Home

MELSEC iQ-R Simple Motion Module User`s Manual （Startup）

1. A6CON2 28 AWG to 24 AWG Applicable connector A6CON1 AGCON4 Applicable wire size 1 The external input signal connector has been prepared Please purchase them by a customer Specialized tool Pressure bonding tool for AGCON2 FCN 363T T005 H Contact for the specialized tool Fujitsu component LTD http www fcl fujitsu com APPENDICES APPENDIX Appendix 2 Connection with External Devices External input signal cable The external input signal cable is not prepared as an option Fabricate the cable on the customer side Make the cable as shown in the following connection diagram Solderless terminal RD77MS side IA 1B m N gt FG wire i N gt FG wire 1 Manual pulse generator incremental synchronous encoder 2 Forced stop input external input signal 3 External input signal Manual pulse generator incremental synchronous encoder EDifferential output type Make the cable within 30 m 98 43 ft HBL 1 HBL HBH 1 HBH HAL CK HAL HAH C HAH HB HA 5V LC BV SG LY SG 5V SG J Twisted pair cable Differential output type Manual pulse generator incremental synchronous encoder side 1 Ground FG terminal on the used equipment side Also connect it to the shell of connector side APPENDICES APPENDIX Appendix 2 Connection with External Devices 65 llVoltage output Open collector type Make the cable within 1
2. 4 0 16 RD77MS16 RUN ERR AX1 16 98 3 86 106 4 17 27 8 1 09 APPENDICES APPENDIX 1 Appendix 3 External Dimensions T 12 INDEX A Home position return retry function 29 Home position shift function 29 Absolute position system 08 29 Acceleration deceleration processing function 30 Acceleration deceleration time change function 29 Amplifier less operation function 31 Inching operation csse see 28 Applicable wire size 22 2 ee eee eee ee 19 Independent positioning control positioning complete Axis display LED 00 00 ee ee 16 28 Input signal SIN llle 46 B internal circuit ccce 47 EE QE Internal current consumption 5 V DC 19 Backlash compensation function 29 Block start Normal start 2 J C JOG operation naaa aaa aaa 28 EE ED RE EE EE EE NE Ne ee eee JUMP instruction ss ss ss Es EE 27 Combination of Main Functions and Sub Functions 32 Command in position function 30 Common COM SESSE aana 46 L AO EOE a a EG LEND onoono nanana e 27 Component List EE aaa 58 i de Linear control SEE EE Es EE ee ee ee 21 Condition start SEE 00 cee eee 2 LOOP 27 Connect disconnect function of SSCNET communication EES N EES N AT FEES 31 Connection with External Devices 64 M el ba ie ig
3. 16 Step function l l 29 Stop command processing for deceleration stop function EE SW OE RUNE dE a V EUER E 29 Sub functions 0 0 0 0 cee eee ee ee 26 Synchronous control 002 ee eee 28 T Target position change function 29 Teaching function 2 0000 e eee 30 Torque change function 4 29 Torque limit function less 29 V Virtual servo amplifier function 31 W Wait staf ai tae OO TOIT 2 73 REVISIONS The manual number is given on the bottom left of the back cover First edition June 2014 IB NA 0300245 A Japanese manual number IB 0300244 A This manual confers no industrial property 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 2014 MITSUBISHI ELECTRIC CORPORATION 14 WARRANTY Please confirm the following product warranty details before using this product 1 Gratis Warranty Term and Gratis Warranty Range If any faults or defects hereinafter Failure found to be the responsibility of Mitsubishi occurs during use of the product within the gratis warranty term the product shall be repaired at no cost via the sales representative or Mitsubishi Service Company However if repairs are requir
4. 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 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 preve
5. MITSUBISHI TA ELECTRIC Mitsubishi Programmable Controller series MELSEC iQ R Simple Motion Module User s Manual Startup RD77MS2 RD77MS4 RD77MS8 RD77MS16 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 user s manual of the CPU module to use for a description of the PLC system safety precautions In this manual the safety precautions are classified into two levels A WARNING and N CAUTION N WARN NG Indicates that incorrect handling may cause hazardous conditions resulting in death or severe injury j 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 Design Precautions NWARNING Configure safety circuits external to the programmable controller to ensure that the entire system operates safely even when a fault occurs in the external
6. 164 04 Differential driver receiver Up to 50 m 164 04 ft 1 When o ring is required please purchase separately by a customer 2 If it exceeds a permitted speed at power OFF a position displacement is generated NEE EE N Cronous encoder input CN2L of servo amplifier Applicable types Applicable signal types Transmission method Synchronous method Communication speed Position detection method Resolution Number of modules External connector type Applicable connector for the external connection Applicable wire Connecting cable m ft Cable length Back up the absolute position Battery service life time value in actual APPENDICES APPENDIX Appendix 1 Component List Q171ENC W8 Differential output type SN75C1168 or equivalent Serial communications Counter clock wise viewed from end of shaft 2 5 Mbps Absolute ABS method 4194304 pulses rev 22 bit 1 module MR J4 B RJ 20 pin connector MR J3CN2 Optional J14B103715 00 12 pairs Q170ENCCBL M A Cable length 2 6 56 5 16 40 10 32 81 20 65 62 30 98 43 50 164 04 Up to 50 m 164 04 ft Depends on the battery MR BAT6V1SET 10000 h When MR BAT6V1SET is used while the device is turned OFF at the ambient temperature of 25 C 77 F nous encoder cable Generally use the serial absolute synchronous encoder cables available as our products If the required length is not found in our products fabricate t
7. View B e Pin provided o Pin not provided Servo amplifier side Encoder side 36210 0100PL plug MS3106B22 14S plug 36310 3200 008 shell MS3057 12A cable clump BAT MR2 MRR2 Layout twisted pair for signal to avoid contact MD2 MDR2 SD plate Twisted pair for signal BAT LG MR MRR MD MDR C Twisted pair P5 LG f Twisted pair cable OQO Cable length 50 m 164 04 ft or less Cable cross section diagram 62 APPENDICES APPENDIX Appendix 1 Component List External dimension drawing of serial absolute synchronous encoder llSerial absolute synchronous encoder Q171ENC W8 Unit mm inch 85 3 35 58 5 2 30 ac 30 1 18 8 72 gt 0 34 CO st Ted AI E MA EN Cross section diagram AA 37 5 1 48 APPENDICES APPENDIX Appendix 1 Component List 63 64 Appendix 2 Connection with External Devices Connector Mounted onto an external input signal connector of the RD77MS and used for wiring an external device The external device connector includes the following 3 types A6CON4 Soldering type useable for straight out A6CON1 Crimp contact type useable for straight out A6CON2 Soldering type useable for straight out and diagonal out A6CONA 1s of the connector
8. even if this signal is turned from ON to OFF the system will not start External command Input a control switching signal during speed position or position speed Switching signal DI switching control Use this signal as the input signal of positioning start speed change request skip request and mark detection from an external device Set the function to use this signal in Pr 42 External command function selection Set the signal in Pr 95 External command signal selection Common COM Common for upper lower limit near point dog stop and external command switching signals Forced stop input signal EMI This signal is input when batch forced stop is available for all axes of servo amplifier Forced stop input signal common 1B8 EMI ON Opened Forced stop EMI COM EMI OFF 24 V DC input Forced stop release Manual pulse generator power supply 1A15 Power supply for manual pulse generator 5 V DC output 5 V DC 5 V 1B15 This power supply is used for manual pulse generator It must not be used except for the manual pulse generator power supply Manual pulse generator power supply 1A14 Power supply for manual pulse generator GND output GND SG 1B14 This power supply is used for manual pulse generator It must not be used except for the manual pulse generator power supply 1 There are no signals of 2A and 2B at RD77MS2 use 5 WIRING 5 2 External Input Connection Connector Interface i
9. positioning data No 1 No 2 No 3 etc can be set BHigh level positioning control This control executes the positioning data stored in the Simple Motion module using the block start data The following types of applied positioning control can be carried out e Random blocks handling several continuing positioning data items as blocks can be executed in the designated order e Condition judgment can be added to position control and speed control The operation of the positioning data that is set for multiple axes can be started simultaneously Command is output simultaneously to multiple servo amplifiers The designated positioning data can be executed repeatedly etc iIManual control The Simple Motion module executes the random positioning operation by inputting a signal into the Simple Motion module from an external device Use this manual control to move the workpiece to a random position JOG operation and to finely adjust the positioning inching operation manual pulse generator operation etc llExpansion control The following controls other than the positioning control can be executed e Speed control and torque control not including position loop for the command to servo amplifier Speed torque control e Synchronous control with gear shaft change gear and cam not by mechanical but by software use synchronous control parameter and is synchronized with input axis Synchronous control Sub functi
10. synchronous encoder input for connecting to the Simple Motion module They can cause electrical interference surges and inductance that can lead to mis operation For wiring refer to the following and each servo amplifier instruction manual LLIMELSEC iQ R Module Configuration Manual 5 WIRING 5 1 Precautions for Wiring Precautions for SSCNETI cable wiring SSCNETI cable is made from optical fiber If optical fiber is added a power such as a major shock lateral pressure haul sudden bending or twist its inside distorts or breaks and optical transmission will not be available Especially as optical fiber for MR JSBUS M MR J3BUS M A is made of synthetic resin it melts down if being left near the fire or high temperature Therefore do not make it touched the part which becomes high temperature such as radiator or regenerative option of servo amplifier and servomotor Be sure to use optical fiber within the range of operating temperature described in each servo amplifier instruction manual Read described item of this section carefully and handle it with caution lIMinimum bend radius Make sure to lay the cable with greater radius than the minimum bend radius Do not press the cable to edges of equipment or others For SSCNETII cable the appropriate length should be selected with due consideration for the dimensions and arrangement of Simple Motion module or servo amplifier When closing the door of control panel pay careful attent
11. E O 3 FUNCTION LIST 3 4 Combination of Main Functions and Sub Functions 37 38 4 PROCEDURES BEFORE OPERATIONS This chapter describes the procedures before operation 1 Mounting the module Mount the RD77MS to the main base unit or extension base unit For details refer to the following LAMELSEC iQ R Module Configuration Manual 2 Wiring Connect the RD77MS to external devices 3 Adding the module Add the RD77MS to the module map of the project using an engineering tool 4 Module setting Set values for the module setting using an engineering tool For details refer to the following LIMELSEC 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 LIMELSEC iQ R Simple Motion Module User s Manual Application 6 Checking connection Check that the RD77MS is connected to external devices correctly f Programming Create programs For details refer to the following LIMELSEC iQ R Simple Motion Module User s Manual Application 8 Test operation Check that the positioning is correctly carried out as designed 4 PROCEDURES BEFORE OPERATIONS D WIRING 0 1 Precautions for Wiring The precautions for wiring the Simple Motion module are shown below Execute the work following the precautions below Warning for wiring NWARNING Completely turn o
12. External input signal SIN11 FLS SIN12 RLS SIN13 DOG SIN14 STOP SIN15 DI3 SIN16 FLS SIN17 RLS SIN18 DOG SIN19 STOP SIN20 DI4 SIN15 DI3 COM SIN14 STOP LY SIN15 DI3 LY SIN13 DOG bs EEG EMEN Ed EER a NES ii EG of eos TT COM External input side SIN20 DIA4 COM SIN19 STOP LY SIN20 DI4 Y SIN18 DOG bb a EE SIN17 RLS EER LT SIN17 RLS M ID ES LY COM EN SEE EN N FC f Twisted pair cable 1 Ground FG terminal on the used equipment side Also connect it to the shell of connector side APPENDICES APPENDIX 68 Appendix 2 Connection with External Devices The following table indicates the external input wiring connector cables Make selection according to your operating conditions 1 dis as shown below d LN Conductor Insulation sheath 2 Standard OD Max OD is about 10 larger NCAUTION When fabricating the cable do not make incorrect connection Wrong connection will cause runaway or explosion APPENDICES APPENDIX Appendix 2 Connection with External Devices 69 70 Appendix 3 External Dimensions Unit mm inch 106 4 17 27 8 1 09 110 4 33 Unit mm inch RD77MS4 RUN ERR 106 4 17 27 8 1 09 110 4 33 APPENDICES APPENDIX Appendix 3 External Dimensions NEE oo Unit mm inch 4 0 16 98 3 86 Fan N xr e e 27 8 1 09 Unit mm inch
