Mitsubishi Electric MELSEC iQ-RD77MS2 User Manual
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Mitsubishi Electric MELSEC iQ-RD77MS2 User Manual

Mitsubishi Electric MELSEC iQ-RD77MS2 User Manual

Melsec iq-r series; simple motion module
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MELSEC iQ-R Simple Motion Module
User's Manual (Startup)
-RD77MS2
-RD77MS4
-RD77MS8
-RD77MS16
-RD77GF4
-RD77GF8
-RD77GF16
-RD77GF32

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Summary of Contents for Mitsubishi Electric MELSEC iQ-RD77MS2

  • Page 1 MELSEC iQ-R Simple Motion Module User's Manual (Startup) -RD77MS2 -RD77GF4 -RD77MS4 -RD77GF8 -RD77MS8 -RD77GF16 -RD77MS16 -RD77GF32...

  • Page 3: Safety Precautions

    SAFETY PRECAUTIONS (Read these precautions before using this product.) Before using this product, please read this manual and the relevant manuals carefully and pay full attention to safety to handle the product correctly. The precautions given in this manual are concerned with this product only. Refer to the MELSEC iQ-R Module Configuration Manual for a description of the PLC system safety precautions.
  • Page 4 [Design Precautions] WARNING ● 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.
  • Page 5 [Design Precautions] WARNING ● Do not remove the SSCNET cable while turning on the control circuit power supply of the module and servo amplifier. Do not see directly the light generated from SSCNET connector of the module or servo amplifier and the end of SSCNET cable. When the light gets into eyes, you may feel something wrong with eyes.
  • Page 6 [Installation Precautions] CAUTION ● Use the programmable controller in an environment that meets the general specifications in the Safety Guidelines included with the base unit. Failure to do so may result in electric shock, fire, malfunction, or damage to or deterioration of the product. ●...
  • Page 7 [Wiring Precautions] CAUTION ● Individually ground the FG and LG terminals of the programmable controller with a ground resistance of 100 ohms or less. Failure to do so may result in electric shock or malfunction. ● Use a solderless terminal with an insulation sleeve for terminal block wiring. Note that up to two solderless terminals can be connected per terminal block.
  • Page 8 [Wiring Precautions] CAUTION ● 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.
  • Page 9 [Startup and Maintenance Precautions] CAUTION ● 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. ●...
  • Page 10 [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.

  • Page 11: Conditions Of Use For The Product

    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; 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.

  • Page 12: Introduction

    INTRODUCTION Thank you for purchasing the Mitsubishi Electric 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.

  • Page 13: Table Of Contents

    CONTENTS SAFETY PRECAUTIONS ..............1 CONDITIONS OF USE FOR THE PRODUCT .
  • Page 14 Operation Examples ..............68 Communication Examples of the RD77GF .

  • Page 15: Relevant Manuals

    This manual does not include information on the module function blocks.For details, refer to the Function Block Reference for the module used. e-Manual refers to the Mitsubishi Electric FA electronic book manuals that can be browsed using a dedicated tool.

  • Page 16: Terms

    TERMS Unless otherwise specified, this manual uses the following terms. Term Description 2-axis module A generic term for RD77MS2 4-axis module A generic term for RD77MS4 and RD77GF4 8-axis module A generic term for RD77MS8 and RD77GF8 16-axis module A generic term for RD77MS16 and RD77GF16 32-axis module A generic term for RD77GF32 Axis...
  • Page 17 Term Description Network module A generic term for the following modules: • Ethernet interface module • CC-Link IE Controller Network module • Module on CC-Link IE Field Network • MELSECNET/H network module • MELSECNET/10 network module • RnENCPU (network part) The abbreviation for Reliability, Availability, and Serviceability.

