MELSEC iq-r Simple Motion Module Simple Motion Modules

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1 RD77GF16 RUN L ER LINK ERR AX1-16 D LINK D/RD L ERR MELEC iq-r imple Motion Module imple Motion Modules The RD77GF, RD77M, QD77M, LD77M, and FX5-40C-/FX5-80C- imple Motion Modules are the easiest way to add motion control to your iq-r, iq, L, or FX5 eries PLC. The easy to use function block library provides a simple interface for positioning, interpolated moves, and synchronous control including camming, encoder following, and registration. Program development and troubleshooting are faster and easier than ever before with both motion and logic are implemented on the same PLC CPU. RD77GF ystem Configuration RD77GF MR-J4-GF-RJ MR-J4-GF-RJ MR-J4-GF-RJ Remote input/output module High-speed counter module Analog module Linear imple Motion Module RD77GF for iq-r PLC Parts List Description tocked Items RD77GF32 32 Axis imple Motion Module for iq-r with CC-Link IE Field RD77GF16 16 Axis imple Motion Module for iq-r with CC-Link IE Field RD77GF8 8 Axis imple Motion Module for iq-r with CC-Link IE Field RD77GF4 4 Axis imple Motion Module for iq-r with CC-Link IE Field imple Motion Module RD77GF pecifications RD77GF4 RD77GF8 RD77GF16 RD77GF32 Number Of Axes 4 axes 8 axes 16 axes 32 axes Operation Cycle Interpolation Function Method Unit Positioning Data Execution Data Backup Function Positioning Manual Pulse Generator Positioning ystem Positioning Range peed Command Acceleration/ Deceleration Process Acceleration/ Deceleration Time udden top Deceleration Time ignal Input Form 1 Pulse Input Magnification 0.5 ms/1.0 ms/2.0 ms/4.0 ms 2-, 3-, or 4-axis linear interpolation; 2-axis circular interpolation; 3-axis helical interpolation PTP (Point To Point) control, path control (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 (All the data points can be set with the buffer memory.) Parameters, positioning data, and block start data can be saved on flash ROM. (battery-less backup) PTP control: Incremental system/absolute system peed-position switching control: Incremental system/absolute system Position-speed switching control: Incremental system Path control: Incremental system/absolute system In absolute system to (µm); to (inch); 0 to (degree); to (pulse) In incremental system to (µm); to (inch); to (degree); to (pulse) In speed-position switching control (INC mode)/position-speed switching control 0 to (µm); 0 to (inch); 0 to (degree); 0 to (pulse) In speed-position switching control (AB mode) (*1) 0 to (degree) 0.01 to (mm/min); to (inch/min); to (degree/min) (*2) 1 to (pulse/s) Trapezoidal acceleration/deceleration, -curve acceleration/deceleration 1 to (ms) (Four patterns can be set for each of acceleration time and deceleration time.) 1 to (ms) Link device 1 to times Flash ROM Write Count Max times Number of Occupied I/O points 32 points (I/O assignment: Intelligent function module 32 points) Internal Current Consumption (5 VDC) 1.1 A External Dimensions (W x H x D) mm (inch) 106 x 27.8 x 110 (4.17 x 1.09 x 4.33) Weight (kg) Notes: 2. The speed-position switching control (AB mode) can be used only when the control unit is degree. 3. When peed control 10 times multiplier setting for degree axis function is valid, the setting range is 0.01 to (degree/min). Mitsubishi Electric Automation Motion lers 1

2 Motion lers CC-Link IE Field Network Performance pecifications Maximum Number of Link Points per Network Maximum Number of Link Points per tation Master tation Local tation (*1) RX RY RWr RWw RX RY RWr RWw RX RY RWr RWw RD77GF4 RD77GF8 RD77GF16 RD77GF32 8K points (8192 points, 16K bytes) 8K points (8192 points, 1 6K bytes) 8K points (8192 points, 16K bytes) 8K points (8192 points, 16K bytes) 2K points (2048 points, 256 bytes) 2K points (2048 points, 256 bytes) 256 points (512 bytes) 256 points (512 bytes) Inter-module ynchronization Cycle (*2) (With ynchronization Communication) 0.50 ms/1.00 ms/2.00 ms/4.00 