13. are needed for connecting the Simple Motion module with a servo amplifier or between servo amplifiers L Page 58 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 K Page 44 Signal layout for external input connection connector Reference product nnection cable The cables for connecting between the Simple Motion module and servo amplifiers Refer to each servo amplifier instruction manual for details SSCNETII cable Cable length 015 0 15 m 0 49 ft 03 0 3 m 0 98 ft 05 0 5 m 1 64 ft 1 1 m 3 28 ft 3 3 m 9 84 ft 5 5 m 16 40 ft 10 10m 32 81 ft 20 20 m 65 62 ft 30 30 m 98 43 ft 40 40 m 131 23 ft 50 50 m 164 04 ft MR J3BUS M MR J3BUSO15M 0 15 0 49 Simple Motion module gt MR J4 W B MR J3 W B Standard cord for inside is 138 US03M 0 3 0 98 MR J4 W B MR J3 W B lt gt MR J4 W B MR J3 W B panel MR J3BUSO5M 0 5 1 64 MR J3BUS1M 1 3 28 MR J3BUS3M 3 9 84 MR J3BUS M A MR J3BUS5M A 5 16 40 Standard cable for MR J3BUS10M A 10 32 81 outside panel MR J3BUS20M A 20 65 62 MR J3BUS M B MR J3BUS30M B 30 98 43 Long distance cable MR J3BUS4OM B 40 131 23 MR J3BUS50M B 50 164 04 nnection connector The connector for the extern
14. executed and then the positioning will end Continuous positioning control When continuous positioning control is set for the operation pattern of the started positioning data after the designated positioning data is executed the program will stop once and then the next following positioning data will be executed Continuous path control When continuous path control is set for the operation pattern of the started positioning data the designated positioning data will be executed and then without decelerating the next following positioning data will be executed 3 FUNCTION LIST 3 2 Main Functions 3 3 Sub Functions and Common Functions Sub functions The outline of the functions that assist positioning control using the Simple Motion module is described below Sub function Details Functions Home position return retry This function retries the home position return with the upper lower limit switches during the machine home characteristic to function position return This allows machine home position return to be carried out even if the axis is not returned machine home to before the near point dog with JOG operation etc position Terum Home position shift function After returning to the machine home position this function compensates the position by the designated distance from the machine home position and sets that position as the home position address Functions that Backlash compensation This function compensates the me
15. only for the specific applications agreed to by Mitsubishi and provided further that no special quality assurance or fail safe redundant or other safety features which exceed the general specifications of the PRODUCTS are required For details please contact the Mitsubishi representative in your region INTRODUCTION Thank you for purchasing the Mitsubishi MELSEC iQ R series programmable controllers This manual describes the specifications procedures before operation and wiring of the relevant products listed below Before using this product please read this manual and the relevant manuals carefully and develop familiarity with the functions and performance of the MELSEC iQ R series programmable controller to handle the product correctly When applying the program examples provided in this manual to an actual system ensure the applicability and confirm that it will not cause system control problems Please make sure that the end users read this manual Relevant products RD77MS2 RD77MS4 RD77MS8 RD77MS16 Point In this manual buffer memories are classified using the following symbols Each area name can represent the buffer memories corresponding to each axis e Pr Symbols indicating positioning parameter or home position return parameter items Da Symbols indicating positioning data or block start data items e Md Symbols indicating monitor data items e Cd Symbols indicating control data items COMPLI
16. power supply or the programmable controller Failure to do so may result in an accident due to an incorrect output or malfunction 1 Configure external safety circuits such as an emergency stop circuit protection circuit and protective interlock circuit for forward reverse operation or upper lower limit positioning 2 The programmable controller stops its operation upon detection of the following status and the output status of the system will be as shown below 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 Also all outputs may be turned on if an error occurs in a part such as an VO 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 the user s manual of the CPU module to use 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 n 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 fi
17. 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 fires or abnormal voltages and Failure caused by force majeure such as earthquakes lightning wind and water damage 6 Failure caused by reasons unpredictable by scientific technology standards at time of shipment from Mitsubishi 7 Any other failure found not to be the responsibility of Mitsubishi or that admitted not to be so by the user 2 Onerous repair term after discontinuation of production 1 Mitsubishi shall accept onerous product repairs for seven 7 years after production of the product is discontinued Discontinuation of production shall be notified with Mitsubishi Technical Bulletins etc 2 Product supply including repair parts is not available after production is discontinued Overseas service Overseas repairs shall be accepted by Mitsubishi s local overseas FA Center Note that the repair conditions at each FA Center may differ 4 Exclusion of loss in opportunity and secondary loss from warranty liability Regardless of the gratis warranty term Mitsubishi shall not be liable for compensation of damages caused by any cause found not to be the responsibility of Mitsubishi lo
18. the module labels of the RD77 used for the program examples in this section VO signals of the RD77 RD77 1 bSynchronizationFlag Synchronization flag RD77 1 bSynchronizationFlag D Synchronization flag L Buffer memory of the Axis 1 Home position return request flag Axis 1 Speed position switching enable flag U0 G4330 RD77 1 stnAxCtrl1 D O uEnablePV Switching D Axis 1 Position speed switching control speed change register U0 G4332 RD77 1 stnAxCtrl1 D O uEnableVP Switching D Axis 1 Position speed switching enable flag MGlobal label The following table lists the global labels which are created by a user if necessary used for the program examples in this section Set the following in the global label of the engineering tool External input EE VAR GLOBAL X293 Machine home position return command command EET zx home position return command binputSetStartPositioningNoReq binputSpeedPositionSwitchingReq PositionSwitchingReq pd PositionSwitchingEnabl Mm blnputSpeedPositionSwitchingDisab leReg Re ER Re ER EEN EEN a a a a _ oo nnd DAlAXisServoOnReg SR En start No setting command X26 Speed position switching operation command LN switching enable command s Jes switching prohibit command ER positioning control start command PEE start command X2D JOG operation speed setting command 2H run JOG zem run JOG B ES switching operation command
19. 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 users manual for the module used f 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 1 Machine home position return is controlled by two kinds of data a home position return direction and a home position return speed Deceleration starts when the near
20. 0 m 32 81 ft HBL HBH HAL HAH HB oV HA oV Voltage output open collector type gt Manual pulse generator incremental synchronous encoder side 5V SG 5V SG J Twisted pair cable 1 Ground FG terminal on the used equipment side Also connect it to the shell of connector side APPENDICES APPENDIX 66 Appendix 2 Connection with External Devices Forced stop input External input signal The following connection diagram shows an example using the assignment below The assignment can be changed arbitrarily Input signal External input signal SIN1 FLS SIN2 RLS SIN3 DOG SIN4 STOP SIN5 DIT SING FLS SIN7 RLS SIN8 DOG SIN9 STOP SIN10 DI2 EMI C C EM EM EMLCOM NEN EN E EMEGOM Hoe stop input side SIN5 DI1 ENER GENE TT SINS DIT COM SIN4 STOP E CK SIN4 STOP SIN3 DOG Da e me va e a O SIN3 006 COM Eo SIN2 RLS S L SIN2 RLS dag Co External input side SIN10 DI2 ME EE C SIN10 DI2 COM SINS STOP NE O sinaistor SIN8 DOG HM O siveipoc COM SINTRLS EE FO SNTRLS EE RE dag COM EG f Twisted pair cable 1 Ground FG terminal on the used equipment side Also connect it to the shell of connector side APPENDICES APPENDIX 67 Appendix 2 Connection with External Devices External input signal The following connection diagram shows an example using the assignment below The assignment can be changed arbitrarily Input signal
21. ANCE WITH EMC AND LOW VOLTAGE DIRECTIVES Method of ensuring compliance To ensure that Mitsubishi programmable controllers maintain EMC and Low Voltage Directives when incorporated into other machinery or equipment certain measures may be necessary Please refer to one of the following manuals LLIMELSEC iQ R Module Configuration Manual L1Safety Guidelines This manual is included with the base unit The CE mark on the side of the programmable controller indicates compliance with EMC and Low Voltage Directives Additional measures To ensure that this product maintains EMC and Low Voltage Directives please refer to one of the following manuals LLIMELSEC iQ R Module Configuration Manual Safety Guidelines This manual is included with the base unit 10 CONTENTS SAPBETYTSEOAEFONS 243 23 8 1 95 11 9 191 1 99r die MS SR 8 HE wad awa RED OR EIE E S 1 CONDITIONS OF USE FOR THE PRODUCT leeeeeee err 9 INTRODUCTION oi iss ERES ben eine n bee Sid dorso e PR OAR ROSE VOR DAE ERR ur Oe AE Me ete Rd 9 COMPLIANCE WITH EMC AND LOW VOLTAGE DIRECTIVES SS SE SS Se Se se ee ees 10 RELEVANT MANUALS SS SS SE SS Se mh rre 13 LERN EE NE OR ER EE OO N OT OE OE OE OR EE OD 14 PERIFER E 4 es ea alo ae oe qe Ae DE gk nius eek GO E Ge OE DE MODE Ee Ene EE OER RO SERE 15 CHAPTER1 PART NAMES 16 1 1 LED Display Specifications ace acd da ia oa RE Me tn hb CR oo OR e t 9 vk AR oo OR n vi A 17 CHAPTER2 SPECIFICATION
22. EE ados 2 M code output function 000 30 E pa an bus EE EN ae 2g Machine home position return control 21 ad dene d ri d LR 27 Major positioning control 6 26 tiet Wenner ee ave mgt IE duiedatt Manual control 00000 eee eee ees 26 Manual pulse generator operation 28 D Manual pulse generator power supply output 5 V DC EE start fiaa function 30 GATE EE E eee E RE 46 Deceleration start flag function TTE Manual pulse generator power supply output GND SG Driver communication function 31 AG Manual pulse generator Incremental synchronous E encoder A phase PULSE 0 005 45 Ee OE ck a oe Manual pulse generator Incremental synchronous Electronic gear function ic encoder B phaselSIGN sss sees 45 ERR LED d E MI C LIMEN MM LE Mark detection function lle 31 Event history function usn 31 MASS AE NA eee ee ER EN 19 Execution data backup function 31 Expansion control llle 26 External Dimensions lees 70 N EXC ipul CORISCHON connector ER 16 Near pass function 0 00000 eae 29 External input signal select function 31 Ext AN i 19 NOP instruction ss ss ss eee eee se 21 d Aa LL ES Number of controlled axes 18 Number of occupied VO points 19 F Fast home position return control 21 O Fixed feed c
23. ERT RR suse VEU UU Negative logic LOW Negative logic EE SIGN SION oe Positioning Positioning mE address TEN ME address lose sen 5 WIRING 5 2 External Input Connection Connector 45 46 Manual pulse generator power supply 1A20 Power supply for manual pulse generator 5 V DC output 5 V DC 5 V 1A19 Do not connect wires other than the signal wires of the manual pulse generator Input signal SIN Upper limit signal FLS This signal is input from the limit switch installed at the upper limit position of the stroke Positioning will stop when this signal turns OFF When the home position return retry function is valid this will be the upper limit for finding the near point dog signal Lower limit signal RLS This signal is input from the limit switch installed at the lower limit position of the stroke Positioning will stop when this signal turns OFF e When the home position return retry function is valid this will be the lower limit for finding the near point dog signal Near point dog signal This signal is used for detecting the near point dog during the home position DOG return The near point dog OFF ON is detected at the rising edge The near point dog ON OFF is detected at the falling edge Stop signal STOP Input this signal to stop positioning When this signal turns ON the RD77MS will stop the positioning being executed After that