  • Page 18: Peripherals

    PERIPHERALS The following figure shows the peripherals when the RD77MS is used. RD77MS RD77MS4 External input signals of servo amplifier SSCNET µ • Upper stroke limit cable • Lower stroke limit • Proximity dog External input signal cable Manual pulse generator/ Incremental synchronous encoder ×...
  • Page 19 The following figure shows the peripherals when the RD77GF is used. RD77GF RD77GF4 AX1-4 D LINK SD/RD L ERR L ER LINK External input signals of servo amplifier CC-Link IE Field Network cable • Upper stroke limit • Lower stroke limit •...

  • Page 20: Chapter 1 Part Names

    PART NAMES This chapter describes the part names of the Simple Motion module. RD77MS2 RD77MS4 RD77MS8 RD77MS16 RD77MS8 RD77MS16 RD77MS2 RD77MS4 AX1-8 AX1-16 Name Description RUN LED For details, refer to the following. Page 20 LED Display Specifications of the RD77MS ERR LED Axis display LED External input connection connector...
  • Page 21 RD77GF4 RD77GF8 RD77GF16 RD77GF32 RD77GF4 RD77GF8 RD77GF16 RD77GF32 AX1-4 AX1-16 AX1-32 AX1-8 D LINK D LINK D LINK D LINK SD/RD SD/RD SD/RD SD/RD L ERR L ERR L ERR L ERR L ER L ER L ER L ER LINK LINK LINK...

  • Page 22: Led Display Specifications Of The Rd77Ms

    LED Display Specifications of the RD77MS This section lists the LED display specifications of the RD77MS. : OFF, : ON, ●: Flashing Simple Motion LED display Description module status Normal operation RUN  AX1  The axes stopped ERR  AX2 ...

  • Page 23: Led Display Specifications Of The Rd77Gf

    LED Display Specifications of the RD77GF This section lists the LED display specifications of the RD77GF. Simple Motion LED display Description module status Normal operation RUN  AX1-4  The axes stopped ERR  The axes on standby AX1-8  AX1-16 ...

  • Page 24: Chapter 2 Specifications

    SPECIFICATIONS This chapter describes the performance specifications of the RD77MS and the RD77GF. Performance Specifications of the RD77MS This section lists the performance specifications of the RD77MS. Item RD77MS2 RD77MS4 RD77MS8 RD77MS16 Number of controlled axes 2 axes 4 axes 8 axes 16 axes Operation cycle...
  • Page 25 Item RD77MS2 RD77MS4 RD77MS8 RD77MS16 Starting time Operation cycle Maximum number 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 Operation cycle Maximum number 1.1 ms 0.888 ms of axes: 4 axes Maximum number...

  • Page 26: Performance Specifications Of The Rd77Gf

    Performance Specifications of the RD77GF This section lists the performance specifications of the RD77GF. Item RD77GF4 RD77GF8 RD77GF16 RD77GF32 Number of controlled axes 4 axes 8 axes 16 axes 32 axes Operation cycle 0.50 ms/1.00 ms/2.00 ms/4.00 ms Interpolation function 2-, 3-, or 4-axis linear interpolation 2-axis circular interpolation 3-axis helical interpolation...
  • Page 27 The performance specifications of CC-Link IE Field Network is shown below. Item RD77GF4 RD77GF8 RD77GF16 RD77GF32 Maximum number of link points per 16K points (16384 points, 2K bytes) network 16K points (16384 points, 2K bytes) 8K points (8192 points, 16K bytes) 8K points (8192 points, 16K bytes) Maximum Master station...

