...

Page 2: ......

Page 3: ...voltage 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 safe...

Page 4: ...grammable 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...

Page 5: ...s 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 reset the CPU module while the settings are being written Doing so will make the data in the flash ROM and SD memory card undefin...

Page 6: ... damage the screw and or module resulting in drop short circuit 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 malfunction When using an SD memory card fully insert it into the SD memory card slot Check that it is inserted completely Poor contact may cause malfunction Secur...

Page 7: ...ly 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 When disconnecting the communication cable or power cable from the module do not pull the cable by the cable part For the cable connected to the terminal block loosen the...

Page 8: ...ternal 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 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 ...

Page 9: ...ery 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 ...

Page 10: ... 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 CAUTION When disposing of this product treat it as industrial waste When disposing of batteries separate them from other wastes according to the local regula...

Page 11: ...e of the PRODUCT in Nuclear Power Plants and any other power plants operated by Power companies and or any other cases in which the public could be affected if any problem or fault occurs in the PRODUCT Railway companies or Public service purposes and or any other cases in which establishment of a special quality assurance system is required by the Purchaser or End User Aircraft or Aerospace Medic...

Page 12: ...g parameter or home position return parameter items Da Symbols indicating positioning data or block start data items Md Symbols indicating monitor data items Cd Symbols indicating control data items RD77MS Symbols indicating that it corresponds to only RD77MS RD77GF Symbols indicating that it corresponds to only RD77GF COMPLIANCE WITH EMC AND LOW VOLTAGE DIRECTIVES Method of ensuring compliance To...

Page 13: ... 3 1 Control Functions 31 Main functions 31 Sub functions 34 Common functions 36 3 2 Combination of Main Functions and Sub Functions 37 3 3 List of RD77GF Network Function 43 Function list of CC Link IE Field Network 43 CHAPTER 4 PROCEDURES BEFORE OPERATIONS 45 4 1 Procedures before Operation of the RD77MS 45 4 2 Procedures before Operation of the RD77GF 46 CHAPTER 5 NETWORK CONFIGURATION OF RD77G...

Page 14: ...ct 88 Appendix 2 Component List of the RD77GF 95 Reference product 95 Recommended product 95 Appendix 3 Connection with External Devices of the RD77MS 96 Connector 96 External input signal cable 97 Appendix 4 External Dimensions of the RD77MS 104 Appendix 5 External Dimensions of the RD77GF 106 INDEX 108 REVISIONS 110 WARRANTY 111 TRADEMARKS 112 ...

Page 15: ... often browse can be bookmarked Sample programs can be copied to an engineering tool Manual name manual number Description Available form MELSEC iQ R Simple Motion Module User s Manual Startup IB 0300245ENG This manual Specifications procedures before operation system configuration wiring and operation examples of the Simple Motion module Print book e Manual PDF MELSEC iQ R Simple Motion Module Us...

Page 16: ...s3 Intelligent device station A station that exchanges I O signals bit data and I O data word data with another station by cyclic transmission This station responds to a transient transmission request from another station and also issues a transient transmission request to another station Intelligent function module A MELSEC iQ R series module that has functions other than input and output such as...

Page 17: ...r station For some areas in a local station data are input in the opposite direction Remote register RWw Word data output from the master station to a slave station For some areas in a local station data are output in the opposite direction Reserved station A station reserved for future use This station is not actually connected but counted as a connected station Return A process of restarting dat...

Page 18: ...ual pulse generator Incremental synchronous encoder 1 Assigning the external input signals for 20 points to any of the following signals External command signal Switching signal Upper stroke limit Lower stroke limit Proximity dog signal Stop signal Forced stop input 24 V DC Servo motor Servo motor Servo motor MR J4 W B servo amplifier MR J3 W B servo amplifier MR JE B F servo amplifier Optical hub...

Page 19: ...o 4 axes RD77GF8 Up to 8 axes RD77GF16 Up to 16 axes RD77GF32 Up to 32 axes MR J4 GF servo amplifier Motion mode Servo motor Servo motor Servo motor MR J4 GF servo amplifier I O mode Servo motor Another brand drive unit Remote I O Local station CC Link IE Field Network cable RD77GF Switching hub Upper stroke limit Lower stroke limit Proximity dog External input signals of servo amplifier Synchrono...

Page 20: ...em input manual pulse generator incremental synchronous encoder or forced stop input For the signal layout refer to the following Page 26 Specifications of Interfaces with External Devices of the RD77MS 5 SSCNET cable connector Connects to a servo amplifier 6 Serial No marking Shows the serial No printed on the rating plate RD77MS16 ERR RUN AX1 16 RD77MS8 ERR RUN AX1 8 RD77MS4 ERR RUN AX 3 4 2 1 A...

Page 21: ...In the following manual this connector is referred to as PORT2 P2 or Port 2 MELSEC iQ R Simple Motion Module User s Manual Network 9 Serial No marking Shows the serial No printed on the rating plate RD77GF4 ERR RUN AX1 4 D LINK SD RD L ERR L ER LINK RD77GF8 ERR RUN AX1 8 D LINK SD RD L ERR L ER LINK RD77GF16 ERR RUN AX1 16 D LINK SD RD L ERR L ER LINK RD77GF32 ERR RUN AX1 32 D LINK SD RD L ERR L E...

