Mitsubishi iQ-RD77GF32, iQ-RD77GF4, iQ-RD77MS4, iQ-RD77MS8, iQ-RD77MS16 User Manual

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

-RD77MS2 -RD77GF4

-RD77MS4 -RD77GF8

-RD77MS8 -RD77GF16

-RD77MS16 -RD77GF32

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SAFETY PRECAUTIONS

WARNING

Indicates that incorrect handling may cause hazardous conditions, resulting in death or severe injury.

CAUTION

Indicates that incorrect handling may cause hazardous conditions, resulting in minor or moderate injury or property damage.

(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.

In this manual, the safety precautions are classified into two levels: " WARNING" and " CAUTION".

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]

WARNING

● 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) Emergency stop circuits, protection circuits, and protective interlock circuits for conflicting

operations (such as forward/reverse rotations or upper/lower limit positioning) must be configured external to the programmable controller.

(2) When the programmable controller detects an abnormal condition, it stops the operation and all

outputs are:

• 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) All outputs may be turned on if an error occurs in a part, such as an I/O control part, where the

CPU module cannot detect any error. To ensure safety operation in such a case, provide a safety mechanism or a fail-safe circuit external to the programmable controller. For a fail-safe circuit example, refer to "General Safety Requirements" in the MELSEC iQ-R Module Configuration Manual.

(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.

● In 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 fire. 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.

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[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. 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 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 user's manual for the module used.

● If a 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 proximity 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 rapidly 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.

● If 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.

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[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. (The light source of SSCNET 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 reset the CPU module while the settings are being written. Doing so will make the data in the flash ROM and SD memory card undefined. The values need to be set in the buffer memory and written to the flash ROM and SD memory card again. Doing so also may cause malfunction or failure of the module.

● When changing the operating status of the CPU module from external devices (such as the remote RUN/STOP functions), select "Do Not Open by Program" for "Opening Method" of "Module Parameter". If "Open by Program" is selected, an execution of the remote STOP function causes the communication line to close. Consequently, the CPU module cannot reopen the line, and external devices cannot execute the remote RUN function.

[Installation Precautions]

WARNING

● 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.

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[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.

● 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 interconnection may cause malfunction, failure, or drop of the module.

● To mount a module with no module fixing hook, place the concave part(s) located at the bottom onto the guide(s) of the base unit, push in the module, and fix it with screw(s). Incorrect interconnection 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 screw and/or module, resulting in drop, short circuit, or malfunction.

● When using an extension cable, connect it to the extension cable connector of the base unit securely. Check the connection for looseness. Poor contact may cause malfunction.

● When using an SD memory card, fully insert it into the SD memory card slot. Check that it is inserted completely. Poor contact may cause malfunction.

● Securely insert an extended SRAM cassette into the cassette connector of the 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 can cause malfunction or failure of the module.

[Wiring Precautions]

WARNING

● 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 cause the module to fail or malfunction.

● After installation and wiring, attach a blank cover module (RG60) to each empty slot and an included extension connector protective cover to the unused extension cable connector before powering on the system for operation. Failure to do so may result in electric shock.

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[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.

● Use applicable solderless terminals and tighten them within 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 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.

● When an overcurrent caused by an error of an external device or a failure of a module flows for a long time, it may cause smoke and fire. To prevent this, configure an external safety circuit, such as a fuse.

● 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. Doing so may change the characteristics of the cables, resulting in malfunction.

● When disconnecting the communication cable or power cable from the module, do not pull the cable by the cable part. For the cable connected to the terminal block, loosen the terminal screws. Pulling the cable connected to the module may result in malfunction or damage to the module or cable.

● 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. Overtightening can damage the screw and/or module, resulting in drop, short circuit, fire, or malfunction.

● Tighten the terminal block mounting screws, terminal screws, and module fixing screws within each specified torque range. Undertightening of the terminal block mounting screws and terminal screws can cause short circuit, fire, or malfunction. Overtightening of them can damage the screw and/or module, resulting in drop, short circuit, or malfunction. Undertightening of the module fixing screws can cause drop of the screw. Overtightening of them can damage the screw and/or module, resulting in drop.

● 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.

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[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. Do not remove the film during wiring. Remove it for heat dissipation before system operation.

● 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 this manual. If not, normal data transmission is not guaranteed.