  • Page 28: Specifications Of Interfaces With External Devices Of The Rd77Ms

    Specifications of Interfaces with External Devices of the RD77MS Electrical specifications of input signals External input signal ■Specifications of external input signal Item Specifications Signal name Input signal (SIN) Number of input points RD77MS2: 10 points, RD77MS4/RD77MS8/RD77MS16: 20 points Input method Positive common/Negative common shared Common terminal arrangement 4 points/common (Common contact: COM)
  • Page 29 Manual pulse generator/Incremental synchronous encoder input ■Specifications of manual pulse generator/incremental synchronous encoder Item Specifications Signal input form A-phase/B-phase (Magnification by 4/Magnification by 2/Magnification by 1), PULSE/SIGN Differential-output type Maximum input pulse frequency 1 Mpulses/s (After magnification by 4, up to 4 Mpulses/s) (26LS31 or equivalent) 1 s or more Pulse width...
  • Page 30 [Pr.24] [Pr.151] Manual pulse generator/Incremental synchronous encoder input logic Manual pulse generator/Incremental selection synchronous encoder input selection Positive logic Negative logic A-phase/B-phase Forward run Reverse run Forward run Reverse run PULSE/SIGN Forward run Reverse run Forward run Reverse run HIGH HIGH *2 Maximum input pulse frequency is magnified by 4, when "A-phase/B-phase Magnification by 4"...

  • Page 31: External Circuit Design

    External Circuit Design Forced stop circuit The forced stop of all servo amplifiers is possible in a lump by using the forced stop input of Simple Motion module. After forced stop, the forced stop factor is removed and the forced stop canceled. (The servo error detection signal does not turn on with the forced stop.) [RD77MS] A wiring example which uses a Simple Motion module for the forced stop input is shown below.
  • Page 32 [RD77GF] A wiring example which uses a remote input module (NZ2GF2B1(N)-16D) for the forced stop input is shown below. Set "[Pr.82] Forced stop valid/invalid selection" to "3: Valid (Link device)", and set forced stop signals (EMI) ([Pr.900] to [Pr.903]) according to the input modules. R61P RnCPU RD77GF...

  • Page 33: Chapter 3 Function List

    FUNCTION LIST There are restrictions in the function that can be used by the software of the Simple Motion module and the version of engineering tool. Refer to the following for details. MELSEC iQ-R Simple Motion Module User's Manual (Application) Control Functions The Simple Motion module has several functions.
  • Page 34 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 proximity dog, etc. return control In the data setting method, no axis movement occurs since the current position is set as the home position.
  • Page 35 Main functions Details 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.

  • Page 36: Sub Functions

    Sub functions When the main functions are executed, this function compensates and limits controls, or adds 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 [RD77MS]...
  • Page 37 Sub function Details Other functions Skip function This function stops (decelerates to a stop) the positioning being executed when the skip signal is input, and carries out the next positioning. M code output function This function issues a command for a sub work (clamp or drill stop, tool change, etc.) according to the code No.

  • Page 38: Common Functions

    Common functions Common control using the Simple Motion module for "Parameter initialization function" or "Execution data backup function" can be carried out. The outline of the functions executed as necessary is described below. Common functions Details Parameter initialization function 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.

  • Page 39: Combination Of Main Functions And Sub Functions

    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 shown below. Combination of main functions and operation patterns : Combination possible : Combination limited...
  • Page 40 Combination of main functions and sub functions : Combination possible : Combination limited : Combination not possible Main functions Functions characteristic to Functions that compensate control machine home position return Home Home Backlash Electronic Near pass position position shift compensation gear function function return retry...
  • Page 41 : Always combine : Combination possible : Combination limited : Combination not possible Main functions Functions that limit control Speed limit Torque limit Software Hardware Forced stop function function stroke limit stroke limit function function function [RD77MS] [RD77MS] [RD77MS] [RD77MS] [RD77MS] Home Machine home position return control...
  • Page 42 : Combination possible : Combination limited : Combination not possible Main functions Functions that change control details Speed change Override Acceleration/ Torque Target function function deceleration change position time change function change function function    [RD77MS]  Home Machine home position return control [RD77MS] [RD77MS]...
  • Page 43 : Combination possible : Combination limited : Combination not possible Main functions Functions Functions related to Other functions related to positioning stop positioning start Pre-reading Step function Stop Skip function M code output start function command function processing deceleration stop function Home Machine home position return control ...
  • Page 44 : Combination possible : Combination limited : Combination not possible Main functions Other functions Teaching Command Acceleration/ Deceleration Speed Operation control 10  function in-position deceleration start flag setting for function processing function multiplier incompletion function setting for of home degree axis position function...