Page 22: ...he axes the AX LED is flashing Simple Motion module status LED display Description Normal operation RUN ERR AX1 AX2 AX3 AX4 The axes stopped The axes on standby AX1 8 1 AX1 16 1 RUN ERR AX1 AX2 AX3 AX4 The axis in operation AX1 8 2 AX1 16 2 Operation failure RUN ERR AX1 AX2 AX3 AX4 Minor error AX1 8 3 AX1 16 3 RUN ERR AX1 AX2 AX3 AX4 Moderate error Watchdog timer error AX1 8 AX1 16 Online module c...

Page 23: ...ion AX1 8 2 AX1 16 2 AX1 32 2 Operation failure RUN ERR AX1 4 3 Minor error related to axis AX1 8 3 AX1 16 3 AX1 32 3 RUN ERR AX1 4 4 Minor error general AX1 8 4 AX1 16 4 AX1 32 4 RUN ERR AX1 4 Flashing 500 ms interval A data link faulty station detected Flashing 200 ms interval Moderate error AX1 8 AX1 16 AX1 32 RUN ERR AX1 4 Major error AX1 8 AX1 16 AX1 32 Status LED display Description Indicate...

Page 24: ... on flash ROM battery less backup Positioning Positioning system PTP control Incremental system absolute system Speed position switching control Incremental system absolute system Position speed switching control Incremental system Path control Incremental system absolute system Positioning range In absolute system 214748364 8 to 214748364 7 m 21474 83648 to 21474 83647 inch 0 to 359 99999 degree ...

Page 25: ...umber of axes 8 axes 1 1 ms Maximum number of axes 12 axes 1 46 ms Maximum number of axes 16 axes 1 59 ms Operation cycle 3 555 ms Maximum number of axes 8 axes 0 92 ms Maximum number of axes 12 axes 1 12 ms Maximum number of axes 16 axes 1 52 ms External wiring connection system 40 pin connector Applicable wire size 4 When A6CON1 or A6CON4 is used 0 088 to 0 3 mm2 AWG28 to AWG22 stranded wire Whe...

Page 26: ...remental system Path control Incremental system absolute system Positioning range In absolute system 214748364 8 to 214748364 7 m 21474 83648 to 21474 83647 inch 0 to 359 99999 degree 2147483648 to 2147483647 pulse In incremental system 214748364 8 to 214748364 7 m 21474 83648 to 21474 83647 inch 21474 83648 to 21474 83647 degree 2147483648 to 2147483647 pulse In speed position switching control I...

Page 27: ... when communication mode is High Speed Safety communications Maximum number of safety connectable stations per network 121 stations Maximum number of safety connections per network 1814 connections Maximum number of safety connections per station 120 connections Maximum number of link points per safety connection 8 words input 8 words output 8 words Inter module synchronization cycle 2 with synchr...

Page 28: ...age 24 V DC Rated input current IIN Approx 5 mA Operating voltage range 19 2 to 26 4 V DC 24 V DC 10 20 ripple ratio 5 or less ON voltage current 17 5 V DC or more 3 5 mA or more OFF voltage current 7 V DC or less 1 mA or less Input resistance Approx 6 8 kΩ Response time OFF ON 1 ms or less ON OFF Item Specifications Number of input points 1 point Input method Positive common Negative common share...

Page 29: ...hase difference 0 25 s or more Rated input voltage 5 5 V DC or less High voltage 2 0 to 5 25 V DC Low voltage 0 to 0 8 V DC Differential voltage 0 2 V Cable length Up to 30 m 98 43 ft Example of waveform Voltage output type Open collector type 5 V DC Maximum input pulse frequency 200 kpulses s After magnification by 4 up to 800 kpulses s 2 Pulse width 5 s or more Leading edge trailing edge time 1 ...

Page 30: ...ual pulse generator Incremental synchronous encoder input selection Pr 24 Manual pulse generator Incremental synchronous encoder input selection Pr 151 Manual pulse generator Incremental synchronous encoder input logic selection Positive logic Negative logic A phase B phase PULSE SIGN Forward run Reverse run Forward run Reverse run Forward run Reverse run HIGH LOW Forward run Reverse run HIGH LOW ...

Page 31: ...mple Motion module After forced stop the forced stop factor is removed and the forced stop canceled The servo error detection signal does not turn on with the forced stop RD77MS A wiring example which uses a Simple Motion module for the forced stop input is shown below Set Pr 82 Forced stop valid invalid selection to 0 Valid External input signal Forced stop EMI EMI COM R61P RD77MS RnCPU 24 V DC ...

Page 32: ...ed stop occurs Make sure to use molded case circuit breakers MCCB for input wires of a servo amplifier power supply For details refer to the servo amplifier instruction manual Item Operation when the signal is turned on Remarks Emergency stop Servo OFF The power supply of the servo amplifier is shut off by external circuit and the servomotor stops Servo amplifier forced stop A stop command from th...

Page 33: ...red items in this positioning data and starting that positioning data An operation pattern can be set in this positioning data and with this whether to carry out control with continuous positioning data ex positioning data No 1 No 2 No 3 etc can be set High level positioning control This control executes the positioning data stored in the Simple Motion module using the block start data The followi...