24. I AX1 8 m AX1 16 m Operation failure RUN m AX1 Minor error ERR M AX2 L1 AX3 O AXA O AX1 8 e AX1 16 e RUN m AXA O Moderate error ERR e AX2 O Watchdog timer error AX3 O AXA O AX1 8 O AX1 16 O 1 When all axes are stopped or on standby the AX LED turns OFF 2 When any of the axes is in operation the AX LED turns ON 3 When an error occurs in any of the axes the AX LED is flashing 1 PART NAMES 1 1 LED Display Specifications 17 18 2 SPECIFICATIONS This chapter describes the performance specifications of the RD77MS 2 1 Performance Specifications This section lists the performance specifications of the RD77MS Item Number of controlled axes Operation cycle Interpolation function Control system Control unit Positioning data Execution data backup function Positioning Positioning system Positioning range Speed command RD77MS2 RD77MS4 RD77MS8 RD77MS16 2 3 or 4 axis linear interpolation 2 axis circular interpolation 0 444 ms 0 888 ms 1 777 ms 3 555 ms 2 axis linear interpolation 2 axis circular interpolation PTP Point To Point control path control both linear and arc can be set speed control speed position switching control position speed switching control speed torque control mm inch degree pulse 600 data axis Parameters positioning data and block start data can be saved on flash ROM battery less backup PTP control Incremental syst
25. ILITY OR LIABILITY BASED ON CONTRACT WARRANTY TORT PRODUCT LIABILITY FOR ANY INJURY OR DEATH TO PERSONS OR LOSS OR DAMAGE TO PROPERTY CAUSED BY the PRODUCT THAT ARE OPERATED OR USED IN APPLICATION NOT INTENDED OR EXCLUDED BY INSTRUCTIONS PRECAUTIONS OR WARNING CONTAINED IN MITSUBISHI S USER INSTRUCTION AND OR SAFETY MANUALS TECHNICAL BULLETINS AND GUIDELINES FOR the PRODUCT Prohibited Application Prohibited Applications include but not limited to the use 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 Medical applications Train equipment transport equipment such as Elevator and Escalator Incineration and Fuel devices Vehicles Manned transportation Equipment for Recreation and Amusement and Safety devices handling of Nuclear or Hazardous Materials or Chemicals Mining and Drilling and or other applications where there is a significant risk of injury to the public or property Notwithstanding the above restrictions Mitsubishi may in its sole discretion authorize use of the PRODUCT in one or more of the Prohibited Applications provided that the usage of the PRODUCT is limited
26. JOG operation setting program EE KIQ000 udJbgOperatior amp peod EE Ek E ulnchingMovement Amount 51 6 OPERATION EXAMPLES 96 BJOG operation execution program bInputForward Jog StartReg RD771 bReady RD771 bnBusv O bDuringJoginching X2E XO x10 SE Operation E bInputReverse Jog StartReg X2F bInputForwardJog kblnputReverse ag StartReq StartReq bDuringJogInching 26 X2E X2F nt Operation FE M RD77 JOG 45 JOG bJOG_bENO bJOG_bOK bJOG_bErr _f Ki HuwiuAxis err E uJOG_u Errid Bi bF og o uErrid Ua H F udJogOper ations peed bDuring belnching Operation T RD77 1 H DUr i stModule lb blnpuUtForsard bg StartReg X2E bInputReverse og StartReg X2F HE H UD udJogS peed KO H UWi ulnching 418 MT BE 6 OPERATION EXAMPLES 57 58 APPENDICES Appendix 1 Component List The positioning system using the Simple Motion module is configured of the following devices 1 Simple Motion module RD77MS Number of control axes MS SSCNETII H model F 2 Servo amplifier 3 Manual pulse generator Recommended MR HDPO1 Manufactured by Mitsubishi Electric Corporation Operation has been checked UFO M2 0025 2Z1 BOOE Manufactured by Nemicon Corporation RE45BA2R5C Manufactured by Tokyo Sokuteikizai Co Ltd 4 SSCNETII cable Cables
27. M and MR J3BUS M A cables away from vinyl tape because the optical characteristic may be affected Generally soft polyvinyl chloride PVC polyethylene resin PE and fluorine resin contain non migrating plasticizer and they do not affect the optical characteristic of SSCNETII 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 Optical cord Cable Q Normally cable is not affected by plasticizer Z Phthalate ester plasticizer such as DBP and DOP may affect optical characteristic of cable MRYSBusM A J pMRusBuSMA A A MRJ3BUS wa O O If the adhesion of solvent and oil to the cord part of SSCNETIII cable may lower the optical characteristic and machine characteristic To use the cable in that environment be sure to do the protection measures to the cord part e When keeping the Simple Motion module or servo amplifier be sure to attach a cap to the connector part so that a dirt should not adhere to the end of SSCNETIII connector To protect a light device inside a connector from dust a cap is attached to the SSCNETIII connector for the SSCNETII cable Therefore do not remove a cap until just before connecting the SSCNETIII cable Also when removing the SSCNETIII cable make sure to attach a cap Keep the cap and t
28. No connect 2B8 2A8 1B8 J 1A8 2b Due ae gar 2 2A12 1B12 1A12 2B6 J2A6 1B6 0 0 1 6 2811 2A11 1B11 1A11 2B5 2A5 1B5 D D 11A5 2B4 2A4 1B4 0 1A4 2B10 2A10 1B10 1A10 2B3 2A3 1B3 D 1A3 262 0 laa 1820 Dhia LO ie rer em ar ew per jew xr fe COM AA EE NL R CON 1 RD77MS2 does not have the connector of 2A20 to 2A1 and 2B20 to 2B1 2 Input type from manual pulse generator incremental synchronous encoder is switched in Pr 89 Manual pulse generator lncremental synchronous encoder input type selection Only the value specified against the axis 1 is valid 0 Differential output type 1 Voltage output open collector type Default value 3 Set the signal input form in Pr 24 Manual pulse generator Incremental synchronous encoder input selection 4 Voltage output open collector type Connect the A phase PULSE signal to HA and the B phase SIGN signal to HB 5 Differential output type Connect the A phase PULSE signal to HAH and the A phase PULSE inverse signal to HAL Connect the B phase SIGN signal to HBH and the B phase SIGN inverse signal to HBL 6 Do not connect to any terminals explained as No connect 7 Setthe external command signal DI 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 8 Do not connect wir
29. 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 Mitsubishi 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 MELSEC iQ R Ethernet CC Link IE User s Manual Startup If not normal data transmission is not guaranteed Startup and Maintenance Precautions NWARNING
30. S 18 2 1 Performance Specificato s a Ee a6 ee we N N ee de a es si 6 ee 8 dn BEA ee a 18 2 2 Specifications of Interfaces with External Devices 0 ss NEE ss EE sk es 20 Electrical specifications of input signals nananana SE ES SS SS SS SS SS ee eee eee eee eee 20 2 3 External Creu Des ld ass cate nate bout ee bart ED a tare ee EER DE DES ee a eee 22 CHAPTER 3 FUNCTION LIST 26 3 1 Control FUNCUGNS o uci ss etwas ee RR RRE dw RE cu ka ea eee eR ad 26 3 2 Main FUNCIONS SO ET EL EE Chee OO N OO EO IE NT EDE OORDE 27 3 3 Sub Functions and Common Functions ss EE ce es 29 UD TUNGUON PD AE N OE ER N EE EE ee eee TE EO ee 29 COMMON AUNGIONS xao EE EE AN EE ER DE OE OE OE N NE eee ET 31 3 4 Combination of Main Functions and Sub Functions ses ss EE EE Ns EE ee 32 CHAPTER 4 PROCEDURES BEFORE OPERATIONS 38 CHAPTER 5 WIRING 39 5 1 Precautions TOF WING i s sa aos ii Qus eee wwaw i sees RE RE E BC ee d x EE WR DS Jede DEE see bows 39 5 2 External Input Connection Connector is EE Es EE NEE eee 44 Signal layout for external input connection connector 0 eee eee 44 List of input signal details oes ag AE AE RS EE PET eB ESSE Red BEE EEDE EEE 45 Interface internal circuit uuu aca sue eed He ed woe M Rekord Rhe eed ee ere x Xo Reds 3 oe d ce RR edd 47 CHAPTER6 OPERATION EXAMPLES 50 APPENDICES 58 Appendix 1 Component List ii oe ie MMed RR RR PC Rb e E P Cu EU Doe PC e RE eC 58 Reference DIOUU CL aas
31. UBISHI IE m External device X20 to X3F Servo amplifier MR J4 B Servo motor Initial setting details Set the system setting parameters and positioning data using the engineering tool llSystem setting The system setting is shown below B fi 0000 RD77MS16 m System Setting dd System Structure Mark Detection i Parameter g Servo Parameter Positioning Data Block Start Data m 9 Synchronous Control Parameter Cam Data Cs Simple Motion Monitor n Bii Servo Amplifier Operation MW Digital Oscilloscope Axis 10 Axis 13 di0 di3 6 OPERATION EXAMPLES 51 52 llParameters The following table lists parameters Use the default values for the setting items not listed here or the setting items for the axes not described here Common parameters Pr 82 Forced stop valid invalid selection 1 Invalid Basic parameters 1 Pr 2 Number of pulses per rotation Pr 3 Movement amount per rotation Detailed parameters 1 Pr 22 Input signal logic selection Lower limit Pr 22 Input signal logic selection Upper limit Pr 116 FLS signal selection input type Pr 117 RLS signal selection input type Pr 118 DOG signal selection input type Home position return basic parameters Pr 1 Unit setting Pr 46 Home position return speed Pr 47 Creep speed N 0 mm 4194304 pulses 250000 0 um Positive logic Positive logic Buffer memory N Buffer memory N Buffer m
32. acto desees cas puros ues Rey Pana Ss aues Suspe eas Sa EEN eu N 58 Appendix 2 Connection with External Devices ss EE EE EE Ek hn ee 64 CONMCCIOl MEC RE AE IE EEN TEE EE EE EE EE N N N EE EE NE 64 External Input signal cable a dau ed se do ntn nei eh EE we ap ed eh tae es RNEER Ro Ro a eo 65 Appendix 3 External DIMCNSIONS i su ach eio ck MA ne eR deco ao ek o ee Ek eo n EC ecd aede a ee a 70 INDEX 72 REVISIONS cena 042453 acce den 0008 nea ee ak Ca Reo ee oe ae Oe oe N N OR 14 WWAIRISAINIGY 63 oeoeea vaca car HEET OR eee obeys ood oe oaks ELE ye eet oe Fae EER 15 CONTENTS 11 TRADEMARK ass se ESE BOERE BREER BARE DERE HOE RO RD ees EE AE BE OD ED OE DE AE M 76 12 RELEVANT MANUALS Manual name manual number Available form MELSEC iQ R Simple Motion Module User s Manual Specifications procedures before operation system configuration Print book Startup wiring and operation examples of the Simple Motion module skans IB 0300245 This manual EPUB PDF MELSEC iQ R Simple Motion Module User s Manual Functions input output signals buffer memories parameter settings Print book Application programming and troubleshooting of the Simple Motion module a Manual B 0300247 EPUB PDF MELSEC iQ R Simple Motion Module User s Manual Functions and programming for the synchronous control of the Print book Advanced Synchronous Control Simple Motion module e Manual B 0300249 EPUB PDF This
33. al input wiring External input wiring connector Applicable connector A6CON1 AGCON2 A6CONA Sold separately Applicable wire size 0 3 mm When AGCON1 and A6CON4 are used 28 AWG to 24 AWG When A6CON 2 is used APPENDICES APPENDIX Appendix 1 Component List Specifications of recommended manual pulse generator Model name MR HDPO1 Ambient temperature 10 to 60 C 14 to 140 F Pulse resolution 25 pulses rev 100 pulses rev after magnification by 4 Output method Voltage output Output current Max 20 mA Power supply voltage 4 5 to 13 2 VDC Current consumption 60 mA Output level H level Power supply voltage 1V 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 B phase 90 phase difference Start friction torque 0 06 Nem 20 C 68 F 1 Ifa separate power supply is used use a stabilized power supply of voltage 5 V DC 0 25 V Manual pulse generator that the operation has been checked Nemicon Corporation UFO M2 0025 2Z1 BOOE Tokyo Sokuteikizai Co Ltd RE45BA2R5C 1 Contact http www nemicon co jp nemicon 2 Contact http www tosoku inc co jp External dimension drawing of manual pulse generator MR HDPO1 M
34. anufactured by Mitsubishi Electric Corporation Unit mm inch 3 6 0 14 27 0205 3 x Studs M4 x 10 EE PCD72 equi spaced 70 2 76 Packing t 2 0 0 63 0 79 0 35 0 30 3 4 8 0 19 equi spaced The figure of processing a disc APPENDICES APPENDIX Appendix 1 Component List 59 Model name Ambient temperature Resolution Transmission method Direction of increasing addresses Protective construction Permitted speed at power ON Permitted speed at power OFF Permitted axial loads Runout at input shaft tip Start friction torgue Recommended coupling Permitted angular acceleration Vibration resistance Shock resistance Internal current consumption A Mass kg Connecting cable m ft Communications method Transmission distance Serial absolute synchronous encoder specifications Q171bENC W8 5 to 55 C 23 to 131 F 4194304 pulses rev Serial communications Connected to MR J4 B RJ CCW viewed from end of shaft Dustproof Waterproof IP67 Except for the shaft through portion 3600 r min 500 r min Radial load Up to 19 6 N Thrust load Up to 9 8 N 0 02 mm 0 00079 inch or less 15 mm 0 59 inch from tip 0 04 Nem 20 C 68 F Bellows coupling 40000 rad s 5 G 50 to 200 Hz 50 G 11 ms or less 0 2 0 6 Q170ENCCBL_M _ Cable length 2 6 56 5 16 40 10 32 81 20 65 62 30 98 43 50
35. cable may occur at worst NDisposal When incinerating optical cable cord used for SSCNETIII cable hydrogen fluoride gas or hydrogen chloride gas which is corrosive and harmful may be generated For disposal of SSCNETII cable request for specialized industrial waste disposal services that have incineration facility for disposing hydrogen fluoride gas or hydrogen chloride gas 5 WIRING 41 5 1 Precautions for Wiring 42 lWiring process of SSCNETI cable Put the SSCNET cable in the duct or fix the cable at the closest part to the Simple Motion module with bundle material in order to prevent SSCNET cable from putting its own weight on SSCNET connector Leave the following space for wiring Putting in the duct Top of panel or wiring duct Base unit sy Y Ls 30 mm MS A 1 18 inch Y or more AM AK Door MIE Ee Yy Panel FAT 70 mm 119 mm 2 76 inch 4 69 inch Yyy or more AI r 4 A 5 mm 0 20 inch 5 mm 0 20 inch OT more er more NS 1 For wiring duct with 50 mm 1 97 inch or less height For other cases 40 mm 1 58 inch or more 2 20mm 0 79 inch or more when the adjacent module 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 cushion