[Startup and Maintenance Precautions]

WARNING

● 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 will cause the battery to produce heat, explode, ignite, or leak, resulting in injury and 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.

[Startup and Maintenance Precautions]

CAUTION

● 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 Handy-phone

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.

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[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.

● 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 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. Doing so may cause malfunction or failure of the module.

● Do not touch the integrated circuits on the circuit board of an extended SRAM cassette. Doing so may cause malfunction or failure of the module.

● 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.

● 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 position 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) during 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.

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[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 and SD memory card undefined. The values need to be set in the buffer memory and written to the flash ROM and SD memory card again. Doing so also may 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

● When disposing of this product, treat it as industrial waste.

● When disposing 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.

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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

RESPONSIBILITY 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 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.

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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.

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

RD77GF4, RD77GF8, RD77GF16, RD77GF32

Symbols used in this manual are shown below.

A serial No. is inserted in the "**" mark.

• [Pr.**]: Symbols indicating positioning parameter or home position return parameter items

• [Da.**]: Symbols indicating positioning data or block start data items

• [Md.**]: Symbols indicating monitor data items

• [Cd.**]: Symbols indicating control data items

• [RD77MS]: Symbols indicating that it corresponds to only RD77MS

• [RD77GF]: Symbols indicating that it corresponds to only RD77GF

COMPLIANCE WITH EMC AND LOW VOLTAGE DIRECTIVES

Method of ensuring compliance

To 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.

MELSEC iQ-R Module Configuration Manual Safety 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.

MELSEC iQ-R Module Configuration Manual Safety Guidelines (This manual is included with the base unit.)

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SAFETY PRECAUTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1

CONDITIONS OF USE FOR THE PRODUCT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

INTRODUCTION. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10

COMPLIANCE WITH EMC AND LOW VOLTAGE DIRECTIVES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

RELEVANT MANUALS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13

TERMS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .14

PERIPHERALS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .16

CHAPTER 1 PART NAMES 18

1.1 LED Display Specifications of the RD77MS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

1.2 LED Display Specifications of the RD77GF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

CHAPTER 2 SPECIFICATIONS 22

2.1 Performance Specifications of the RD77MS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

2.2 Performance Specifications of the RD77GF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

2.3 Specifications of Interfaces with External Devices of the RD77MS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .26

Electrical specifications of input signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .26

2.4 External Circuit Design. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .29

CHAPTER 3 FUNCTION LIST 31

3.1 Control Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .31

Main functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .31

Sub functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .34

Common functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

3.2 Combination of Main Functions and Sub Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

3.3 List of RD77GF Network Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .43

Function list of CC-Link IE Field Network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

CHAPTER 4 PROCEDURES BEFORE OPERATIONS 45

4.1 Procedures before Operation of the RD77MS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

4.2 Procedures before Operation of the RD77GF. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

CHAPTER 5 NETWORK CONFIGURATION OF RD77GF 49

CONTENTS

5.1 CC-Link IE Field Network Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .51

5.2 Precautions for System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .53

CHAPTER 6 WIRING 54

6.1 Wiring of the RD77MS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .54

6.2 External Input Connection Connector of the RD77MS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

Signal layout for external input connection connector. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

List of input signal details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .60

Interface internal circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

6.3 Wiring of the RD77GF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66

CHAPTER 7 OPERATION EXAMPLES 68

Page 14

7.1 Operation Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .68

7.2 Communication Examples of the RD77GF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .77

APPENDICES 88

Appendix 1 Component List of the RD77MS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88

Reference product. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88

Appendix 2 Component List of the RD77GF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .95

Reference product. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95

Recommended product . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .95

Appendix 3 Connection with External Devices of the RD77MS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .96

Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96

External input signal cable. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97

Appendix 4 External Dimensions of the RD77MS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104

Appendix 5 External Dimensions of the RD77GF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .106

INDEX 108

REVISIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .110

WARRANTY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111

TRADEMARKS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112

Page 15

RELEVANT MANUALS

Manual name [manual number] Description Available form

MELSEC iQ-R Simple Motion Module User's Manual (Startup) [IB-0300245ENG] (This manual)

MELSEC iQ-R Simple Motion Module User's Manual (Application) [IB-0300247ENG]

MELSEC iQ-R Simple Motion Module User's Manual (Advanced Synchronous Control) [IB-0300249ENG]

MELSEC iQ-R Simple Motion Module User's Manual (Network) [IB-0300307ENG]

This manual does not include detailed information on the followings:

• General specifications

• Available CPU modules and the number of mountable modules

• Installation

For details, refer to the following. MELSEC iQ-R Module Configuration Manual

This manual does not include information on the module function blocks.For details, refer to the Function Block Reference for

the module used.