Page 34: ...carries out position control positioning with designated address or movement amount by turning the speed position switching signal ON Position speed switching control First carries out position control and then carries out speed control continuous output of the command corresponding to the designated command speed by turning the position speed switching signal ON Other control Current value changi...

Page 35: ...d to servo amplifier by switching control mode Advanced synchronous control Carries out the synchronous control that synchronizes with input axis by setting the system such as gear shaft change gear and cam to the advanced synchronous control parameter Da 1 Operation pattern Details Independent positioning control positioning complete When independent positioning control is set for the operation p...

Page 36: ...nction limits the generated torque to within the Pr 17 Torque limit setting value setting range Software stroke limit function If a command outside of the upper lower limit stroke limit setting range set in the parameters is issued this function will not execute positioning for that command Hardware stroke limit function This function carries out deceleration stop with the hardware stroke limit sw...

Page 37: ...tioning stop position When the value is less than the set value the command in position flag is set to 1 When using another auxiliary work before ending the control use this function as a trigger for the sub work Acceleration deceleration processing function This function adjusts the acceleration deceleration Deceleration start flag function Function that turns ON the flag when the constant speed ...

Page 38: ...ervo amplifier function This function executes the operation as the axis virtual servo amplifier axis that operates only command instruction virtually without servo amplifiers Driver communication function RD77MS This function uses the Master slave operation function of servo amplifier The Simple Motion module controls the master axis and the slave axis is controlled by data communication between ...

Page 39: ... return control Major positioning control Position control 1 axis linear control 2 3 or 4 axis linear interpolation control 1 axis fixed feed control Continuous path control cannot be set 2 3 or 4 axis fixed feed control interpolation Continuous path control cannot be set 2 axis circular interpolation control 3 axis helical interpolation control Speed control 1 to 4 axis Only independent positioni...

Page 40: ...tion Home position shift function Backlash compensation function Electronic gear function Near pass function Home position return control Machine home position return control 1 RD77MS 3 RD77GF RD77MS 3 RD77GF RD77MS 3 RD77GF RD77MS 3 RD77GF 2 RD77MS RD77GF Fast home position return control 2 Major positioning control Position control 1 axis linear control 2 3 or 4 axis linear interpolation control...

Page 41: ...MS 1 RD77GF RD77MS 1 RD77GF RD77MS 1 RD77GF RD77MS 1 RD77GF RD77MS 1 RD77GF Fast home position return control Major positioning control Position control 1 axis linear control 2 3 or 4 axis linear interpolation control 1 axis fixed feed control 2 3 or 4 axis fixed feed control interpolation 2 axis circular interpolation control 3 axis helical interpolation control Speed control 1 to 4 axis Speed po...

Page 42: ...return control Machine home position return control 1 RD77MS RD77GF 1 RD77MS RD77GF 1 RD77MS RD77GF RD77MS RD77GF Fast home position return control Major positioning control Position control 1 axis linear control 2 2 3 or 4 axis linear interpolation control 1 axis fixed feed control 2 3 or 4 axis fixed feed control interpolation 2 axis circular interpolation control 3 axis helical interpolation co...

Page 43: ...ion return control Machine home position return control RD77MS RD77GF Fast home position return control Major positioning control Position control 1 axis linear control 2 3 or 4 axis linear interpolation control 1 axis fixed feed control 2 3 or 4 axis fixed feed control interpolation 2 axis circular interpolation control 3 axis helical interpolation control Speed control 1 to 4 axis Speed position...

Page 44: ...ns Other functions Teaching function Command in position function Acceleration deceleration processing function Deceleration start flag function Speed control 10 multiplier setting for degree axis function Operation setting for incompletion of home position return function Home position return control Machine home position return control RD77MS RD77GF RD77MS RD77GF Fast home position return contro...

Page 45: ...units of 32 bits or station based units Interlink transmission Transfers data in the link devices of the master station to another network module on a relay station Mode selection for cyclic transmission Selects the mode for optimizing the performance of cyclic transmission based on the cyclic transmission and transient transmission frequency Input status setting for data link faulty station 2 Sel...

Page 46: ...le Synchronization Function Reference Manual Reserved station specification Specifies stations reserved for future use The reserved stations are not actually connected but counted as connected stations The stations are not detected as faulty stations even though they are not actually connected Temporary cancel of the reserved station setting only for asynchronized stations Temporarily cancels the ...

Page 47: ...for the module setting using an engineering tool For details refer to the following MELSEC iQ R Simple Motion Module User s Manual Application 5 Auto refresh setting Set values for the refresh settings using an engineering tool For details refer to the following MELSEC iQ R Simple Motion Module User s Manual Application 6 Checking connection Check that the Simple Motion module is connected to exte...

Page 48: ... warning Synchronization cycle time over warning code 0CC0H the error Inter module synchronization process error error code 2600H or Operation cycle time over error error code 193FH etc The following number of setting stations is for the case that 1 to 16 stations are set to the MR J4 GF Motion Mode and 17 to 120 stations are set to 160 points RX RY and 72 points RWw RWr per station on average 1 t...

Page 49: ...fer to the following Page 72 List of labels to be used Note the following when using the inter module synchronization function Always create an inter module synchronous interrupt program I44 and enable interrupt EI instruction If a sequence program does not include I44 or EI I O signals X Y of the RD77GF may not be refreshed Even when control of the RD77GF does not need to be synchronized with the...