  • Page 45: List Of Rd77Gf Network Function

    List of RD77GF Network Function Function list of CC-Link IE Field Network The following table lists the functions of CC-Link IE Field Network. For details on the functions, refer to the following. MELSEC iQ-R Simple Motion Module User's Manual (Network) Cyclic transmission Function Description...
  • Page 46 Diagnostics Function Description CC-Link IE Field Network diagnostics Checks the status of CC-Link IE Field Network using the engineering tool. The error locations, error causes, and corrective actions can be checked in the engineering tool. Diagnostics of own Cable test Checks the connection status of the Ethernet cables.

  • Page 47: Chapter 4 Procedures Before Operations

    PROCEDURES BEFORE OPERATIONS Procedures before Operation of the RD77MS This chapter describes the procedures before operation of the RD77MS. Mounting the module Mount the Simple Motion module to the main base unit or extension base unit. For details, refer to the following. MELSEC iQ-R Module Configuration Manual Wiring Connect the Simple Motion module to external devices.

  • Page 48: Procedures Before Operation Of The Rd77Gf

    Procedures before Operation of the RD77GF This chapter describes the procedures before operation of the RD77GF. Mounting the module Mount the Simple Motion module to the main base unit or extension base unit. For details, refer to the following. MELSEC iQ-R Module Configuration Manual Wiring Connect the Simple Motion module to external devices.
  • Page 49 Network construction Set network parameters in "Module Parameter (Network)" of the engineering tool. • Set a slave station for Network Configuration Settings. Devices of the station No.1 to 32 and slave stations which support the motion mode (stations selected to "Motion Mode" in "Station-specific mode setting"...
  • Page 50 Parameter settings in slave devices Set parameters of the servo amplifier to use. When using the MR-J4-GF, always set the followings. • Set Function selection C-5 (PC18) to "_ _ 0 _" (Absolute position counter warning: Disabled). (for unlimited length feed) •...

  • Page 51: Chapter 5 Network Configuration Of Rd77Gf

    NETWORK CONFIGURATION OF RD77GF CC-Link IE Field Network Configuration CC-Link IE Field Network is configured using Ethernet cables. Network topology ■Star topology/Line topology For the Simple Motion module, configure the network in star topology or line topology using the Ethernet cables. Star topology and line topology can be combined in a network.
  • Page 52 ■Ring topology The Simple Motion module does not support ring topology. Ring topology Ring topology is not available. Station No. and connection position Modules can be connected in any order regardless of the station No. (1) Station No.0 (master station) (2) Station No.1 (3) Station No.3 (4) Station No.2...

  • Page 53: Precautions

    Precautions Addition of slave stations Do not connect 121 or more slave stations. If a slave station is added to a system having 120 slave stations, all stations will fail and data link cannot be performed. • Whether the number of the connected slave stations exceeds the controllable number can be checked using "Number of connected modules over occurrence status"...
  • Page 54 Output hold when a data link error occurs Setting the following allows to hold the outputs when a data link error occurs. ■Simple Motion module Select the "Hold" in the following setting. Navigation window  "Parameter"  "Module Information"  Target module  "Module Parameter"  "Application Settings"...

  • Page 55: Precautions For System Configuration

    Precautions for System Configuration Connecting devices to the same network Do not connect the Ethernet devices compatible with other than the CC-Link IE Field Network (such as personal computers) to the switching hub used in the CC-Link IE Field Network. A timeout may occur in the master station and all the stations may be disconnected.

