Mitsubishi Electric R16MTCPU, User Manual

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1 SYSTEM CONFIGURATION
1.1 Motion System Configuration
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1
Function explanation of the Motion CPU modules
• The following servo amplifiers can be controlled in Motion CPU module.
• It is possible to set the program which synchronized with the motion operation cycle and executed at fixed cycle (Min.
0.222ms).
• It is possible to execute a download of servo parameters to servo amplifier, servo ON/OFF to servo amplifier and position
commands, etc. by connecting between the Motion CPU module and servo amplifier with SSCNET

cable.
• I/O modules and intelligent function modules (excluding some modules) can be controlled with the Motion CPU module.
(

Page 24 PLC module which can be controlled by Motion CPU)
• Data exchange between CPU modules is possible by CPU buffer memory in the Multiple CPU system.
• Wiring is reduced by issuing the external signal (upper/lower stroke limit signal, proximity dog signal) via the servo amplifier.
• Battery is not required for the Motion CPU.
Restrictions on Motion systems
Combination of Multiple CPU system
• Motion CPU module cannot be used as standalone module. Be sure to install the MELSEC iQ-R series PLC CPU module
to CPU No.1. Refer to the following for the configurations in a Multiple CPU system with the PLC CPU module as CPU
No.1.

MELSEC iQ-R Module Configuration Manual
• Up to four modules of MELSEC iQ-R series PLC CPU modules/Motion CPU modules can be installed from the CPU slot
(the slot on the right side of power supply module) to the I/O slot 6 of the main base unit. CPU modules are called CPU
No.1 to CPU No.4 from the left sequentially. There is no restriction on the installation order of CPU No.2 to No.4. For CPU
module other than CPU No.1, CPU reservation setting (allocating a CPU No. without actually installing a CPU module) can
be made.
• It takes about 10 seconds to startup (a state where it can be controlled) the Motion CPU. After startup, each CPU requires
time for initializing. For a system that begins executing programs without waiting for the startup of other CPUs, change the
Multiple CPU synchronous startup setting.
Motion CPU module restrictions
• The Motion CPU module only controls MELSEC iQ-R series modules. It cannot control MELSEC Q series modules.
• To execute the forced stop input, use a device set in the forced stop input setting ([Motion CPU Common Parameter]

[Basic Setting])
• Refer to the following for details of installing Motion CPU module to a DIN rail.

MELSEC iQ-R Module Configuration Manual
• Use the Graphic Operation Terminal (GOT) that supports Motion CPU (R64MTCPU/R32MTCPU/R16MTCPU).
Motion CPU Servo amplifier control
R64MTCPU Up to 64 axes per 2 lines (up to 32 axes per 1 line)
R32MTCPU Up to 32 axes per 2 lines (up to 16 axes per 1 line)
R16MTCPU Up to 16 axes per 1 line