36. chanical backlash amount Feed commands equivalent to the set compensate function backlash amount are output each time the movement direction changes soul Electronic gear function By setting the movement amount per pulse this function can freely change the machine movement amount per commanded pulse When the movement amount per pulse is set a flexible positioning system that matches the machine system can be structured Near pass function This function suppresses the machine vibration when the speed is changed during continuous path control in the interpolation control Functions that Speed limit function If the command speed exceeds Pr 8 Speed limit value during control this function limits the limit control commanded speed to within the Pr 8 Speed limit value setting range Torque limit function If the torque generated by the servomotor exceeds Pr 17 Torque limit setting value during control this function 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 switch Forced stop function This function stops all axes of the servo amplifier with the forced stop input signal conne
37. controls the master axis and the slave axis is controlled by data communication between servo amplifiers driver communication without Simple Motion module This function is used to latch any data at the input timing of the mark detection signal DI This function is used to store the data selected by user up to 4 data per axis to buffer memory and monitor them This function collects errors and event information occurred in the Simple Motion module in the CPU module and saves them to an SD memory card This function enables to check the error history even after the power OFF or reset by holding the error contents in the CPU module Temporarily connect disconnect of SSCNET communication is executed during system s power supply ON This function is used to exchange the servo amplifiers or SSCNETIII cables 3 FUNCTION LIST 31 3 3 Sub Functions and Common Functions 32 3 4 Combination of Main Functions and Sub Functions With positioning control using the Simple Motion module the main functions and sub functions can be combined and used as necessary A list of the main function and sub function combinations is given below Combination of main functions and operation patterns O Setting possible A Setting limited X Setting not possible Main functions Combination with operation pattern Home position return Machine home position return control x conto C T s Fast home position return control Major positioning control Pos
38. cted to the external input connection connector on the Simple Motion module Functions that Speed change function This function changes the speed during positioning change control Set the new speed in the speed change buffer memory Cd 14 New speed value and change the speed details with the speed change request Cd 15 Override function This function changes the speed within a percentage of 0 to 300 during positioning This is executed using Cd 13 Positioning operation speed override Acceleration deceleration This function changes the acceleration deceleration time during speed change time change function Torque change function This function changes the torque limit value during control Target position change This function changes the target position during positioning function Position and speed can be changed simultaneously Functions Pre reading start function This function shortens the virtual start time related to positioning start Absolute position system This function restores the absolute position of designated axis Functions Stop command processing for Function that selects a deceleration curve when a stop cause occurs during deceleration stop processing related to deceleration stop function to speed 0 positioning stop Continuous operation This function interrupts continuous operation When this request is accepted the operation stops when the interrupt function execution of the current positioning da
39. d 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 ine and the communication cable and separate using a separator made of metal etc It is required in the same control panel as well Mixing the power line and communication cable may cause increase of noise or malfunction due to noise influence 5 WIRING 4 5 1 Precautions for Wiring 3 44 5 2 External Input Connection Connector Signal layout for external input connection connector The signal layout for the external input connection connector of Simple Motion module is shown below Pin layout Signal name Signal name da name Signal name Front view of the module ru 2B20 No connect 2A20 Noconnect 1B20 EM Ix 1A20 Sve 2B20 2A20 1B20 J 1A20 2 3 4 g 2B19 0 n 2A19 1819 p n aas 2B19 2A19 1B19 HA 1A19 5V RES c B4B 2A18 1B18 HBL 3 5 1A18 HBH 2 3 5 2B17 2A17 1B17 9 1A17 2B16 0 n J2A16 1B16 1A16 2B17 2A17 1B17 HAL 2 3 5 1A17 HAH 2 3 5 2B15 2A15 1B15 TO 1A15 2B14 D N 2A14 1B14 p 9 l1a14 2316 2A16 1B16 1A16 No connect 2B13 J 2A13 1B13 J 1A13 9 1m5 p pm aso E 2A15 1B15 1A15 5v 2B11 0 0 2A11 1B11 0 n 1A11 2B14 2A14 1B14 cee o 1A14 SG 2B10 0 I 2A10 1B10 9 1A10 2B9 I D 2A9 1B9 J 1A9 2B13 2A13 1B13 No connect 1A13
40. dden bending or twist is added to the SSCNETIII cable it distorts or breaks inside and optical transmission is not be available Note that the short SSCNETIII cable can be twisted easily e Be sure to use the SSCNETIII cable within the range of operating temperature described in each servo amplifier instruction manual Especially as optical fiber for MR JOBBUS M and MR J3BUS M A are made of synthetic resin it melts down if being left near the fire or high temperature Therefore do not make it touched the part which becomes high temperature such as radiator or regenerative option of servo amplifier or servomotor When laying the SSCNETII cable be sure to secure the minimum cable bend radius or more Put the SSCNETIL cable in the duct or fix the cable at the closest part to the Simple Motion module with bundle material in order to prevent SSCNETIII cable from putting its own weight on SSCNETIII connector When laying cable the optical cord should be given loose slack to avoid from becoming smaller than the minimum bend radius and it should not be twisted Also fix and hold it in position with using cushioning such as sponge or rubber which does not contain plasticizing material If adhesive tape for bundling the cable is used fire resistant acetate cloth adhesive tape 570F Teraoka Seisakusho Co Ltd is recommended 5 WIRING 9 1 Precautions for Wiring 39 40 NCAUTION e Migrating plasticizer is used for vinyl tape Keep the MR J3BUS
41. der whose current consumption exceeds 200 mA 48 5 WIRING 5 2 External Input Connection Connector Manual pulse generator Incremental synchronous encoder of differential output type When using the external When using the internal power supply Recommended power supply Manual pulse generator Manual pulse generator Incremental synchronous Incremental synchronous RD77MS encoder RD77MS encoder B B HAH A HAL A FG FG FG FG Twisted pair Manual pulse generator Incremental synchronous encoder of voltage output type When using the external When using the internal power supply Recommended power supply Manual pulse generator Manual pulse generator Incremental synchronous Incremental synchronous RD77MS encoder RD77MS encoder Shield I pair F NN i FG G FG FG 5 WIRING 49 5 2 External Input Connection Connector 50 6 OPERATION EXAMPLES This chapter describes the programming procedure and the basic program of the RD77 When applying the program examples provided in this manual to an actual system properly verify the applicability and reliability of the control on the system Overall configuration The program examples show the programs of the following operations Machine home position return execution Execution of 1 axis linear control using axis 1 JOG operation execution The following table shows the overall configuration of the positioning control operation examples No
42. e of the setup software for the servo amplifier Version 1 27D or later Intelligent function module A MELSEC iQ R series module that has functions other than input or output such as A D converter module and D A converter module Manual pulse generator Abbreviation for manual pulse generator prepared by user SSCNETII H High speed synchronous communication network between RD77MS and servo amplifier SSCNETII SSCNETII H Generic term for SSCNETIII H SSCNETII Servo network 2 axis module Generic term for RD77MS2 4 axis module Generic term for RD77MS4 8 axis module Generic term for RD77MS8 16 axis module Generic term for RD77MS16 1 SSCNET Servo System Controller NETwork PERIPHERALS The following figure shows the peripherals when the RD77MS is used Simple Motion module External input signal cable Manual pulse generator Incremental synchronous encoder x 1 Assigning the external input signals for 20 points to any of the following signals e External command signal Switching signal e Upper stroke limit e Lower stroke limit e Near point dog signal e Stop signal Forced stop input 24 V DC J SSCNETIII cable External input signals of servo amplifier e Upper stroke limit e Lower stroke limit e Near point dog M LI Ii Ko oje 9j dce i LO oo oloa fo is MR J3 W _B type ser
43. ed feed control the Md 20 Current feed value is set to 0 when the control is started 2 axis fixed feed control With 2 3 or 4 axis fixed feed control the fixed feed is fed along a linear path obtained by 3 axis fixed feed control interpolation 4 axis fixed feed control 2 axis circular Positions a target using an arc path to the address set in the positioning data or to the position interpolation control designated with the movement amount sub point or center point Speed Speed control Continuously outputs the command corresponding to the command speed set in the positioning control 1 axis speed control data 2 axis speed control 3 axis speed control 4 axis speed control Speed position switching control First carries out speed control and then 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 Current value changing Changes the current feed value Md 20 to the address set in the positioning data control The following two methods can be used The machine feed value Md 21 cannot be changed Current value changing using positioning data Current value changing
44. ed onsite at domestic or overseas location expenses to send an engineer will be solely at the customer s discretion Mitsubishi shall not be held responsible for any re commissioning maintenance or testing on site that involves replacement of the failed module Gratis Warranty Term The gratis warranty term of the product shall be for one year after the date of purchase or delivery to a designated place Note that after manufacture and shipment from Mitsubishi the maximum distribution period shall be six 6 months and the longest gratis warranty term after manufacturing shall be eighteen 18 months The gratis warranty term of repair parts shall not exceed the gratis warranty term before repairs Gratis Warranty Range 1 The range shall be limited to normal use within the usage state usage methods and usage environment etc which follow the conditions and precautions etc given in the instruction manual users manual and caution labels on the product 2 Even within the gratis warranty term repairs shall be charged for in the following cases 1 Failure occurring from inappropriate storage or handling carelessness or negligence by the user Failure caused by the user s hardware or software design 2 Failure caused by unapproved modifications etc to the product by the user 3 When the Mitsubishi product is assembled into a user s device Failure that could have been avoided if functions or structures judged as necessary in
45. em absolute system Speed position switching control Incremental system absolute system Position speed switching control Incremental system Path control Incremental system absolute system In absolute system 214748364 8 to 214748364 7 um 21474 83648 to 21474 83647 inch 0 to 359 99999 degree 2147483648 to 2147483647 pulse In incremental system 214748364 8 to 214748364 7 um 21474 83648 to 21474 83647 inch 21474 83648 to 21474 83647 degree 2147483648 to 2147483647 pulse In speed position switching control INC mode position speed switching control 0to 214748364 7 um 0 to 21474 83647 inch 0to 21474 83647 degree e 0 to 2147483647 pulse In speed position switching control ABS mode 0 to 359 99999 degree 0 01 to 20000000 00 mm min 0 001 to 2000000 000 inch min 0 001 to 2000000 000 degree min 2 1 to 1000000000 pulse s Acceleration deceleration process Trapezoidal acceleration deceleration S curve acceleration deceleration Acceleration deceleration time 1 to 8388608 ms Four patterns can be set for each of acceleration time and deceleration time Sudden stop deceleration time 1 to 8388608 ms 2 SPECIFICATIONS 2 1 Performance Specifications Item RD77MS2 RD77MS4 RD77MS8 RD77MS16 Starting time Operation cycle Maximumnumber 0 7 ms 0 444 ms of axes 1 axis Maximum number 0 7 ms of axes 2 axes Maximum number 0 74 ms of axes 4 axes Maxim