  • Page 56: Chapter 6 Wiring

    WIRING Wiring of the RD77MS Precautions The precautions for wiring the RD77MS are shown below. Execute the work following the precautions below. Warning for wiring WARNING • Completely turn off 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.
  • Page 57 CAUTION • Migrating plasticizer is used for vinyl tape. Keep the MR-J3BUS_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 SSCNET...
  • Page 58 Precautions for SSCNETIII cable wiring SSCNET 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-J3BUS_M, MR-J3BUS_M-A is made of synthetic resin, it melts down if being left near the fire or high temperature.
  • Page 59 ■Wiring process of SSCNET 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. •...
  • Page 60 Example of measure against noise for compliance with the EMC directive Control panel: EC-SCF25-78 module (Nitto Kogyo Corporation) Power supply RD77MS module Manual pulse generator, External input signal cable 24 V DC power supply for EMI, External input device, etc. Servo amplifier SSCNET µ...

  • Page 61: External Input Connection Connector Of The Rd77Ms

    External Input Connection Connector of the RD77MS 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 Pin No. Signal name Pin No. Signal name Pin No.

  • Page 62: List Of Input Signal Details

    List of input signal details Signal name Pin No. Signal details Differential- Manual pulse 1A17 (1) A-phase/B-phase 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.
  • Page 63 Signal name Signal details 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) 1A1 to Upper limit signal (FLS)

  • Page 64: Interface Internal Circuit

    Interface internal circuit The outline diagrams of the internal circuits for the external device connection interface (for the Simple Motion module, axis 1) are shown below. Interface between external input signals/forced stop input signals Input or Signal name Pin No. Wiring example Description Output...
  • Page 65 Manual pulse generator/Incremental synchronous encoder input ■Interface between manual pulse generator/incremental synchronous encoder (Differential- output type) Input or Signal name Pin No. Wiring example Output When using the external power supply When using the internal power (Recommended) supply *1,*2 Input Manual pulse 1A17 Internal circuit...
  • Page 66 ■Interface between manual pulse generator/incremental synchronous encoder (Voltage-output type/open-collector type) Input or Signal name Pin No. Wiring example Output When using the external power supply When using the internal power (Recommended) supply *1, *2 Input Manual pulse 1B19 Internal circuit Internal circuit generator, A- phase/PULSE...
  • Page 67 ■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 RD77MS encoder encoder (A+) (A+) (A+) (A+) (A-) (A-) (A-)

  • Page 68: Wiring Of The Rd77Gf

    Wiring of the RD77GF This section describes wiring for when CC-Link IE Field Network is used. Wiring methods The following describes connection and disconnection of the Ethernet cable. ■Connecting the cable Push the Ethernet cable connector into the Simple Motion module until it clicks. Pay attention to the connector's direction.
  • Page 69 Wiring products The following describes the devices used for CC-Link IE Field Network. For reference products of Ethernet cables and recommended products of hubs, refer to the following. Page 95 Component List of the RD77GF ■Ethernet cable Use the Ethernet cable that meets the following standards. Ethernet cable Connector Standard...

  • Page 70: Chapter 7 Operation Examples

    OPERATION EXAMPLES This chapter describes the programming procedure and the basic program of the Simple Motion module. 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.
  • Page 71 System configuration The following figure shows the system configuration used for the program examples in this section. [RD77MS] (1) R61P (2) R16CPU RD77MS16 (3) RD77MS16 (X0 to X1F/Y0 to Y1F) AX1-16 (4) RX40C7 (X20 to X3F) (5) RX40C7 (X40 to X5F) X40 to X5F External device X20 to X3F...
  • Page 72 Initial setting details Set the system setting, parameters and positioning data using the engineering tool. ■System setting The system setting is shown below. [RD77MS] Configure the setting with "Simple Motion Module Setting Function". [RD77GF] Configure the setting on "CC IE Field Configuration" window. 7 OPERATION EXAMPLES 7.1 Operation Examples...
  • Page 73 ■Parameters 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. Setting item Setting value (Axis 1) Common parameters [Pr.82] Forced stop valid/invalid selection 1: Invalid Basic parameters 1 [Pr.1] Unit setting...
  • Page 74 List of labels to be used The following table lists the labels used for the program examples in this section. I/O signals or buffer memory areas of the modules shown in the system configuration are described in the programs using the labels. For details on the global labels, refer to the following.
  • Page 75 ■Global 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. [RD77MS example] • External input (command) •...
  • Page 76 ■Positioning start No. setting program 7 OPERATION EXAMPLES 7.1 Operation Examples...
  • Page 77 ■Positioning start program [RD77MS example] ■JOG operation setting program 7 OPERATION EXAMPLES 7.1 Operation Examples...
  • Page 78 ■JOG operation execution program [RD77MS example] 7 OPERATION EXAMPLES 7.1 Operation Examples...