Page 50: ...inear servo motor control mode is not supported If connected the error Connection servo amplifier speed unit setting error error code 1CBDH occurs and the target axis becomes disconnected For details refer to the following CC Link IE Field Network Interface Servo Amplifier Instruction Manual Motion Mode 12 Test mode Execute the test operation using an engineering tool For details refer to the foll...

Page 51: ... the network will be reconnected and an error may momentarily occur in all the stations Item Description Star topology The network is configured into a star shape using a switching hub and Ethernet cables Slave stations can be easily added to the network using this topology 1 When an error occurs in a slave station data link can be continued with the stations that are operating normally Line topol...

Page 52: ...ls When mounting with the Safety CPU When the Simple Motion module is mounted with the Safety CPU safety communications is available in addition to the standard communications cyclic transmission and transient transmission For details on the safety communications refer to the following MELSEC iQ R Simple Motion Module User s Manual Network 1 Station No 0 master station 2 Station No 1 3 Station No ...

Page 53: ...n error may occur in the station in which the synchronization communication is performed or a data link error may momentarily occur in all the stations and outputs of the connected slave stations may turn off An operation cycle time over error or an inter module synchronization cycle over error may be detected in the Simple Motion module Check parameters related to output hold setting inter module...

Page 54: ...he Hold in the following setting using GX Works2 Navigation window Parameter PLC Parameter I O Assignment tab Detailed Setting button Error Time Output Mode This setting is not required for a head module whose serial No first five digits is 12072 or later Connected station Nos Do not duplicate station Nos Data link may be stopped when the station No is duplicated Power on order To avoid incorrect ...

Page 55: ...mpatible with other than the CC Link IE Field Network such as personal computers to the switching hub used in the CC Link IE Field Network A timeout may occur in the master station and all the stations may be disconnected Connecting devices to the CPU module built in Ethernet port part When connecting devices to the CPU module built in Ethernet port part power off the CPU module before connection ...

Page 56: ...ective cable connections could cause mis operation of the unit If the external input output signal cable and the power line must be adjacently laid less than 100 mm 3 94 inch use a shielded cable Ground the shield of the cable securely to the control panel on the Simple Motion module side Forcibly removal the SSCNET cable from the Simple Motion module will damage the Simple Motion module and SSCNE...

Page 57: ...fect the optical characteristic of SSCNET cable However some wire sheaths and cable ties which contain migrating plasticizer phthalate ester may affect MR J3BUS_M and MR J3BUS_M A cables made of plastic In addition MR J3BUS_M B cable made of quartz glass is not affected by plasticizer If the adhesion of solvent and oil to the cord part of SSCNET cable may lower the optical characteristic and machi...

Page 58: ... transmission loss occurs because of external force which concentrates on the fixing part of SSCNET cable or the connecting part of SSCNET connector At worst the breakage of SSCNET cable or damage of SSCNET connector may occur For cable laying handle without putting forced tension Refer to each servo amplifier instruction manual for the tension strength of SSCNET cable Lateral pressure If lateral ...

Page 59: ...is not removed and the extension cable is connected Bundle fixing Optical cord should be given loose slack to avoid from becoming smaller than the minimum bend radius and it should not be twisted When laying cable fix and hold it in position with using cushioning such as sponge or rubber which does not contain plasticizing material RD77MS4 ERR RUN AX 3 4 2 1 AX Top of panel or wiring duct Base uni...

Page 60: ...c wire We examined RD77MS by the above example MELSEC iQ R Module Configuration Manual Safety Guidelines This manual is included with the base unit In wiring inside the panel the power line connected to the power or servo amplifier and the communication cable such as an expansion cable or a network cable must not be mixed In the duct leave 10 cm 3 94 inch or more between the power line and the com...

Page 61: ...I FLS RLS DOG STOP in Pr 116 FLS signal selection Pr 117 RLS signal selection Pr 118 DOG signal selection Pr 119 STOP signal selection and Pr 95 External command signal selection 7 Do not use 1A20 1A19 1A B 15 and 1A B 14 for other than the power supply of manual pulse generator Pin layout Front view of the module Pin No Signal name Pin No Signal name Pin No Signal name Pin No Signal name 2B20 No ...

Page 62: ...input logic selection is negative logic The motor will forward run when the direction sign is LOW The motor will reverse run when the direction sign is HIGH HAL A 1B17 Manual pulse generator Incremental synchronous encoder B phase SIGN HBH B 1A18 HBL B 1B18 Voltage output type open collector type Manual pulse generator Incremental synchronous encoder A phase PULSE HA A 1B19 Manual pulse generator ...

Page 63: ...ut this signal to stop positioning When this signal turns ON the RD77MS will stop the positioning being executed After that even if this signal is turned from ON to OFF the system will not start External command Switching signal DI Input a control switching signal during speed position or position speed switching control Use this signal as the input signal of positioning start speed change request...

Page 64: ...ifier instruction manual for wiring of the input output signals of servo amplifier 3 _ _ indicates 1A 1B 2A or 2B 4 As for the 24 V DC polarity both and are possible Input or Output Signal name Pin No Wiring example Description Input External input signal 1 Upper Lower limit signal 2 SIN FLS RLS _ _1 to 5 3 Upper limit signal Lower limit signal Proximity dog signal Stop signal External command sig...