46. emory 50 00 mm min 15 00 mm min Pr 48 Home position return retry 1 Retry home position return with limit switch llPositioning data The following table lists positioning data Use the default values for the setting items not listed here or the setting items for the axes not described here Operation pattern Control system Axis to be interpolated Acceleration time No Deceleration time No Positioning address Arc address Command speed Dwell time M code M code ON signal output timing ABS direction in degrees Interpolation speed designation method 6 OPERATION EXAMPLES 0 Positioning complete 01h ABS Linear 1 1 axis linear control ABS 06h FWD V P 08h FWD P V Position speed switching control forward run Speed position switching control forward run 0 1000 0 1000 10000 0 um 2500 0 um 2000 0 um 20 00 mm min 180 00 mm min 180 00 mm min 0 Use the setting value of M code ON signal output timing 0 Use the setting value of ABS direction setting at degree 0 Use the setting value of interpolation speed designation method 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 LLIMELSEC iQ R Programming Manual Program Design MModule label The following table lists
47. encoder input selection 3 The 5 V DC power supply from the Simple Motion module must not be used if a separate 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 Power supply EM 5V DC o eg Ss o0 lt s Wiring example for manual pulse generator incremental synchronous encoder Wire the manual pulse generator incremental synchronous encoder of differential output type and voltage output type 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 connect the 5 V terminal of RD77MS and the 5 V of the manual pulse generator incremental synchronous encoder In either case connect the 0 V of the manual pulse generator incremental synchronous encoder and the SG of RD77MS Do not use the 5 V terminal of RD77MS except for connecting the manual pulse generator incremental synchronous encoder It may cause a failure Also do not connect the manual pulse generator incremental synchronous enco
48. es other than the signal wires of the manual pulse generator to 1A20 and 1A19 9 Do not use 1A B 15 and 1A B 14 for other than the power supply of manual pulse generator 5 WIRING 5 2 External Input Connection Connector List of input signal details Signal name Signal details Differential Manual pulse HAH 1A17 1 Phase A Phase B output type generator A Input the pulse signal from the manual pulse generator incremental synchronous encoder A phase and B Incremental phase synchronous If the A phase leads the B phase the positioning address will increase at the rising and falling edges of encoder A each phase phase PULSE e If the B phase leads the A phase the positioning address will decrease at the rising and falling edges of each phase a Magnification by 4 When increased When decreased HAL 1B17 A phase EF EE A phase SENESENES A RENE WE EE NP e TEL B phase Positioning p Positioning nA n Adress EE EE EE T4 address 1 1 1 1 1 1 1 1 b Magnification by 2 When increased When decreased A phase 7 d A phase u N Manual pulse HBH 1A18 LELELELIEL TALE LE LE p B phase T dem a B phase TE Vo generator B og Fog i d Fog 1 Positioning n P Positioning Pob EE Incremental 1 1 1 1 1 1 1 Address EE EE EE SE address 1 1 1 1 1 1 1 1 synchronous Kr c Magnification by 1 phase SIGN DT 1 P
49. ew 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 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 NWARNING 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 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 w
50. ff the externally supplied power used in the system before installation or wiring Not doing so could result in electric shock or damage to the product Caution for wiring NCAUTION Check the layout of the terminals and then properly route the wires to the module Connectors for external input signal must be crimped or pressured with the tool specified by the manufacturer or must be correctly soldered Insufficient connections may cause short circuit fire or malfunction Be careful not to let foreign matter such as sawdust or wire chips get inside the module These may cause fires failure or malfunction The top surface of the module is covered with protective films to prevent foreign objects such as cable off cuts from entering the module when wiring Do not remove this film until the wiring is complete Before operating the system be sure to remove the film to provide adequate ventilation Securely connect the connector for SSCNETIII cable to the bottom connector on the module e When removing the cable from the module do not pull the cable Hold the connector that is connected to the module Pulling the cable that is still connected to the module may cause malfunction or damage to the module or cable The external input output signal cable and the communication cable should not be routed near or bundled with the main circuit cable power cable and or other such load carrying cables other than those for the PLC These cables sho
51. g 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 CONDITIONS OF USE FOR THE PRODUCT 1 Mitsubishi programmable controller the PRODUCT shall be used in conditions i where any problem fault or failure occurring in the PRODUCT if any shall not lead to any major or serious accident and ii where the backup and fail safe function are systematically or automatically provided outside of the PRODUCT for the case of any problem fault or failure occurring in the PRODUCT 2 The PRODUCT has been designed and manufactured for the purpose of being used in general industries MITSUBISHI SHALL HAVE NO RESPONSIBILITY OR LIABILITY INCLUDING BUT NOT LIMITED TO ANY AND ALL RESPONSIB
52. ging 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 Installation Precautions NWARNING 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 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 scr
53. he cable by a customer side llSelection The following table indicates the serial absolute synchronous encoder cables used with the serial absolute synchronous encoder Connector sets MR J3CN2 are also available for your fabrication Q170ENCCBL M A 2 6 56 5 16 40 10 32 81 20 65 62 J14B103715 00 12 pairs BLACK 30 98 43 50 164 04 Use the following or equivalent twisted pair cables as the serial absolute synchronous encoder cables MR J3CN2 Servo amplifier connector J14B103715 00 12 pairs BLACK 1 dis as shown below d PN Conductor Insulation sheath 2 Standard OD Outside Diameter Maximum OD is about 10 larger NCAUTION When fabricating the encoder cable do not make incorrect connection Wrong connection will cause runaway or explosion APPENDICES APPENDIX Appendix 1 Component List 61 MQ170ENCCBL M A Model explanation Type Q170ENCCBL_M A Symbol Cable length m ft 2 5 16 40 NH 10 32 81 20 20 65 62 30 30 98 43 0 50 164 04 Connection diagram When fabricating a cable use the recommended wire and connector set MR J3CN2 for encoder cable given above and make the cable as shown in the following connection diagram Maximum cable length is 50 m 164 04 ft MR J4 B RJ Encoder connector Encoder connector Pin arrangement CN2L connector Pin arrangement Q171ENC W8 Synchronous encoder EA ESE 1 5
54. he tube for protecting light cord end of SSCNETIII cable in a plastic bag with a zipper included with the SSCNETIII cable to prevent them from becoming dirty e When exchanging the Simple Motion module or servo amplifier make sure to attach a cap to the SSCNETIII connector When asking repair of Simple Motion module or servo amplifier for some troubles make also sure to attach a cap to the SSCNETIII connector When a cap is not attached the light device may be damaged at the transit In this case exchange or repair of the light device is required Precautions for wiring Use separate cables for connecting to the Simple Motion module and for the power cable that creates surge and inductance The cable for connecting the Simple Motion module should be placed in the duct or secured in place by clamps If the cable is not placed in the duct or secured by clamps unevenness or movement of the cable or careless pulling on it could result in damage to the unit or cable or defective cable connections could cause mis operation of the unit If a duct is being used separate the cables to connect the Simple Motion module from the power line duct or use metal piping Ground the pipes securely after metal piping Use the twisted pair shielded cable wire size 0 3 mm or more The shielded must be grounded on the Simple Motion module side Use separate shielded cables for the external input signal forced stop input and manual pulse generator incremental
55. ible x Home Machine home position return position control return Fast home position return control control Major Position 1 axis linear positioning control control control 2 3 or 4 axis x linear interpolation control 1 axis fixed feed xX control O 2 3 or 4 axis fixed feed control interpolation O 2 axis circular interpolation control D O x O Speed Speed control 1 to 4 axis Speed control 1 to 4 axis to 4 axis Speed position switching control Position speed switching control Other Current value control changing NOP instruction JUMP instruction LOOP to LEND Manual JOG operation inching control operation Manual pulse generator operation Expansion Speed torque control control 1 Valid for the reference axis only 2 Valid for only the case where a deceleration start is made during position control 3 Valid for a start of positioning start No 9003 but invalid for a start of positioning data No 1 to 600 4 Combination with the inching operation is not available Inching operation does not perform acceleration deceleration processing 5 Valid for Md 22 Feedrate and Md 28 Axis feedrate 6 Refer to the following for acceleration deceleration processing in the speed torque control LLIMELSEC iQ R Simple Motion Module User s Manual Application 3 D D O x T i i i x x gt x x x i i i E 2 X
56. ing such as sponge or rubber which does not contain plasticizing material YU Base unit RD77MS FE Panel gt Optical cord Loose slack lt Bundle material gt Cable Recommended product NK clamp SP type NIX INC 5 WIRING 5 1 Precautions for Wiring Example of measure against noise for compliance with the EMC directive AC power 4 r2 3 4 CPU module Control panel EC SCF25 78 Nitto Kogyo Corporation Power supply Manual pulse generator 24 V DC power supply for EMI External input device etc SSCNETIII cable Servo amplifier supply AD75CK cable clamp Ground the cables at a position within 30 cm 11 82 inch from the module with the cable clamp Wire the power supply cable as short as possible using the twisted cable 2 mm or more Use the shielded twisted cable cable length 30 m 98 43 ft or less for the external input signal cable Manual pulse generator cable open collector type 10 m or less Wire the power supply module as short as possible using the cable of approx 2 mm and ground to the control panel from the FG LG terminal Refer to this chapter or EMC and Low Voltage Directives of the following manuals for basic wire We examined RD77MS by the above example LIMELSEC iQ R Module Configuration Manual LISafety Guidelines This manual is included with the base unit n wiring inside the panel the power line connecte
57. ion Details This function returns the setting data stored in the buffer memory internal memory and flash ROM internal memory nonvolatile of Simple Motion module to the default values The following two methods can be used Method using a program Method using an engineering tool This function writes the execution data being used in the control into the flash ROM internal memory nonvolatile The following two methods can be used Method using a program Method using an engineering tool This function sets the input type input terminal signal logic and input filter for each external input signal of each axis upper lower stroke limit signal FLS RLS near point dog signal DOG and stop signal STOP The function enables the assignment of external input signal of each axis to any terminals of 20 points of the external input connection connector on the Simple Motion module This function monitors start history and current value history of all axes This function executes the positioning control of Simple Motion module without connecting to the servo amplifiers It is used to debug the program at the start up of the device or simulate the positioning operation This function executes the operation as the axis virtual servo amplifier axis that operates only command instruction virtually without servo amplifiers This function uses the Master slave operation function of servo amplifier The Simple Motion module
58. ion for avoiding the case that SSCNETIII cable is hold down by the door and the cable bend becomes smaller than the minimum bend radius Model name of SSCNETII cable Minimum bend radius mm inch MR J3BUS M 25 0 98 MR J3BUS M A Enforced covering cord 50 1 97 Cord 25 0 98 MR J3BUS M B Enforced covering cord 50 1 97 Cord 30 1 18 llTension If tension is added on the SSCNETIL cable the increase of transmission loss occurs because of external force which concentrates on the fixing part of SSCNETIII cable or the connecting part of SSCNETIII connector At worst the breakage of SSCNETIII cable or damage of SSCNETIII connector may occur For cable laying handle without putting forced tension Refer to each servo amplifier instruction manual for the tension strength of SSCNETIII cable lll ateral pressure If lateral pressure is added on the SSCNETII cable the cable itself distorts internal optical fiber gets stressed and then transmission loss will increase At worst the breakage of SSCNETIII cable may occur As the same condition also occurs at cable laying do not tighten up SSCNETIII cable with a thing such as nylon band TY RAP Do not trample it down or tuck it down with the door of control box or others llTwisting If the SSCNETIII cable is twisted it will become the same stress added condition as when local lateral pressure or bend is added Consequently transmission loss increases and the breakage of SSCNETIII