  • Page 79: Communication Examples Of The Rd77Gf

    Communication Examples of the RD77GF This section describes communications between the master station and local station. System configuration The following system configuration is used to explain communication between the master station and local station. • Power supply module: R61P • CPU module: R04CPU •...
  • Page 80 Link device assignment 256 points are assigned to each station. ■RX/RY assignment Master station (Simple Motion CPU module Local station Local station CPU module module) 1000 1000 Station Station Station Station Station No.1 No.1 No.1 No.1 No.1 10FF 10FF 1100 1100 Station Station...
  • Page 81 Setting in the master station Connect the engineering tool to the CPU module on the master station and set parameters. Setting Master station (station No.0) Local station (station No.1) Local station (station No.2) Set the CPU module in the following item. [Project] ...
  • Page 82 Confirm the "Module Label: Use" is set, then add the CPU module. Click the [OK] button. Set the Simple Motion module in the following item. Navigation window  "Parameter"  "Module Information"  Right-click  [Add New Module] Click the [OK] button to add the Simple Motion module. The method to add the module labels is the same as the procedure 2 to 3 shown above.
  • Page 83 Set the contents of "Required Settings" in the following item. Navigation window  "Parameter"  "Module Information"  "RD77GF16"  "Module Parameter (Network)"  "Required Settings" Set the network configuration in the following item. Navigation window  "Parameter"  "Module Information"  "RD77GF16"  "Module Parameter (Network)"  "Basic Settings"...
  • Page 84 Set the refresh settings in the following item. Navigation window  "Parameter"  "Module Information"  "RD77GF16"  "Module Parameter (Network)"  "Basic Settings"  "Refresh Setting" Write the set parameters to the CPU module on the master station. Then reset the CPU module or power off and on the system.
  • Page 85 Setting in the local station Connect the engineering tool to the CPU module on the local station and set parameters. Set the station No.1 and 2 to the same setting. Setting Setting Master station (station No.0) Local station (station No.1) Local station (station No.2) Set the CPU module and add a module label of the CPU module.
  • Page 86 Set the refresh settings in the following item. Set the station No.1 and 2 of the local station to the same refresh settings. Navigation window  "Parameter"  "Module Information"  "RJ71GF11-T2"  "Module Parameter"  "Basic Settings"  "Refresh Setting" Write the set parameters to the CPU module on the local station.
  • Page 87 Checking the network status Once parameters are set for the master station and local station, the CC-Link IE Field Network diagnostics of the engineering tool can be used to check whether data link is normally operating. Connect the engineering tool to the CPU module on the master station. Start the CC-Link IE Field Network diagnostics.
  • Page 88 List of labels to be used The following table lists the labels used for the program examples in this section. I/O signals or buffer memory areas of the modules shown in the system configuration are described in the programs using the labels. •...
  • Page 89 Program example Communication program with station No.1 (22) Communication program with station No.2 If no response is received for several link scans, the "Data link status of each station" (SW00B0 to SW00B7) is determined to be a cyclic transmission faulty station. 7 OPERATION EXAMPLES 7.2 Communication Examples of the RD77GF...