Specifications, procedures before operation, system configuration, wiring, and operation examples of the Simple Motion module

Functions, input/output signals, buffer memory, parameter settings, programming, and troubleshooting of the Simple Motion module

Functions and programming for the synchronous control of the Simple Motion module

Functions, parameter settings, troubleshooting, and buffer memory of CC-Link IE Field Network

Print book

e-Manual PDF

Print book

e-Manual PDF

Print book

e-Manual PDF

Print book

e-Manual PDF

e-Manual refers to the Mitsubishi Electric 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.

• Sample programs can be copied to an engineering tool.

Page 16

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 Another term for a servo amplifier

Buffer memory A memory in an intelligent function module, where data (such as setting values and monitoring values) are stored. When

CC-Link IE Field Network A high-speed and large-capacity open field network that is based on Ethernet (1000BASE-T)

CPU module The abbreviation for the MELSEC iQ-R series CPU module

CPU module (built-in Ethernet port part)

Cyclic transmission A function by which data are periodically exchanged among stations on the network using link devices

Data link A generic term for cyclic transmission and transient transmission

Dedicated instruction An instruction for using functions of the module

Device A device (X, Y, M, D, or others) in a CPU module

Disconnection A process of stopping data link if a data link error occurs

Engineering tool A generic term for GX Works2, GX Works3, and MR Configurator2

Ethernet device A generic term for the devices supporting IP communication (such as personal computers)

Global label A label that is enabled for all program data when creating multiple program data in the project. There are two types of

GX Works2 The product name of the software package for the MELSEC programmable controllers

GX Works3

Intelligent device station A station that exchanges I/O signals (bit data) and I/O data (word data) with another station by cyclic transmission. This

Intelligent function module A MELSEC iQ-R series module that has functions other than input and output, such as an A/D converter module and D/

Label A label that represents a device in a given character string

Link device A device (RX, RY, RWr, or RWw) in a module on CC-Link IE Field Network

Link refresh Automatic data transfer between a link device of the Simple Motion module and a device in a CPU module

Link scan (link scan time) Time required for all the stations on the network to transmit data. The link scan time depends on data volume and the

Link special register (SW) Word data that indicates the operating status and data link status of a module on CC-Link IE Field Network

Link special relay (SB) Bit data that indicates the operating status and data link status of a module on CC-Link IE Field Network

Local station A station that performs cyclic transmission and transient transmission with the master station and other local stations

Master station A station that controls the entire network. This station can perform cyclic transmission and transient transmission with all

Master/local module A generic term for the following modules when the CC-Link IE Field Network function is used:

Module label A label that represents one of memory areas (I/O signals and buffer memory areas) specific to each module in a given

MR Configurator2 The product name of the setup software for the servo amplifier

MR-J3(W)-B MR-J3-_B_(-RJ)/MR-J3W-_B Servo amplifier series

MR-J4(W)-B MR-J4-_B_(-RJ)/MR-J4W_-_B Servo amplifier series

MR-J4-B-RJ MR-J4-_B_-RJ Servo amplifier series

MR-J4-GF MR-J4-_GF_(-RJ) Servo amplifier series

MR-JE-B(F) MR-JE-_B/MR-JE-_BF Servo amplifier series

using the CPU module, the memory is indicated for storing data (such as setting values and monitored values) of the Ethernet function and data used for data communication of the multiple CPU function.

A built-in Ethernet port part of the CPU module (CPU part for the RnENCPU) (MELSEC iQ-R Ethernet/CC-Link IE User's Manual (Startup))

global labels: module label that is automatically generated by GX Works2 and GX Works3 and label that can be created for the any of the specified devices.

station responds to a transient transmission request from another station and also issues a transient transmission request to another station.

A converter module

number of transient transmission requests.

stations. Only one master station can be used in a network.

• RJ71GF11-T2

• RJ71EN71

• RnENCPU

character string. GX Works2 and GX Works3 automatically generate this label, which can be used as a global label.

Page 17

Ter m Description

Network module A generic term for the following modules:

RAS The abbreviation for Reliability, Availability, and Serviceability. This term refers to usability of automated equipment.