ms Transient Transmission 1: N communication (such as monitor, program upload/download) Dedicated instructions from sequence programs Transient Transmission Capacity 1920 bytes maximum Maximum Number of Transient Transmissions per Link can 4 Communication peed 1 Gbps Network Topology Line topology, star topology (*3) Communication Cable Ethernet cable which satisfies 1000BAE-T standard: Category 5e or higher, straight cable (double shielded, TP); RJ45 connector Maximum tation-to-tation Distance 100 m (conforms to ANI/TIA/EIA-568-B (Category 5e)) Overall Cable Distance ingle Master Configuration Number of Cascade Connections Maximum Number of Connectable tations ingle master Configuration Line topology: m (when 121 stations are connected) tar topology: Depends on the system configuration. 4 levels maximum Maximum Number of Networks 239 Communication Method Token passing 121 stations (master station: 1, slave station: 120) 1. Notes: 2. The maximum number of points that a master station can assign to one station. A local station can receive the range assigned to other stations using the cyclic transmission function. 3. The cycle that each module performs the synchronous control via a network using the synchronous communication function. 4. A switching hub supporting synchronous communication is required for the star topology. 2

3 CC-Link IE Field PC Based Motion Module ystem Configuration MR-J4-GF-RJ MR-J4-GF-RJ MR-J4-GF-RJ Remote input/output module High-speed counter module Analog module imple Motion Board pecifications Linear MR-EM340GF ervo Amplifier Connection ystem CC-Link IE Field Network Maximum Distance Between tations (m (ft.)) 100 (328.08) Peripheral I/F Ethernet (100BAE) Number of Input Points 1 point Forced top Input ignal (EMI) Input Method Rated Input Voltage/Current Operating Voltage Range ON Voltage/Current OFF Voltage/Current Input Resistance Response Time Recommended Wire ize (mm²) Number of imple Motion Boards for One Computer Bus pecification Power upply Voltage Current Consumption (A) Positive Common/ Negative Common hared Type (Photocoupler isolation) 24 VDC / approx. 2.4 ma 20.4 to 26.4 VDC (24 VDC +10 %/ 15 %, ripple ratio 5 % or less) 17.5 VDC or more / 2.0 ma or more 1.8 VDC or less / 0.18 ma or less Approx. 10 kω 1 ms or less (OFF to ON, ON to OFF) 0.08 to 0.5 (AWG 20 to AWG 28) 4 pecification PCI Express ize mm (inch) hort sized version: x (6.60 x 4.38) 12 VDC / 3.3 VDC 12 VDC VDC 0.6 Weight (kg) 0.13 imple Motion Board MR-EM340GF Parts List Name Description tocked Items MR-EM340GF imple Motion Board MELOFT EM Configurator (setting tool) W1DND-EMDK-B MELOFT EM oftware Development Kit (*1) 1. Note 1: MELOFT EM oftware Development Kit is sold separately. MELOFT MR Configurator2 API library (C++ motion class library) PCI Express device driver (including the driver for interrupt) tandard: CE, UL, KC afety over CC-Link IE Field Network afety CPU (*1) R_FCPU-ET imple motion module RD77GF MR-J4-GF-RJ MR-D30 (*2) CC-Link IE Field Network safety remote I/O Light curtain Emergency stop switch ervo motor with functional safety Molded-case circuit breaker (MCCB) Magnetic contactor for preventing unexpected start is no longer required. Magnetic contactor for preventing unexpected start (MC) Notes: 1. ee iq-r section for controller selection and specifications 2. MR-D30 needed for each axis with MR-J4-GF-RJ Mitsubishi Electric Automation Motion lers 3