  • Page 90: Appendices

    Servo amplifier   Manual pulse generator  Recommended: MR-HDP01 (Manufactured by Mitsubishi Electric Corporation) Operation has been checked: UFO-M2-0025-2Z1-B00E (Manufactured by Nemicon Corporation)  SSCNET cable Cables are needed for connecting the Simple Motion module with a servo amplifier, or between servo amplifiers.
  • Page 91 Manual pulse generator that the operation has been checked Manufacturer Model name Nemicon Corporation UFO-M2-0025-2Z1-B00E *1 Contact: http://www.nemicon.co.jp/nemicon/ External dimension drawing of manual pulse generator MR-HDP01 (Manufactured by Mitsubishi Electric Corporation) [Unit: mm (inch)] 3 × Studs (M4 × 10) ±0.5 (0.14) 27.0 (1.06)
  • Page 92 Serial absolute synchronous encoder specifications Item Specifications Model name Q171ENC-W8 Ambient temperature -5 to 55 Resolution 4194304 pulses/rev Transmission method Serial communications (Connected to MR-J4-B-RJ) Direction of increasing addresses CCW (viewed from end of shaft) Protective construction Dustproof/Waterproof (IP67: Except for the shaft-through portion.) Permitted speed at power ON 3600 r/min Permitted speed at power OFF...
  • Page 93 Serial absolute synchronous 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 the cable by a customer side. ■Selection The following table indicates the serial absolute synchronous encoder cables used with the serial absolute synchronous encoder.
  • Page 94 ■Q170ENCCBL_M-A • Model explanation Type: Q170ENCCBL_M - A Cable length [m (ft.)] Symbol 2 (6.56) 5 (16.40) 10 (32.81) 20 (65.62) 30 (98.43) 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.
  • Page 95 External dimension drawing of serial absolute synchronous encoder ■Serial absolute synchronous encoder (Q171ENC-W8) [Unit: mm (inch)] 85(3.35) 58.5(2.30) 29(1.14) 30(1.18) 7(0.28) 45° 2(0.08) 14(0.55) 8.72 (0.34) Cross-section diagram AA' 4-φ5.5 (0.22) 42(1.65) 37.5(1.48) Cable connector for serial absolute synchronous encoder Manufactured by 3M Japan Limited (SCR type) ■Type Plug: 36210-0100PL...
  • Page 96 Mounting of serial absolute synchronous encoder This section describes precautions for handling the serial absolute synchronous encoder. • If the serial absolute synchronous encoder is linked to a chain, timing belt, or gears, the machine rotating shaft should be supported by a separate bearing and connected to serial absolute synchronous encoder through a bellows coupling. Ensure that excessive force (greater than the permitted shaft load) is not applied to the shaft of serial absolute synchronous encoder.

  • Page 97: Appendix 2 Component List Of The Rd77Gf

    Reference product Connection cable Cables for CC-Link IE Field Network are available from Mitsubishi Electric System & Service Co., Ltd. (Catalogs for cable are also available.) In addition, the connector processing of cable length is available for your preference. Please consult your local Mitsubishi representative.

  • Page 98: Appendix 3 Connection With External Devices Of The Rd77Ms

    Appendix 3 Connection with External Devices of the RD77MS Connector Mounted onto an external input connection connector of the Simple Motion module and used for wiring an external device. The "external device connector" includes the following 3 types. Appearance A6CON1 A6CON2 A6CON4 Connector type...