RD77GF Another term for the MELSEC iQ-R series Simple Motion module (compatible with CC-Link IE Field Network)

RD77MS Another term for the MELSEC iQ-R series Simple Motion module (compatible with SSCNET/H)

Relay station A station that includes two or more network modules. Data are passed through this station to stations on other networks

Remote device station A station that exchanges I/O signals (bit data) and I/O data (word data) with another station by cyclic transmission. This

Remote I/O station A station that exchanges I/O signals (bit data) with the master station by cyclic transmission

Remote input (RX) Bit data input from a slave station to the master station (For some areas in a local station, data are input in the opposite

Remote output (RY) Bit data output from the master station to a slave station (For some areas in a local station, data are output in the

Remote register (RWr) Word data input from a slave station to the master station (For some areas in a local station, data are input in the

Remote register (RWw) Word data output from the master station to a slave station (For some areas in a local station, data are output in the

Reserved station A station reserved for future use. This station is not actually connected, but counted as a connected station.

Return A process of restarting data link when a station recovers from an error

RnENCPU A generic term for the R04ENCPU, R08ENCPU, R16ENCPU, R32ENCPU, and R120ENCPU

Safety communications A function to exchange safety data between safety stations on the same network

Safety connection A connection established for safety communications

Safety CPU A generic term for the R08SFCPU, R16SFCPU, R32SFCPU, and R120SFCPU

Safety data Data exchanged through safety communications

Safety station A generic term for a station that performs safety communications and standard communications

Servo amplifier A generic term for a drive unit

Simple Motion module The abbreviation for the MELSEC iQ-R series Simple Motion module

Slave station A generic term for a local station, remote I/O station, remote device station, and intelligent device station

SSCNET

SSCNET/H

Transient transmission A function of communication with another station, which is used when requested by a dedicated instruction or the

• 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)

station responds to a transient transmission request from another station.

direction.)

opposite direction.)

Unless specified in particular, indicates the motor driver unit of the sequential command method which is controlled by the Simple Motion module (belonging to own station).

High speed synchronous communication network between RD77MS and servo amplifier

engineering tool

*1 SSCNET: Servo System Controller NETwork

Page 18

PERIPHERALS

RD77MS4

ERRRUN

SSCNET

cable

External input signal cable

Synchronous encoder via servo amplifier: Q171ENC-W8 (Up to 4 modules via MR-J4-B-RJ), etc.

RD77MS

• Upper stroke limit

• Lower stroke limit

• Proximity dog

External input signals of servo amplifier

Manual pulse generator/ Incremental synchronous encoder × 1

Assigning the external input signals for 20 points to any of the following signals.

•

External command signal/Switching

signal

•

Upper stroke limit

•

Lower stroke limit

• Proximity dog

signal

•

Stop signal

Forced stop input (24 V DC)

Servo motor

MR-J4(W)-B servo amplifier MR-J3(W)-B servo amplifier MR-JE-B(F) servo amplifier Optical hub unit MR-MV200 Inverter FR-A700 series/FR-A800 series Stepping motor driver AlphaStep/5-phase manufactured by ORIENTAL MOTOR Co., Ltd. Servo driver VC´ series/VPH series manufactured by CKD NIKKI DENSO CO., LTD.

IAI electric actuator controller manufactured by IAI Corporation

RD77MS2: Up to 2 axes RD77MS4: Up to 4 axes RD77MS8: Up to 8 axes RD77MS16: Up to 16 axes

The following figure shows the peripherals when the RD77MS is used.

• The external input signal cannot be used depending on the connected device. Confirm the specification of

the connected device.

• When using RD77MS2, the external input signals that can be assigned are for 10 points.

Page 19

The following figure shows the peripherals when the RD77GF is used.

RD77GF4

ERRRUN

AX1-4 D LINK SD/RD

L ERR

L ER

LINK

RD77GF4: Up to 4 axes RD77GF8: Up to 8 axes RD77GF16: Up to 16 axes RD77GF32: Up to 32 axes

MR-J4-GF servo amplifier (Motion mode)

Servo motor

MR-J4-GF

servo amplifier

(I/O mode)

Servo motor

Another brand

drive unit

Remote I/OLocal station

CC-Link IE Field Network cable

RD77GF

Switching hub

• Upper stroke limit

• Lower stroke limit

• Proximity dog

External input signals of servo amplifier

Synchronous encoder via servo amplifier: Q171ENC-W8 (via MR-J4-_GF_-RJ)

• The external input signal cannot be used depending on the connected device. Confirm the specification of

the connected device.