59. itch off the electromagnetic contactor MC after detection alarm occurrence on the CPU module 2 Itis also possible to use forced stop signal of the servo amplifier 3 Set the axis selection rotary switch of servo amplifier as follows to set the axis No of servo amplifier 4 The status of forced stop input signal can be confirmed with Md 50 Forced stop input 5 Refer to the servo amplifier instruction manual for selection of the circuit breaker and electromagnetic contactor 6 The surge suppressor is recommended to be used for an AC relay or electromagnetic contactor MC near the servo amplifier Refer to the servo amplifier instruction manual for selection of the surge suppressor Precautions Be sure to shut off the both of main circuit power supply L1 L2 L3 and control power supply L11 L21 after disconnection of SSCNET communication by the connect disconnect function of SSCNET communication at the time of exchange of servo amplifier At this time it is not possible to communicate between the servo amplifier and Simple Motion module Therefore be sure to exchange the servo amplifier after stopping the operating of machine beforehand e f the emergency stop signal of Simple Motion module turns OFF when setting of Pr 82 Forced stop valid invalid selection to 0 Valid servomotor is stopped with dynamic brake The LED display of servo amplifier indicates E7 1 Controller forced stop input warning e When the contr
60. itchingReq x26 EE bInputPositions peedS witchingRedq x40 bInputS tartAdvancedPositioningReq X2A k bPositionings tartReq Wa 351 269 286 311 6 OPERATION EXAMPLES uPositionings tartNo bFastOPRStartReq uPositioningS tartNo uPositioningS tartNo uPositioningS tartNo RD77 1 stnAxCtrit_D O uEnableVP_Switching_D LO G4328 RD77 1 stnAxCtrit D O uEnablevP Switching D UOVG4328 RD77 1 stn xCtrlt D O ud VP NewMovementAmount D UOYG4326 uPositioningStartNa RD77 1 stnAxOtrif D O uEnablePV Switching D UO G4332 RD77 1 stnAxCtrii D O uErablePV Switching D UO G4332 RD77 1 stnAxCtrlt D O udPV NewS peed D UOVG4330 uPositioningS tartNo bFastOPRStartReq bFastOPRStartReq H END 99 llPositioning start program binputStartPositioning bDuringJoginchingO bDuringMPGOp bFastOPRSta Req peration eration rtReq bPositioning x2B StartReg E EE VA EE EE EI MEME bFastOPRSta bFastOPRSta rtReq rtRea H I L 34 bPositioningStartReq eae as ams UD G241 7 F DX10 RD77 1 stnAxMntr D O ustatus D D U0 G2417 D bPositioning 10 StartReg 21 bStartPositio bPositioningStartReq ning bENO i l bStartPositio RD77 1 EE 1 C DUT istModule bStartPositio ning_bErr i KI H Ui uAxis MI uPositioning ustartPositi StartNo oning uErrId H Uri uStartNo B 432 END B
61. ithin 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 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
62. ition control 1 axis linear control O 2 3 or d axis linear interpolation control 1 axis fixed feed control N Continuous path control cannot be set O 2 3 or d axis fixed feed control interpolation A Continuous path control cannot be set O 2 axis circular interpolation control Speed control 1 to 4 axis A Only independent positioning control can be set Speed position switching control A Continuous path control cannot be set Position speed switching control A Only independent positioning control can be set Other control Current value changing A Continuous path control cannot be set NOP instruction x JUMP instruction x LOOP to LEND Manual control JOG operation inching operation X Manual pulse generator operation X Expansion control Speed torgue control X 1 The operation pattern is one of the positioning data setting items 3 FUNCTION LIST 3 4 Combination of Main Functions and Sub Functions is and sub functions O Combination possible A Combination limited X Combination not possible Home Machine home position return control 2 position Fast home position return control return control positioning control 2 3 or 4 axis linear x x control interpolation control 1 axis fixed feed control 2 3 or d axis fixed feed control interpolation 2 axis circular interpolation control EE LLL Manual JOG operation EER operation control Manual pulse genera
63. liary work before ending the control use this function as a trigger for the sub work This function adjusts the acceleration deceleration Function that turns ON the flag when the constant speed status or acceleration status switches to the deceleration status during position control whose operation pattern is Positioning complete to make the stop timing known This function monitors the motor rotation amount with the servo turned OFF and reflects it on the current feed value This function executes the positioning control by the 10 times speed of the command speed and the speed limit value when the setting unit is degree This function is provided to select whether positioning control is operated or not when the home position return request flag is ON 1 The near pass function is featured as standard and is valid only for position control It cannot be set to be invalid with parameters 3 FUNCTION LIST 3 3 Sub Functions and Common Functions Common functions The outline of the functions executed as necessary is described below Common functions Parameter initialization function Execution data backup function External input signal select function History monitor function Amplifier less operation function Virtual servo amplifier function Driver communication function Mark detection function Optional data monitor function Event history function Connect disconnect function of SSCNET communicat
64. manual does not include detailed information on the followings General specifications Available CPU modules and the number of mountable modules Installation environment and installation position e Specifications and precautions of the inter module synchronization function For details refer to the following LLIMELSEC iQ R Module Configuration Manual Point P e Manual refers to the Mitsubishi FA electronic book manuals that can be browsed using a dedicated tool e Manual has the following features Required information can be cross searched in multiple manuals Other manuals can be accessed from the links in the manual The hardware specifications of each part can be found from the product figures Pages that users often browse can be bookmarked 13 TERMS Unless otherwise specified this manual uses the following terms CPU module Abbreviation for the MELSEC iQ R series CPU module Simple Motion module Abbreviation for the MELSEC iQ R series Simple Motion module RD77MS Another term for the MELSEC iQ R series Simple Motion module Servo amplifier Abbreviation for SSCNETIII H and SSCNETII compatible servo amplifier MR JA W B MR J4 B MR J4W B Servo amplifier series MR J3 W B MR J3 B MR J3W B Servo amplifier series Engineering tool Generic term for GX Works3 and MR Configurator2 GX Works3 Product name of the software package for the MELSEC programmable controllers MR Configurator2 Product nam
65. 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 SSCNETII complies with class1 defined in JISC6802 or IEC60825 1 Design Precautions CAUTION 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 Reset the CPU module after changing the parameters Failure to do so may cause malfunction because the previous parameter settings remain in the module When chan
66. ng LAMELSEC iQ R Simple Motion Module Function Block Reference BPLC READY signal YO ON program RD771 bSynch bBasicPara bOPRPara blnitialzePar bWriteFlash ronizationFlag mSetComp mSetComp ameterReg Req X1 EE EK E RD77 1 bPLC Ready YO 6 MM M M M END BAII axis servo ON signal Y1 ON program bAllAxisServoOn RD771BPLC RD77 1 bSynchronization RD77 1 bAllAxisServo Req Ready Flag D On X4F YO DX1 Y1 5 END 6 OPERATION EXAMPLES llPositioning start No setting program bInputOPRStartReq X23 bInputFastOPRS tartReq RD77 1 stnAxMntr O uGtatus 3 34 x24 EER EEN LLL L EEN EE EN EE AE NE NN 11 T T EEN EC binputS peedPositiorS witchingEnable Req K1 133 X27 bInputS peedPositiorS witchingDisable Req KO 157 X28 bInputC hangeS peedPosition witching MovementAmount udMovement 181 X29 Amount bInputPositionS peedS witchingReq 200 x40 bInputPositions peedS witchingEnable Req K1 221 xa bInputPositions peedS witchingDisable Req KO 245 x42 bInputC hangePositionsS peedS witching SpeedReq udS peed x43 binputStartAdvancedPositioningRe dg K3000 X2A r3 EE c cia G K 2 GL LL LL S CSS OL CSS L LLL LLL N bInputOPRStartReq X23 DE bInputSetStartPositioningNoReq X25 RE c EEN ME GN EEN N GE N GENE binputS peedPositiorS w
67. ng 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 NCAUTION 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 value 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 du
68. nt 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 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 Doi
69. nternal circuit The outline diagrams of the internal circuits for the external device connection interface for the Simple Motion module axis 1 are shown below Input External input signal _ Upper limit signal Upper Lower limit signal Lower limit signal Near point dog signal External input signal Near SIN DOG Stop signal point dog Stop External STOP DI siii command signal command Switching signal Switchi TT witching signal SIN DOG STOP DI Common COM P Forced stop input signal 24M Do Forced stop input signal o 1 When using external input signal of servo amplifier set 1 with Pr 116 FLS signal selection Pr 117 RLS signal selection and Pr 118 DOG signal selection 2 Refer each servo amplifier 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 sign both and are possible Manual pulse generator Incremental synchronous encoder input Winterface between manual pulse generator incremental synchronous encoder Differential output type Manual pulse generator EE N phase AIPULSE At fn eee ee eee EER EE Manual pulse Manual pulse generator generator Incremental phase B SIGN synchronous encoder Power supply Power supply mem 1 Set 0 Differential output type in Pr 89 Manual pulse generator Incremental synchron
70. o 20000000 00 degree min 3 Time from accepting the positioning start signal until BUSY signal turns ON 4 Use cables with outside diameter of 1 3 mm 0 05 inch or shorter to connect 40 cables to the connector In addition consider the amount of current to be used and select appropriate cables 2 SPECIFICATIONS 1 9 2 1 Performance Specifications 20 2 2 Specifications of Interfaces with External Devices Electrical specifications of input signals External input signals llSpecifications of external input signals Signal name Number of input points Input method Common terminal arrangement Isolation method Rated input voltage Rated input current lin Operating voltage range ON voltage current OFF voltage current Input resistance OFF ON ON OFF Response time Forced stop input llSpecifications of forced stop input signal Number of input points Input method Common terminal arrangement Isolation method Rated input voltage Rated input current lin Operating voltage range ON voltage current OFF voltage current Input resistance OFF ON ON OFF Response time 2 SPECIFICATIONS 2 2 Specifications of Interfaces with External Devices Input signal SIN RD77MS2 10 points RD77MSA RD77MS8 RD77MS16 20 points Positive common Negative common shared 4 points common Common contact COM Photocoupler 24 V DC Approx 5 mA 19 2 to 26 4 V DC 24 V DC 10 20 rip
71. ol power supply of servo amplifier is shut off it is not possible to communicate with the servo amplifier after that Ex When the control power supply L11 L21 of servo amplifier in above B figure is shut off it is also not possible to communicate with the servo amplifier C If only a specific servo amplifier main circuit power supply is shut off be sure to shut off the main circuit power supply L1 L2 L3 and do not shut off the control power supply L11 L21 2 SPECIFICATIONS 2 2 3 External Circuit Design 3 Example when using the forced stop of RD77MS and MR J4 B 3 phase 200 to 230 V AC Power supply CPU module Simple Output module Y h 1 R61P RnCPU Motion RY41P die ee module RIS CP1 RD77MS INPUT N Forced stop 4 EMI COMO gt EMI O 707 SSCNETIII H Raa re DADC 424 VG o j l Alarm Operation Ready OFF ON Lu l EMS MC1to3 ve se ve sk SK Surge suppressor 24 2 SPECIFICATIONS 2 3 External Circuit Design 1 Configure up the power supply circuit which switch off the electromagnetic contactor MC after detection alarm occurrence on the CPU module 2 Set the axis selection rotary switch of servo amplifier as follows to set the axis No of servo amplifier 3 Refer to the servo amplifier instruction manual for selection of the circuit breaker and electromagnetic contactor 4 The status of forced stop input signal can be confirmed with Md 50 Forced stop input 5 The surge supp