  • Page 99: External Input Signal Cable

    External input signal cable The external input signal cable is not prepared as an option. Fabricate the cable on the customer side. The connection diagram differs depending on the type of the manual pulse generator/incremental synchronous encoder to be used and the connected power supply. Make the cable as shown in the following connection diagram.
  • Page 100 When using the internal power supply Solderless terminal (1) Manual pulse generator/Incremental Simple Motion module synchronous encoder side (1A_ _, 1B_ _ ) (2) Forced stop input/external input signal FG wire (2A_ _, 2B_ _ ) (3) External input signal FG wire APPX Appendix 3 Connection with External Devices of the RD77MS...
  • Page 101 Manual pulse generator/Incremental synchronous encoder ■Differential-output type Make the cable within 30 m (98.43 ft.). When using the external power supplly (Recommended) 1B18 1A18 1B17 1A17 Differential-output type 1B20 Manual pulse generator/ Incremental synchronous encoder side 1B19 1B15 1B14 1A15 1A14 When using the internal power supply 1B18...
  • Page 102 ■Voltage-output/Open-collector type Make the cable within 10 m (32.81 ft.). When using the external power supply (Recommended) 1B18 1A18 1B17 1A17 1B20 1A20 1B19 Voltage-output/open-collector type 1A19 Manual pulse generator/ Incremental synchronous encoder side 1B15 1B14 1A15 1A14 When using the internal power supply 1B18 1A18 1B17...
  • Page 103 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 SIN2 SIN3 SIN4 STOP SIN5 SIN6 SIN7 SIN8 SIN9 STOP SIN10 Forced stop input side EMI.COM EMI.COM...
  • Page 104 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 SIN11 SIN12 SIN13 SIN14 STOP SIN15 SIN16 SIN17 SIN18 SIN19 STOP SIN20 SIN15(DI3) SIN15(DI3) SIN14(STOP) SIN14(STOP) SIN13(DOG) SIN13(DOG)
  • Page 105 • The following table indicates the external input wiring connector cables. Make selection according to your operating conditions. Wire model Core size Number Characteristics of one core Finish OD of cores [mm] Structure [Number Conductor Insulating sheath OD of wires/mm] resistance [/km] d [mm] 17/0.16 1P SRV-SV(2464)-K...

  • Page 106: Appendix 4 External Dimensions Of The Rd77Ms

    Appendix 4 External Dimensions of the RD77MS RD77MS2 [Unit: mm (inch)] RD77MS2 27.8 (1.09) 110 (4.33) RD77MS4 [Unit: mm (inch)] RD77MS4 27.8 (1.09) 110 (4.33) APPX Appendix 4 External Dimensions of the RD77MS...
  • Page 107 RD77MS8 [Unit: mm (inch)] RD77MS8 AX1-8 27.8 (1.09) 110 (4.33) RD77MS16 [Unit: mm (inch)] RD77MS16 AX1-16 27.8 (1.09) 110 (4.33) APPX Appendix 4 External Dimensions of the RD77MS...

  • Page 108: Appendix 5 External Dimensions Of The Rd77Gf

    Appendix 5 External Dimensions of the RD77GF RD77GF4 [Unit: mm (inch)] RD77GF4 AX1-4 D LINK SD/RD L ERR L ER LINK 110 (4.33) 27.8 (1.09) RD77GF8 [Unit: mm (inch)] RD77GF8 AX1-8 D LINK SD/RD L ERR L ER LINK 110 (4.33) 27.8 (1.09) APPX Appendix 5 External Dimensions of the RD77GF...
  • Page 109 RD77GF16 [Unit: mm (inch)] RD77GF16 AX1-16 D LINK SD/RD L ERR L ER LINK 110 (4.33) 27.8 (1.09) RD77GF32 [Unit: mm (inch)] RD77GF32 AX1-32 D LINK SD/RD L ERR L ER LINK 110 (4.33) 27.8 (1.09) APPX Appendix 5 External Dimensions of the RD77GF...

  • Page 110: Index

    INDEX 0 to 9 ... 32 ... . .32 2-axis circular interpolation control Fast home position return control ... . 32 .
  • Page 111 ..25 Maximum number of link points per station ....25 Maximum number of networks ....36 Virtual servo amplifier function .

  • Page 112: Revisions

    Japanese manual number: IB-0300244-G 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.

  • Page 113: Warranty

    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.

  • Page 114: Trademarks

    TRADEMARKS Ethernet is a registered trademark of Fuji Xerox Co., Ltd. in Japan. Microsoft and Windows are either registered trademarks or trademarks of Microsoft Corporation in the United States and/or other countries. The company names, system names and product names mentioned in this manual are either registered trademarks or trademarks of their respective companies.
  • Page 116 IB(NA)-0300245ENG-F(1806)MEE MODEL: RD77-U-S-E MODEL CODE: 1XB012 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, this manual does not require application to the Ministry of Economy, Trade and Industry for service transaction permission.

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