Page 65: ...ate power supply is applied to the manual pulse generator incremental synchronous encoder If a separate power supply is used use a stabilized power supply of voltage 5 V DC Anything else may cause a failure 4 Be sure to connect the 0 V of the manual pulse generator incremental synchronous encoder and the SG of the Simple Motion module Input or Output Signal name Pin No Wiring example When using th...

Page 66: ...ype as follows Switch the input type of RD77MS by Pr 89 Manual pulse generator Incremental synchronous encoder input type selection It is recommended to use the external 5 V power supply 5 V DC 5 for the power supply of the manual pulse generator incremental synchronous encoder When using the external power supply do not connect with the 5 V terminal of RD77MS When using the internal power supply ...

Page 67: ...G FG When using the internal power supply Manual pulse generator Incremental synchronous encoder Manual pulse generator Incremental synchronous encoder External 5 V power supply Twisted pair Shield Shield When using the external power supply Recommended RD77MS HA A HB B 5 V SG HA A HB B 5 V 0 V FG FG RD77MS HA A HB B 5 V SG HA A HB B 5 V 0 V FG FG Manual pulse generator Incremental synchronous Man...

Page 68: ... or inadvertently be pulled resulting in damage to the module or cables or malfunction due to poor contact Do not touch the core of the cable side or module side connector and protect it from dirt or dust If oil from your hand dirt or dust is attached to the core it can increase transmission loss arising a problem in data link Check that the Ethernet cable is not disconnected or not shorted and th...

Page 69: ...lowing standards Hub Use hubs that meet all the conditions listed below Operation is not guaranteed if the hubs do not meet these conditions Compliance with the IEEE802 3 1000BASE T Support of the auto MDI MDI X function Support of the auto negotiation function Switching hub layer 2 switch 1 1 A repeater hub is not available Ethernet cable Connector Standard Category 5e or higher straight cable do...

Page 70: ... 1 Set the system structure setting and parameter setting of the Simple Motion module setting for the initial setting Page 70 System setting Page 71 Parameters 2 Set the positioning data of the Simple Motion module setting Page 71 Positioning data 3 Program examples of each control No Program name Description 1 PLC READY signal Y0 ON program Notifies the Simple Motion module that the CPU module is...

Page 71: ... X0 to X1F Y0 to Y1F 4 RX40C7 X20 to X3F 5 RX40C7 X40 to X5F 1 R61P 2 R16CPU 3 RD77GF16 X0 to X1F Y0 to Y1F 4 RX10 X20 to X3F 5 RY10R2 X40 to X5F RD77MS16 ERR RUN AX1 16 1 2 3 4 5 Servo amplifier MR J4 _B_ Servo motor External device X40 to X5F X20 to X3F Axis 1 RD77GF16 ERR RUN AX1 16 D LINK SD RD L ERR L ER LINK Servo amplifier MR J4 _GF_ Servo motor X40 to X5F X20 to X3F 1 2 3 4 5 External devi...

Page 72: ...ls Set the system setting parameters and positioning data using the engineering tool System setting The system setting is shown below RD77MS Configure the setting with Simple Motion Module Setting Function RD77GF Configure the setting on CC IE Field Configuration window ...

Page 73: ...l selection input type 2 Buffer memory Home position return basic parameters Pr 46 Home position return speed 50 00 mm min Pr 47 Creep speed 15 00 mm min Pr 48 Home position return retry 1 Retry home position return with limit switch Setting item Axis 1 Positioning data Setting value Positioning data No 1 Setting value Positioning data No 2 Setting value Positioning data No 3 Operation pattern 0 P...

Page 74: ...DX1 RD77_1 bSynchronizationFlag_D Synchronization flag X0 RD77_1 bReady READY X10 RD77_1 bnBusy 0 BUSY signal Y0 RD77_1 bPLC_Ready PLC READY Y1 RD77_1 bAllAxisServoOn All axis servo ON Buffer memory U0 G2417 3 RD77_1 stnAxMntr 0 uStatus 3 Axis 1 Home position return request flag U0 G2417 D RD77_1 stnAxMntr_D 0 uStatus_D D Axis 1 Error detection U0 G2417 F RD77_1 stnAxMntr_D 0 uStatus_D F Axis 1 Po...

Page 75: ...nal input command Internal relay data device The settings of Assign Device Label are not required because the unused internal relay and data device are automatically assigned Program example The program examples use the module function blocks FBs and module labels displayed in Module POU For details on module function blocks refer to the following MELSEC iQ R Simple Motion Module Function Block Re...

Page 76: ...74 7 OPERATION EXAMPLES 7 1 Operation Examples Positioning start No setting program ...

Page 77: ...7 OPERATION EXAMPLES 7 1 Operation Examples 75 7 Positioning start program RD77MS example JOG operation setting program ...

Page 78: ...76 7 OPERATION EXAMPLES 7 1 Operation Examples JOG operation execution program RD77MS example ...

Page 79: ...ing system configuration is used to explain communication between the master station and local station Power supply module R61P CPU module R04CPU Master module RD77GF16 Local module RJ71GF11 T2 Input module RX10 Output module RY10R2 Network No 1 Ethernet cable 1000BASE T Ethernet cable 1000BASE T Master station station No 0 Local station station No 1 Local station station No 2 X Y00 to X Y1F X Y00...