72. ons When the main functions are executed this function compensates and limits controls or adds functions Common functions Common control using the Simple Motion module for Parameter initialization function or Execution data backup function can be carried out 3 FUNCTION LIST 3 1 Control Functions 3 2 Main Functions The outline of the main functions for positioning control with the Simple Motion module is described below Main functions Details Home position Machine home position return control Mechanically establishes the positioning start point using a near point dog etc return control In the data setting method no axis movement occurs since the current position is set as the home position Positioning start No 9001 Fast home position return control Positions a target to the home position address Md 21 Machine feed value stored in the Simple Motion module using machine home position return Positioning start No 9002 Major Position Linear control Positions a target using a linear path to the address set in the positioning data or to the position positioning control 1 axis linear control designated with the movement amount control 2 axis linear interpolation control 3 axis linear interpolation control 4 axis linear interpolation control Fixed feed control Positions a target by the movement amount designated with the amount set in the positioning data 1 axis fixed feed control With fix
73. ontrol EE EE EE ere 21 OPERATIONEXAMPLES 50 Follow up function 000 0 eee 30 jy Operation setting for incompletion of home position Forced stop function llle 29 l return function ESE EE Es eee eee eee 30 Forced stop input signal EMI 46 Optional dat tor functi 34 Forced stop input signal common EMI COM 46 i cea a AE N ER don EE l UT Override function 0 00000 eee 29 B P Bau HORS T IUD IE ae vs aera ee es 29 Parameter initialization function 31 High level positioning control 26 So l i Performance Specifications 18 History monitor function aaaea aaa ss se 31 ae s Position speed switching control 2 Home position return control 26 Pre reading start function ss ss se 29 Program example SEE EE Es Es ee 54 R Repeated start FOR condition 2f Repeated start FOR loop 21 RUN EET oe sies Sie His ed anos Eon ab 16 S Simultaneous start llle 21 Skip function naana aaaea 30 Software stroke limit function 29 Speed change function 0 29 Speed control 10 times multiplier setting for degree axis fUNCtION EE es 30 Speed limit function uaaa aana aaa aaa 29 Speed position switching control 21 Speed torgue control ESE se 28 SSCNETIII cable connector
74. ositive logic When increased When decreased A phase A phase HBL 1B18 B phase L L L L L B phase L L L L B Positioning Positioning address EUR NM address iM ND N 2 Negative logic When increased When decreased A phase A phase dd AAN N EA EG N N Positioning Positionin Voltage Manual pulse HA 1B19 laare 1 41 81 H 2c w Ma output generator A 2 PULSE SIGN open Incremental Input the pulse signal for counting the increased decreased pulse in the pulse input PULSE Input the collector synchronous i type Eod signal for controlling forward run and reverse run in the direction sign SIGN 1 Pr 151 Manual pulse generator Incremental synchronous encoder input logic selection is positive logic phase PULSE b dn The motor will forward run when the direction sign is HIGH The motor will reverse run when the direction sign is LOW 2 Pr 151 Manual pulse generator Incremental synchronous encoder 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 Manual pulse HB 1B20 When increased When decreased generator B Eg Incremental PULSE PALE AMIL PULSE 1f IE h Positive logic L Positive logic ca synchronous SCR 1 HIGH SIRE LOW 3 encoder B D 4 2 phase SIGN i 7 it purse W
75. ous encoder input type selection if the manual pulse generator Incremental synchronous encoder of differential output type is used The default value is 1 Voltage output open collector type 2 Setthe signal input form in Pr 24 Manual pulse generator Incremental synchronous encoder input selection 3 The 5V DC power supply from the Simple Motion module must not be used if a separate 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 5 WIRING 47 5 2 External Input Connection Connector Winterface between manual pulse generator Incremental synchronous encoder Voltage output open collector type Input or Signal name Output Input Manual pulse generator HA 1B19 intennaleireuit phase A PULSE TE oll eueo IOC LC E HB Manual pulse generator 1B20 phase B SIGN B Wiring example Manual pulse generator Incremental synchronous encoder 1A15 1B15 SG 1A14 1B14 1 Set 1 Voltage output open collector type in Pr 89 Manual pulse generator Incremental synchronous encoder input type selection if the manual pulse generator Incremental synchronous encoder of voltage output open collector type is used The default value is 1 Voltage output open collector type 2 Set the signal input form in Pr 24 Manual pulse generator Incremental synchronous
76. peo mme switching enable command m switching prohibit command ml change command f axis servo ON command 6 OPERATION EXAMPLES 53 54 Internal relay DABRSTReg Bit VAR GLOBAL Absolute position restoration command data device bBasicParamSetComp Basic parameter 1 setting complete bDuringJoglnchingOperation In JOG Inching operation flag bDuringMPGOperation Manual pulse generator operating flag bFastOPRStartReq Fast home position return command bFastOPRStartReq H Fast home position return command storage blnitializeParameterReq Parameter initialization command bJOG bENO Execution status JOG Inching FB Error completion JOG Inching FB Normal termination JOG Inching FB Home position return basic parameter setting complete Positioning start command Execution status Positioning start FB Error completion Positioning start FB Normal termination Positioning start FB Flash ROM write command Double JOG operation speed udMovementAmount didis Speed position switching control movement Unsigned amou Bit String 32 bit Double Position speed switching control speed Word Signed Double Inching movement amount Word Unsigned Bit String Positioning start No 32 bit Error code Positioning start FB Error code JOG Inching FB xample 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 followi
77. ple ratio 5 or less 17 5 V DC or more 3 5 mA or more 7 V DC or less 1 mA or less Approx 6 8 kO 1 ms or less 1 point Positive common Negative common shared 1 point common Common contact EMI COM Photocoupler 24 V DC Approx 5 mA 19 2 to 26 4 V DC 24 V DC 10 20 ripple ratio 5 or less 17 5 V DC or more 3 5 mA or more 7 V DC or less 1 mA or less Approx 6 8 kQ 4 ms or less generator Incremental synchronous encoder input llSpecifications of manual pulse generator incremental synchronous encoder Signal input form Phase A Phase B Magnification by 4 Magnification by 2 Magnification by 1 PULSE SIGN Differential output type 1 Mpulses s After magnification by 4 up to 4 Mpulses s 26LS31 or equivalent 1 us or more Up to 30 m 98 43 ft Example of waveform 1 us or more 0 5 us or more 0 5 us or more Phase A Phase B 0 25 us 0 25 us or more or more Note Duty ratio 5096 Voltage output Open collector type 200 kpulses s After magnification by 4 up to 800 kpulses s 2 3 0 to 5 25 V DC 2 mA or less 0 to 1 0 V DC 5 mA or more Up to 10 m 32 81 ft Example of waveform 5 ps or more 2 5 us or More 2 5 us or more Phase A Phase B 1 2 us 1 2 us or more or more Note Duty ratio 5096 1 Setthe signal input form in Pr 24 Manual pulse generator Incremental synchronous encoder input selection Phase A Phase B Forwa
78. point dog signal turns on If an incorrect home position return direction is set motion control may continue without deceleration To prevent machine damage caused by this configure an interlock circuit external to the programmable controller 2 When the module detects an error the motion slows down and stops or the motion suddenly stops depending on the stop group setting in parameter Set the parameter to meet the specifications of a positioning control system In addition set the home position return parameter and positioning data within the specified setting range 3 Outputs may remain on or off or become undefined due to a failure of a component such as an insulation element and transistor in an output circuit where the module cannot detect any error In a system that the incorrect output could cause a serious accident configure an external circuit for monitoring output signals f 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 SSCNETII cable while turning on the control circuit power supply of Multiple CPU system and servo amplifier Do not see directly the light generated from SSCNETIII connector of the
79. pply L11 L21 2 SPECIFICATIONS 2 2 3 External Circuit Design 9 26 3 FUNCTION LIST 3 1 Control Functions The Simple Motion module has several functions Refer to the following for details on each function LLIMELSEC iQ R Simple Motion Module User s Manual Application In this manual the Simple Motion module functions are categorized and explained as follows Main functions llHome position return control Home position return control is a function Fast home position return that established the start point for carrying out positioning control Machine home position return and carries out positioning toward that start point This is used to return a workpiece located at a position other than the home position when the power is turned ON or after positioning stop to the home position The home position return control is pre registered in the Simple Motion module as the Positioning start data No 9001 Machine home position return and Positioning start data No 9002 Fast home position return Major positioning control This control is carried out using the Positioning data stored in the Simple Motion module Positioning control such as position control and speed control is executed by setting the required 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
80. rd run PULSE SIGN Forward run FUP fft fft fiv Forward run Reverse run i EE E vfi LEER Reverse run Forward run Reverse run Reverse run FLFLFL 51151410 wou vel ed ed 2 Maximum input pulse frequency is magnified by 4 when A phase B phase Magnification by 4 is set in Pr 24 Manual pulse generator Incremental synchronous encoder input selection LOW HIGH 2 SPECIFICATIONS 2 2 Specifications of Interfaces with External Devices 21 22 2 3 External Circuit Design Configure up the power supply circuit and main circuit which turn off the power supply after detection alarm occurrence and servo forced stop When designing the main circuit of the power supply make sure to use a circuit breaker MCCB The outline diagrams for the external device connection interface are shown below Example when using the forced stop of RD77MS 3 phase 200 to 230 V AC Power supply CPU module Simple Output module M M Y R61P RnCPU Motion RY41P ee module R RD77MS INPUT RA1 g Forced stop 4 quis EMI COM O E EMI O 7 SSCNETIII H Fa oie __ D4VDC 494 VG ower E NEED NE supply 2466 Emergency Stop l Alarm Operation Ready OFF ON l l L Li MC1 to 3 es es ISK Surge suppressor SS Os a M I AS 0 0 GE GE Ee GE N GE GN did cn1B DICOM EM2 1 2 SPECIFICATIONS 2 3 External Circuit Design 1 Configure up the power supply circuit which sw
81. re 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 NWARNING 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 Do not
82. ressor is recommended to be used for an AC relay or electromagnetic contactor MC near the servo amplifier Refer to the servo amplifier instruction manual for selection of the surge suppressor Precautions Be sure to shut off the both of main circuit power supply L1 L2 L3 and control power supply L11 L21 after disconnection of SSCNET communication by the connect disconnect function of SSCNET communication at the time of exchange of servo amplifier At this time it is not possible to communicate between the servo amplifier and Simple Motion module Therefore be sure to exchange the servo amplifier after stopping the operating of machine beforehand e The dynamic brake operates and servomotor occurs to the free run when EM1 forced stop of servo amplifier is turned OFF At the time the display shows the servo forced stop warning E6 1 During ordinary operation do not use the forced stop signal to alternate stop and run The service life of the servo amplifier may be shortened e When the control power supply of servo amplifier is shut off it is not possible to communicate with the servo amplifier after that Ex When the control power supply L11 L21 of servo amplifier in above B figure is shut off it is also not possible to communicate with the servo amplifier C If only a specific servo amplifier main circuit power supply is shut off be sure to shut off the main circuit power supply L1 L2 L3 and do not shut off the control power su
83. ring 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 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 undefined The values need to be set in the buffer memory and written to the flash ROM 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 e When disposing of this product treat it as industrial waste When disposin