4 n Motion lers RD77M ystem Configuration PLC CPU imple Motion module Input module GOT [External input signals via CPU] (Note-1) FL, RL, DOG, top signal UB Ethernet MR-J4-B MR-J4W2-B MR-J4W3-B MR-J4-B-RJ Engineering environment Programmable ler Engineering oftware MELOFT GX Works3 Linear erial absolute synchronous encode Q171ENC-W8 [External input signals of servo amplifier] (Note-1) FL, RL, DOG Connecting either a manual pulse generator or an incremental synchronous encoder External input signal cable [External input signals] (Note-1) 20 points FL, RL, DOG, top signal, Forced stop input (24VDC) imple Motion Module RD77M for iq-r PLC Parts List Description tocked Items RD77M16 16 Axis imple Motion Module for iq-r with CNETIII/H RD77M8 8 Axis imple Motion Module for iq-r with CNETIII/H RD77M4 4 Axis imple Motion Module for iq-r with CNETIII/H RD77M2 2 Axis imple Motion Module for iq-r with CNETIII/H Category Description tocked Item Manual Pulse Generator MR-HDP01 Manual Pulse Generator, 25PL/rev A6CON1 FCN, 40 Pin, older Type A6CON2 FCN, 40 Pin, Crimp Type A6CON3 FCN, 40 Pin, IDC Type A6CON4 FCN, 40 Pin, older Type, Low-Profile - LCBL40P-2M 2.0m I/O Pigtail Cable, 40 Pin LCBL40P-5M 5.0m I/O Pigtail Cable, 40 Pin LCBL40P-10M 10m I/O Pigtail Cable, 40 Pin FA-CBL05FMV-M 0.5m Terminal Block Cable FA-CBL10FMV-M 1.0m Terminal Block Cable FA-CBL15FMV-M 1.5m Terminal Block Cable - FA-CBL20FMV-M 2.0m Terminal Block Cable FA-LTB40P Terminal Block, 40 Pin Cables and Accessories Connector for User Made Cables -Wire Cables Terminal Block Cables Terminal Block 4

5 imple Motion Module RD77M pecifications RD77M16 RD77M8 RD77M4 RD77M2 tocked Item Number Of Axes (Virtual ervo Amplifier Axis Included) Operation Cycle (Operation Cycle ettings) Interpolation Function Modes Acceleration/Deceleration Process Compensation Function ynchronous Unit Number Of Positioning Data Backup Home Position Return Positioning Manual Expansion Home Position Return Method Fast Home Position Return ub Functions Linear Fixed-Pitch Feed 2-Axis Circular Interpolation peed peed-position witching Position-peed witching Current Value Change NOP Instruction Jump Instruction Loop, Lend High-Level Positioning Jog Operation Inching Operation Absolute Position ystem Manual Pulse Generator peed-torque ynchronous Encoder Interface Encoder Internal Interface Functions That Limit Functions That Change Details Other Functions peed Limit Function Torque Limit Function Forced top oftware troke Limit Function Hardware troke Limit Function peed Change Function Up to 16 axes Up to 8 axes Up to 4 axes Up to 2 axes 0.444ms, 0.888ms, 1.777ms, 3.555ms Linear interpolation (Up to 4 axes), Circular interpolation (2 axes) PTP (Point To Point) control, Trajectory control (both linear and arc), peed control, peed-position switching control, Position-speed switching control, peed-torque control Trapezoidal acceleration/deceleration, -curve acceleration/deceleration Backlash compensation, Electronic gear, Near pass function ynchronous encoder input, Cam, Phase Compensation, Cam auto-generation mm, inch, degree, pulse 600 data (positioning data No. 1 to 600)/axis (Can be set with MELOFT GX Works3 or a sequence program) Parameters, positioning data, and block start data can be saved on flash ROM (battery-less backup) Proximity dog method, Count method 1, Count method 2, Data set method, cale home position signal detection method Home position return retry, Home position shift 1-axis linear control, 2-axis linear interpolation control, 3-axis linear interpolation control, 4-axis linear interpolation control (*1) (Composite speed, Reference axis speed) 1-axis fixed-pitch feed, 2-axis fixed-pitch feed, 3-axis fixed-pitch feed, 4-axis fixed-pitch feed ub point designation, center point designation 1-axis speed control, 2-axis speed control, 3-axis speed control, 4-axis speed control INC mode, AB mode INC mode Positioning data, tart No. for a current value changing Unconditional JUMP, Conditional JUMP Block start, Condition start, Wait start, imultaneous start, Repeated start Possible to connect 1 module (Incremental), Unit magnification (1 to times) peed control without positioning loops, Torque control, Tightening & press-fit control Made compatible by setting a battery to servo amplifier Up to 4 channels (Total of the internal interface, via PLC CPU interface, and servo amplifier interface) 1 channel (Incremental) peed limit value, JOG speed limit value Torque limit value_same setting, torque limit value_individual setting