Page 80: ...station No 1 Range of the sending data to the station No 2 Range of the sending data to the station No 1 Range of the sending data to the station No 2 Master station Simple Motion module RWr RWw RWr RWw W 1000 10FF 1100 11FF 0 FF 100 1FF 0 FF 100 1FF 0 FF 100 1FF 0 FF 100 1FF 0 FF 100 1FF 0 FF 100 1FF 0 FF 100 1FF RWr W RWw 1000 10FF 1100 11FF 0 FF 100 1FF W W Local station Local station Station N...

Page 81: ... master station and set parameters 1 Set the CPU module in the following item Project New 2 Click the Setting change Click the Setting change button 3 Add the module labels of the CPU module Module Label Operation Setting Use Module Label Yes Click the OK button Master station station No 0 Local station station No 1 Local station station No 2 Setting ...

Page 82: ... CPU module Click the OK button 5 Set the Simple Motion module in the following item Navigation window Parameter Module Information Right click Add New Module 6 Click the OK button to add the Simple Motion module The method to add the module labels is the same as the procedure 2 to 3 shown above Click the OK button ...

Page 83: ...ngs in the following item Navigation window Parameter Module Information RD77GF16 Module Parameter Network Required Settings 8 Set the network configuration in the following item Navigation window Parameter Module Information RD77GF16 Module Parameter Network Basic Settings Network Configuration Settings ...

Page 84: ...e Parameter Network Basic Settings Refresh Setting 10 Write the set parameters to the CPU module on the master station Then reset the CPU module or power off and on the system Online Write to PLC In this example default values were used for parameters that are not shown above For the parameters refer to the following MELSEC iQ R Simple Motion Module User s Manual Application ...

Page 85: ... 79 Setting in the master station 2 Set the master local module in the following item Navigation window Parameter Module Information Right click Add New Module 3 Add a module label of the master local module The addition method of the module label is the same as that of the master station Page 79 Setting in the master station 4 Set the contents of Required Settings in the following item For statio...

Page 86: ...ameter Module Information RJ71GF11 T2 Module Parameter Basic Settings Refresh Setting 6 Write the set parameters to the CPU module on the local station Then reset the CPU module or power off and on the system Online Write to PLC In this example default values were used for parameters that are not shown above For the parameters refer to the following MELSEC iQ R CC Link IE Field Network User s Manu...

Page 87: ...erating 1 Connect the engineering tool to the CPU module on the master station 2 Start the CC Link IE Field Network diagnostics Diagnostics CC Link IE Field Diagnostics If the following display appears data link is normal When an icon indicating an error is displayed in Network Status in CC Link IE Field Diagnostics use the CC Link IE Field Network diagnostics to identify the cause of the error an...

Page 88: ...escribed in the programs using the labels Master station station No 0 Classification Label name Description Device Module label RD77GF_1 stGF11 bSts_DataLinkError Data link error status of own station SB0049 RD77GF_1 stGF11 bnSts_DataLinkError_Station 1 Data link status of each station station No 1 SW00B0 0 RD77GF_1 stGF11 bnSts_DataLinkError_Station 2 Data link status of each station station No 2...

Page 89: ...7 7 Program example If no response is received for several link scans the Data link status of each station SW00B0 to SW00B7 is determined to be a cyclic transmission faulty station 6 Communication program with station No 1 22 Communication program with station No 2 ...

Page 90: ...NET cable Cables are needed for connecting the Simple Motion module with a servo amplifier or between servo amplifiers Page 88 Reference product 5 External input signal cable Cables are needed for connecting the Simple Motion module with an external device Prepare them referring to the manuals for the connected devices and information given in the following Page 59 Signal layout for external input...

Page 91: ...pply voltage 4 5 to 13 2 V DC Current consumption 60 mA Output level H level Power supply voltage 1 1 V or more in no load L level 0 5 V or less with maximum leading in Life time 1000000 revolutions at 200 r min Permitted axial loads Radial load Max 19 6 N Thrust load Max 9 8 N Weight 0 4 kg Number of max revolution Instantaneous Max 600 r min normal 200 r min Pulse signal status 2 signals A phase...

Page 92: ...que 0 04 N m 20 Recommended coupling Bellows coupling Permitted angular acceleration 40000 rad s2 Vibration resistance 5 G 50 to 200 Hz Shock resistance 50 G 11 ms or less Internal current consumption A 0 25 Mass kg 0 6 Connecting cable m ft Q170ENCCBL_M _ Cable length 2 6 56 5 16 40 10 32 81 20 65 62 30 98 43 50 164 04 Communications method Differential driver receiver Transmission distance Up to...

Page 93: ...he serial absolute synchronous encoder cables 1 d is as shown below 2 Standard OD Outside Diameter Maximum OD is about 10 larger Cable model Cable length m ft Wire model Q170ENCCBL_M A 2 6 56 5 16 40 10 32 81 20 65 62 30 98 43 50 164 04 J14B103715 00 12 pairs BLACK Connector sets type Description MR J3CN2 Servo amplifier connector Wire model Core size mm2 Number of cores Characteristics of one cor...