84. signated number of times Repeated start FOR condition Repeats the program from the block start data set with the FOR condition to the block start data set in NEXT until the conditions set in the condition data are established 3 FUNCTION LIST 3 2 Main Functions 2 28 Manual JOG operation Outputs a command to servo amplifier while the JOG start signal is ON control Inching operation Outputs commands corresponding to minute movement amount by manual operation to servo amplifier Performs fine adjustment with the JOG start signal Manual pulse generator operation Outputs pulses commanded with the manual pulse generator to servo amplifier Expansion Speed torgue control Carries out the speed control or torgue control that does not include the position loop for the control command to servo amplifier by switching control mode 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 synchronous control parameter In major positioning control high level positioning control Operation pattern can be set to designate whether to continue executing positioning data Outlines of the operation patterns are given below Independent positioning control positioning complete When independent positioning control is set for the operation pattern of the started positioning data only the designated positioning data will be
85. ss in opportunity lost profits incurred to the user by Failures of Mitsubishi products special damages and secondary damages whether foreseeable or not compensation for accidents and compensation for damages to products other than Mitsubishi products replacement by the user maintenance of on site equipment start up test run and other tasks 5 Changes in product specifications The specifications given in the catalogs manuals or technical documents are subject to change without prior notice 75 16 TRADEMARKS Microsoft Windows Windows Vista Windows NT Windows XP Windows Server Visio Excel PowerPoint Visual Basic Visual C and Access are either registered trademarks or trademarks of Microsoft Corporation in the United States Japan and other countries Intel Pentium and Celeron are trademarks of Intel Corporation in the United States and other countries Ethernet is a registered trademark of Xerox Corp The SD and SDHC logos are either registered trademarks or trademarks of SD 3C LLC All other company names and product names used in this manual are either trademarks or registered trademarks of their respective companies Dad IB NA 0300245 A 1406 MEE MODEL RD77 U S E MODEL CODE 1XB012 MITSUBISHI ELECTRIC CORPORATION 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 When exported from Japan
86. ta is completed Step function This function temporarily stops the operation to confirm the positioning operation during debugging etc The operation can be stopped at each automatic deceleration or positioning data 3 FUNCTION LIST 29 3 3 Sub Functions and Common Functions 30 Sub function Other functions Skip function M code output function Teaching function Command in position function Acceleration deceleration processing function Deceleration start flag function Follow up function Speed control 10 times multiplier setting for degree axis function Operation setting for incompletion of home position return function Details This function stops decelerates to a stop the positioning being executed when the skip signal is input and carries out the next positioning This function issues a command for a sub work clamp or drill stop tool change etc corresponding to the M code No 0 to 65535 that can be set for each positioning data The M code output timing can be set for each positioning data This function stores the address positioned with manual control into the Da 6 Positioning address movement amount having the designated positioning data No Cd 39 This function calculates the remaining distance for the Simple Motion module to reach the positioning stop position When the value is less than the set value the command in position flag is set to 1 When using another auxi
87. te that the programs in the list are the ones using the axis 1 only 1 PLC READY signal YO ON program Notifies the RD77 that the CPU module is normal before the start of positioning control All axis servo ON program Enables the servo amplifier to operate 3 Positioning start No setting program Sets the positioning data that are executed with a positioning start program The operation example is the case when the start No is for machine home position return or the positioning data No 1 of the axis 1 is used 4 Positioning start program Starts the machine home position return or the positioning control using positioning data N 5 JOG operation setting program Sets the JOG operation speed 6 JOG operation execution program Starts the JOG operation Programming procedure Take the following steps to create a program for the motion control 1 Setthe system structure setting and parameter setting of the Simple Motion module setting for the initial setting K Page 51 System setting Page 52 Parameters 2 Setthe positioning data of the Simple Motion module setting K Page 52 Positioning data 3 Program examples of each control 6 OPERATION EXAMPLES System configuration The following figure shows the system configuration used for the program examples in this section 1 2 3 4 95 1 R61P 2 R16CPU 3 RD77MS16 X0 to X1F YO to Y1F 4 RX40C7 X20 to X3F 5 RX40C7 X40 to X5F eS SS afa MITS
88. this manual does not require application to the Ministry of Economy Trade and Industry for service transaction permission Specifications subject to change without notice
89. tor operation Manual pulse generator operation generator operation Expansion Speed torque control control 1 Home position return retry function cannot be used during the scale origin signal detection method machine home position return 2 The near pass function is featured as standard and is valid only for setting continuous path control for position control 3 FUNCTION LIST 3 4 Combination of Main Functions and Sub Functions 33 34 Always combine Combination possible X Combination not possible Home Machine home position return control CAEN O position Fast home position return control O return control Pi Home conve 2 3 or d axis linear O control interpolation control 1 axis fixed feed control oO Jo 2 3 or 4 axis fixed feed C control interpolation 2 axis circular interpolation O control Speed control 1 to 4 axis O Speed position switching control Position speed switching control 4H O ERI control Manual pulse generator operation Manual pulse generator operation generator operation o0 Jo il Expansion Speed torgue control control 3 FUNCTION LIST 3 4 Combination of Main Functions and Sub Functions O Combination possible A Combination limited X Combination not possible position Fast home position return control return control Major Position 1 axis linear control N positioning control 2 3 or 4 axis linear x 1 a
90. uld be separated by at least 100 mm 3 94 inch or more They can cause electrical interference surges and inductance that can lead to mis operation The shielded cable for connecting Simple Motion module can be secured in place If the shielded cable is not secured unevenness or movement of the shielded cable or careless pulling on it could result in damage to the Simple Motion module servo amplifier or shielded cable or defective cable connections could cause mis operation of the unit If the cable connected to the Simple Motion module 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 e Forcibly removal the SSCNETIII cable from the Simple Motion module will damage the Simple Motion module and SSCNETII cables e After removal of the SSCNETII cable be sure to put a cap on the SSCNETIII connector Otherwise adhesion of dirt deteriorates in characteristic and it may cause malfunctions Do not remove the SSCNETIII cable while turning on the power supply of Simple Motion module and servo amplifier Do not see directly the light generated from SSCNETIII connector and the end of SSCNETIII cable When the light gets into eye may feel something wrong with eyes The light source of SSCNETIII cable complies with class1 defined in JISC6802 or IEC60825 1 If a power such as a major shock lateral pressure haul su
91. um number 1 1 ms of axes 4 axes Operation cycle 0 888 ms Maximum number 1 32 ms of axes 8 axes Maximum number 1 46 ms of axes 12 axes Maximum number 1 1 ms of axes 8 axes Operation cycle 1 777 ms Maximum number 1 46 ms of axes 12 axes Maximum number 1 59 ms of axes 16 axes Maximum number 0 92 ms of axes 8 axes Operation cycle 3 555 ms Maximum number 1 12 ms of axes 12 axes Maximum number 1 52 ms of axes 16 axes External wiring connection system 40 pin connector Applicable 0 088 to 0 3 mm 28 to 22 AWG stranded wire wire size 0 088 to 0 24 mm 28 to 24 AWG stranded wire External input wiring connector A6CON1 AGCON2 A6CON4 sold separately Manual pulse generator Up to 1 Mpulses s Incremental synchronous type encoder input maximum Open collector Up to 200 kpulses s frequency Manual pulse generator 1 pulse input magnification 1 to 10000 times Flash ROM write count Max 100000 times Number of occupied I O points 32 points I O assignment Intelligent function module 32 points Internal current consumption 5 V DC 1 0A External Height 106 mm 4 17 inch dimensions width 27 8 mm 1 09 inch Depth 110 mm 4 33 inch Mass 0 22 kg 0 23 kg 1 The speed position switching control ABS mode can be used only when the control unit is degree 2 When Speed control 10 times multiplier setting for degree axis function is valid the setting range is 0 01 t
92. using current value changing start No No 9003 No execution control system When NOP instruction is set this instruction is not executed and the operation of the next data is started JUMP instruction Unconditionally or conditionally jumps to designated positioning data No Carries out loop control with repeated LOOP to LEND Returns to the beginning of the loop control with repeated LOOP to LEND High level With one start executes the positioning data in a random block with the set order positioning Condition start Carries out condition judgment set in the condition data for the designated positioning data and control then executes the block start data When the condition is established the block start data is executed When not established that block start data is ignored and the next points block start data is executed Wait start Carries out condition judgment set in the condition data for the designated positioning data and then executes the block start data When the condition is established the block start data is executed When not established stops the control until the condition is established Waits Simultaneous start Simultaneously executes the positioning data having the No for the axis designated with the condition data Outputs commands at the same timing Repeated start FOR loop Repeats the program from the block start data set with the FOR loop to the block start data set in NEXT for the de
93. vo amplifier MR J4 W _B type servo amplifier Servo driver VCII series manufactured by Nikki Denso Co Ltd Inverter FR A700 series RD77MS2 Up to 2 axes RD77MS4 Up to 4 axes RD77MS8 Up to 8 axes Synchronous encoder via servo amplifier RD77MS16 Up to 16 axes Q171ENC W8 Up to 4 modules via MR J4 B RJ 15 16 1 PART NAMES This chapter describes the part names of the Simple Motion module 1 5 xe xe xo RD77MS2 RD77MS2 RUN AI RUN LED RD77MS8 RD77 MS8 2 1 RUN ERR 3 AX1 8 4 5 6 For details refer to the following ERR LED K5 Page 17 LED Display Specifications Axis display LED External input connection connector SSCNETIII cable connector Serial number marking Shows the serial number printed on the rating plate 1 PART NAMES Connects to a servo amplifier RD77MS16 RD77 MS16 2 1 RUN 2 3 AX1 16 3 4 4 5 6 6 Connects to a mechanical system input manual pulse generator incremental synchronous encoder or forced stop input For the signal layout refer to the following KL Page 20 Specifications of Interfaces with External Devices 1 1 LED Display Specifications This section lists LED display specifications O0 OFF Bi ON Flashing RD77MS status LED display Description Normal operation RUN m The axes stopped ERR O The axes on standby AX1 8 0 AX1 16 O11 RUN m The axis in operation ERR L
94. xis fixed feed control x contra Eie ee NE ANN NE l control wa N ANN JEN ER Other Current value changing value Current value changing x JUMP instruction instruction x SN EE NN x Expansion Speed torque control x x x control 1 Invalid during creep speed 2 Invalid during continuous path control 3 Combination with the inching operation is not available Inching operation does not perform acceleration deceleration processing 3 FUNCTION LIST 3 4 Combination of Main Functions and Sub Functions 35 Combination possible A Combination limited X Combination not possible position Fast home position return control X return control positioning control 2 3 or 4 axis linear O control interpolation control 1 axis fixed feed control lO Jo 2 3 or 4 axis fixed feed Ce E control interpolation O 2 axis circular interpolation control Speed control 1 to 4 axis EE E ma IN ANN ANN l X JUMP instruction instruction x aa aa Manual JOG operation inching operation x control Manual pulse generator operation Manual pulse generator operation generator operation x x Expansion Speed torque control control 1 Change the current value using the positioning data Disabled for a start of positioning start No 9003 36 3 FUNCTION LIST 3 4 Combination of Main Functions and Sub Functions O Combination possible A Combination limited X Combination not poss

MELSEC iQ-R Simple Motion Module User`s Manual （Startup）

Contents

Download Pdf Manuals

Related Search

Related Contents