Valid/Invalid setting Movable range check with current feed value, movable range check with machine feed value Override Function 0 to 300 [%] Acceleration/Deceleration Time Change Function Torque Change Function Target Position Change Function M-Code Output Function tep Function kip Function Teaching Function Parameter Initialization Function External Input ignal etting Function Event History Function Amplifier-Less Operation Function Mark Detection Function Detection Target position address and speed are changeable WITH mode/after mode Deceleration unit step, Data No. unit step Via PLC CPU, Via external command signal Via internal interface, CPU, servo amplifier (FL, RL, DOG, and DI can be assigned with parameters) Continuous Detection mode, pecified Number of Detections mode, Ring Buffer mode Mark Detection ignal Up to 20 points Up to 10 points Mark Detection etting Optional Data Monitor Function Driver Communication Function CNET Connect/Disconnect Function Digital Oscilloscope Function (*2) Bit Data Word Data 16 settings 4 points/axis 16CH 16CH 1. Notes: 2. 4-axis linear interpolation control is enabled only at the reference axis speed. 3. 8CH word data and 8CH bit data can be displayed in real time. Mitsubishi Electric Automation Motion lers 5

6 Motion lers imple Motion Module RD77M16/RD77M8/RD77M4/RD77M2 RD77M16 RD77M8 RD77M4 RD77M2 Number Of Axes (Virtual ervo Amplifier Axis Included) Up to 16 axes Up to 8 axes Up to 4 axes Up to 2 axes ervo Amplifier Connection Method CNET III/H Maximum Overall Cable Distance m (ft.) 1600 ( ) Maximum Distance Between tations m (ft.) 100 (328.08) Peripheral I/F Via CPU module (UB, Ethernet) Manual Pulse Generator Operation Function Possible to connect 1 module ynchronous Encoder Operation Function Possible to connect 4 modules (Total of the internal interface, via PLC CPU interface, and servo amplifier interface) Number Of Input Points 20 points 10 points Input Method Positive common/negative common shared (Photocoupler isolation) Input ignals (IN) Forced top Input ignal (EMI) Manual Pulse Generator/ Incremental ynchronous Encoder ignal Rated Input Voltage/Current Operating Voltage Range On Voltage/Current Off Voltage/Current Input Resistance Response Time Recommended Wire ize Number Of Input Points Input Method Rated Input Voltage/Current Operating Voltage Range On Voltage/Current Off Voltage/Current 24 VDC/ Approx. 5 ma 19.2 to 26.4 VDC (24 VDC +10%/-20%, ripple ratio 5% or less) 17.5 VDC or more/ 3.5 ma or more 7 VDC or less/ 1.0 ma or less Approx. 6.8 kω 1 ms or less (OFF ON, ON OFF) AWG24 (0.2 mm²) 1 point Positive common/negative common shared (Photocoupler isolation) 24 VDC/ Approx. 5 ma 19.2 to 26.4 VDC (24 VDC +10%/-20%, ripple ratio 5% or less) 17.5 VDC or more/ 3.5 ma or more 7 VDC or less/ 1.0 ma or less Input Resistance Approx. 6.8 kω Response Time 1 ms or less (OFF ON, ON OFF) Recommended Wire ize AWG24 (0.2 mm²) Input Pulse Frequency Up to 1 Mpulse/s (After magnification by 4, up to 4 Mpulse/s) Pulse Width 1μs or more Differential Output Type (26Ls31 Or Equivalent) Voltage Output/ Open Collector Type (5VDC) Leading Edge/Trailing Edge Time Phase Difference Rated Input Voltage High/Low-Voltage Differential Voltage Cable Length Input Pulse Frequency Pulse Width Leading Edge/Trailing Edge Time Phase Difference Rated Input Voltage High/Low-Voltage Cable Length Number Of I/O Occupying Points 0.25μs or less 0.25μs or more 5.5 VDC or less 2.0 to 5.25 VDC/0 to 0.8 VDC ±0.2V Up to 30m (98.43ft.) Up to 200 kpulse/s (After magnification by 4, up to 800 kpulse/s) 5μs or more 1.2μs or less 1.2μs or more 5.5 VDC or less 3.0 to 5.25 VDC/2 ma or less, 0 to 1.0 VDC/5 ma or more Up to 10m (32.81ft.) 32 points (I/O allocation: Intelligent function module, 32 points) Number Of Module Occupied lots 1 5VDC Internal Current Consumption (A) 1.0 Weight (Kg) Exterior Dimensions mm (inch) (H x W x D) x 27.8 x (4.17 x 1.09 x 4.33) PLC CPU R04CPU, R08CPU, R16CPU, R32CPU, R120CPU 6