Page 94: ...K B U V MR MRR K L M N SHD P R LG S P5 T MD MDR BAT A B C D E F G H J LG 2 BAT MR2 3 MRR2 4 MD2 7 MDR2 8 P5 R E K L H J S N BAT MR MRR MD MDR LG P5 SHD 1 9 CN2L connector Pin arrangement View A 50 m 164 04 ft or less Synchronous encoder Encoder connector Synchronous encoder cable Encoder connector Pin arrangement View B Pin provided Pin not provided Signal Pin Signal Pin Encoder side MS3106B22 14S...

Page 95: ...ute synchronous encoder Manufactured by 3M Japan Limited SCR type Type Plug 36210 0100PL Shell 36310 3200 008 Unit mm inch 42 1 65 85 3 35 4 φ5 5 0 22 45 φ100 3 94 40 1 57 58 5 2 30 22 25 0 88 123 25 4 85 7 0 28 29 1 14 58 5 2 30 37 5 1 48 2 0 08 30 1 18 A A 14 0 55 φ75 2 95 0 0 020 9 52 0 37 0 0 008 Cross section diagram AA 8 72 0 34 8 72 0 34 22 7 0 89 11 0 43 34 8 1 37 22 4 0 88 10 0 39 8 0 31 ...

Page 96: ...tion exceeding the prescribed limits Do not connect the shaft of serial absolute synchronous encoder directly to machine side rotary shaft Always after connecting the shaft of serial absolute synchronous encoder to another bearing once connect the shaft through a flexible bellows coupling Never hit the end of the serial absolute synchronous encoder shaft with a hammer when connecting the bellows c...

Page 97: ...hronization communication compatible switching hubs are available from Mitsubishi Electric System Service Co Ltd Please consult your local Mitsubishi representative No Part name Type Remarks 1 Simple Motion module RD77GF4 RD77GF8 RD77GF16 RD77GF32 2 Servo amplifier 3 Slave device compatible with CC Link IE Field 4 CC Link IE Field Network cable Cables are needed for connecting the Simple Motion mo...

Page 98: ... The external input wiring connector has been prepared Please purchase them by a customer Specialized tool Pressure bonding tool for A6CON2 Contact for the specialized tool Fujitsu component LTD http www fujitsu com jp group fcl en Type Model Connector Soldering type useable for straight out A6CON1 Crimp contact type useable for straight out A6CON2 Soldering type useable for straight out and diago...

Page 99: ...ng on the type of the manual pulse generator incremental synchronous encoder to be used and the connected power supply Make the cable as shown in the following connection diagram Solderless terminal When using the external power supplly Recommended Simple Motion module side 1A_ _ 1B_ _ FG wire 3 External input signal 2A_ _ 2B_ _ FG wire 1 Manual pulse generator Incremental synchronous encoder 2 Fo...

Page 100: ...the RD77MS Solderless terminal When using the internal power supply Simple Motion module side 1A_ _ 1B_ _ FG wire 3 External input signal 2A_ _ 2B_ _ FG wire 1 Manual pulse generator Incremental synchronous encoder 2 Forced stop input external input signal ...

Page 101: ...le Motion module 4 Be sure not to be used except for supplying the power to the manual pulse generator HBL HBL 1B18 HBH 1A18 HAL 1B17 HAH 1A17 HB 1B20 HA 1B19 HAL HAH Differential output type Manual pulse generator Incremental synchronous encoder side HBH 1B15 0V 1B14 1A15 1A14 FG 1 3 When using the external power supplly Recommended 5V 2 SG 3 SG 3 5V 2 HBL HBL 1B18 HBH 1A18 HAL 1B17 HAH 1A17 HB 1...

Page 102: ...except for supplying the power to the manual pulse generator HBL When using the external power supply Recommended HBH HAL HAH HB 1B20 HA 1B19 HB HA 1B15 SV 1B14 1A15 1A14 1A20 1A19 Voltage output open collector type Manual pulse generator Incremental synchronous encoder side 1B18 1B17 1A18 1A17 FG 1 3 5V 2 5V 2 5V 2 5V 2 SG 3 SG 3 HBL When using the internal power supply HBH HAL HAH HB 1B20 HA 1B1...

Page 103: ...ignal External input signal SIN1 FLS SIN2 RLS SIN3 DOG SIN4 STOP SIN5 DI1 SIN6 FLS SIN7 RLS SIN8 DOG SIN9 STOP SIN10 DI2 Twisted pair cable EMI EMI 1A8 EMI COM EMI COM 1B8 External input side Forced stop input side SIN5 DI1 SIN4 STOP SIN5 DI1 1A5 COM 1A7 SIN4 STOP 1A4 SIN3 DOG 1A3 COM 1A6 SIN2 RLS 1A2 SIN3 DOG SIN2 RLS SIN1 FLS SIN1 FLS 1A1 COM SIN10 DI2 SIN9 STOP SIN10 DI2 1B5 COM 1B7 SIN9 STOP 1...

Page 104: ...ut signal External input signal SIN11 FLS SIN12 RLS SIN13 DOG SIN14 STOP SIN15 DI3 SIN16 FLS SIN17 RLS SIN18 DOG SIN19 STOP SIN20 DI4 Twisted pair cable External input side SIN15 DI3 SIN14 STOP SIN15 DI3 2A5 COM 2A7 SIN14 STOP 2A4 SIN13 DOG 2A3 COM 2A6 SIN12 RLS 2A2 SIN13 DOG SIN12 RLS SIN11 FLS SIN11 FLS 2A1 COM SIN20 DI4 SIN19 STOP SIN20 DI4 2B5 COM 2B7 SIN19 STOP 2B4 SIN18 DOG 2B3 COM 2B6 SIN17...

Page 105: ...e mm2 Number of cores Characteristics of one core Finish OD mm 2 Structure Number of wires mm Conductor resistance km Insulating sheath OD d mm 1 17 0 16 1P SRV SV 2464 K 0 3 2 1 pairs 17 0 16 57 5 0 77 5 3 17 0 16 4P SRV SV 2464 K 0 3 8 4 pairs 17 0 16 57 5 0 77 7 6 17 0 16 10P SRV SV 2464 K 0 3 20 10 pairs 17 0 16 57 5 0 77 10 0 CAUTION When fabricating the cable do not make incorrect connection...

Page 106: ... of the RD77MS Appendix 4 External Dimensions of the RD77MS RD77MS2 Unit mm inch RD77MS4 Unit mm inch RD77MS2 ERR RUN 2 1 AX 27 8 1 09 106 4 17 110 4 33 98 3 86 4 0 16 RD77MS4 ERR RUN AX 3 4 2 1 AX 27 8 1 09 106 4 17 110 4 33 98 3 86 4 0 16 ...

Page 107: ...4 External Dimensions of the RD77MS 105 A RD77MS8 Unit mm inch RD77MS16 Unit mm inch RD77MS8 ERR RUN AX1 8 27 8 1 09 106 4 17 110 4 33 98 3 86 4 0 16 RD77MS16 ERR RUN AX1 16 27 8 1 09 106 4 17 110 4 33 98 3 86 4 0 16 ...

Page 108: ...5 External Dimensions of the RD77GF RD77GF4 Unit mm inch RD77GF8 Unit mm inch RD77GF4 ERR RUN AX1 4 D LINK SD RD L ERR L ER LINK 110 4 33 106 4 17 27 8 1 09 98 3 86 4 0 16 RD77GF8 ERR RUN AX1 8 D LINK SD RD L ERR L ER LINK 110 4 33 106 4 17 27 8 1 09 98 3 86 4 0 16 ...

Page 109: ...77GF 107 A RD77GF16 Unit mm inch RD77GF32 Unit mm inch RD77GF16 ERR RUN AX1 16 D LINK SD RD L ERR L ER LINK 110 4 33 106 4 17 27 8 1 09 98 3 86 4 0 16 RD77GF32 ERR RUN AX1 32 D LINK SD RD L ERR L ER LINK 110 4 33 106 4 17 27 8 1 09 98 3 86 4 0 16 ...

Page 110: ...External input signal select function 36 External input wiring connector 23 F Fast home position return control 32 Fixed feed control 32 Follow up function 35 Forced stop function 34 Forced stop input signal EMI 61 Forced stop input signal common EMI COM 61 H Hardware stroke limit function 34 High level positioning control 31 History monitor function 36 Home position return control 31 Home positio...

Page 111: ...FOR loop 32 RUN LED 18 19 S Safety CPU 15 SD RD LED 19 Servo cyclic transmission function 36 Servo parameter change function 36 Servo transient transmission function 36 Simultaneous start 32 Skip function 35 Software stroke limit function 34 Speed change function 34 Speed control 10 x multiplier setting for degree axis function 35 Speed limit function 34 Speed position switching control 32 Speed t...

Page 112: ...epping motor driver AlphaStep 5 phase manufactured by ORIENTAL MOTOR Co Ltd Added or modified parts SAFETY PRECAUTIONS INTRODUCTION RELEVANT MANUALS TERMS PERIPHERALS Chapter 1 Section 1 1 1 2 2 1 2 2 2 3 2 4 3 1 3 2 3 3 4 1 4 2 Chapter 5 Section 5 1 5 2 6 1 6 2 6 3 7 1 7 2 Appendix 1 2 3 4 5 WARRANTY December 2016 IB NA 0300245ENG E Added models RD77GF32 Added functions Safety communication funct...

Page 113: ...been avoided if functions or structures judged as necessary in the legal safety measures the user s device is subject to or as necessary by industry standards had been provided 4 Failure that could have been avoided if consumable parts battery backlight fuse etc designated in the instruction manual had been correctly serviced or replaced 5 Failure caused by external irresistible forces such as fir...

Page 114: ...ed trademarks or trademarks of Microsoft Corporation in the United States and or other countries The company names system names and product names mentioned in this manual are either registered trademarks or trademarks of their respective companies In some cases trademark symbols such as or are not specified in this manual ...

Page 115: ......

Page 116: ...ithout notice When exported from Japan this manual does not require application to the Ministry of Economy Trade and Industry for service transaction permission HEAD OFFICE TOKYO BUILDING 2 7 3 MARUNOUCHI CHIYODA KU TOKYO 100 8310 JAPAN NAGOYA WORKS 1 14 YADA MINAMI 5 CHOME HIGASHI KU NAGOYA JAPAN ...

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