Page 20

1 PART NAMES

RD77MS16

ERRRUN

AX1-16

RD77MS8

ERRRUN

AX1-8

RD77MS4

ERRRUN

RD77MS2

ERRRUN

(6)

(4)

(5)

(1)

(2)

(3)

(2)

(3)

(1)

(4)

(6)

(5)

(6)

(5)

(4)

(2)

(3)

(1)

(3)

(2)

(3)

(1)

(4)

(6)

(5)

RD77MS2 RD77MS4 RD77MS8 RD77MS16

This chapter describes the part names of the Simple Motion module.

No. Name Description

(1) RUN LED For details, refer to the following.

(2) ERR LED

(3) Axis display LED

(4) External input connection connector Connects to a mechanical system input, manual pulse generator/incremental synchronous encoder, or

(5) SSCNET cable connector Connects to a servo amplifier.

(6) Serial No. marking Shows the serial No. printed on the rating plate.

Page 20 LED Display Specifications of the RD77MS

forced stop input. For the signal layout, refer to the following. Page 26 Specifications of Interfaces with External Devices of the RD77MS

1 PART NAMES

Page 21

No. Name Description

RD77GF4

ERRRUN

AX1-4

D LINK

SD/RD

L ERR

L ER

LINK

RD77GF8

ERRRUN

AX1-8

D LINK

SD/RD L ERR

L ER

LINK

RD77GF16

ERRRUN

AX1-16

D LINK

SD/RD

L ERR

L ER

LINK

RD77GF32

ERRRUN

AX1-32

D LINK

SD/RD

L ERR

L ER

LINK

RD77GF4 RD77GF8 RD77GF16

(2)

(3) (4)

(8)

(7)

(1)

(5) (6)

(9)

(2)

(3) (4)

(8)

(7)

(1)

(5) (6)

(9)

(2)

(3) (4)

(8)

(7)

(1)

(5) (6)

(9)

RD77GF32

(2)

(3) (4)

(8)

(7)

(1)

(5) (6)

(9)

(1) RUN LED For details, refer to the following.

(2) ERR LED

(3) Axis display LED

(4) D LINK LED

(5) SD/RD LED

(6) L ERR LED

(7) LEDs for CC-Link IE Field connector

(8) Connector for CC-Link IE Field Network

cable

(9) Serial No. marking Shows the serial No. printed on the rating plate.

Page 21 LED Display Specifications of the RD77GF

Connects to a slave station. In the following manual, this connector is referred to as "PORT2", "P2", or "Port 2". MELSEC iQ-R Simple Motion Module User's Manual (Network)

1 PART NAMES

Page 22

1.1 LED Display Specifications of the RD77MS

This section lists the LED display specifications of the RD77MS.

: OFF, : ON, ●: Flashing

Simple Motion module status

Normal operation RUN 

Operation failure RUN 

Online module change RUN ●

LED display Description

ERR 

RUN  ERR 

ERR 

RUN  ERR ●

ERR 

RUN  ERR 

AX1  AX2  AX3  AX4 

AX1-8 

AX1-16 

AX1  AX2  AX3  AX4 

AX1-8 

AX1-16 

AX1 ● AX2  AX3  AX4 

AX1-8 ●

AX1-16 ●

AX1  AX2  AX3  AX4 

AX1-8 

AX1-16 

AX1  AX2  AX3  AX4 

AX1-8 

AX1-16 

AX1  AX2  AX3  AX4 

AX1-8 

AX1-16 

The axes stopped The axes on standby

The axis in operation

Minor error

Moderate error Watchdog timer error

Module remove selection in operation

Module change in operation

*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 of the RD77MS

Page 23

1.2 LED Display Specifications of the RD77GF

This section lists the LED display specifications of the RD77GF.

Simple Motion module status

Normal operation RUN 

Operation failure RUN 

LED display Description

ERR 

RUN  ERR 

ERR 

RUN  ERR 

RUN  ERR ●

RUN  ERR 

AX1-4 

AX1-8 

AX1-16 

AX1-32 

AX1-4 

AX1-8 

AX1-16 

AX1-32 

AX1-4 ●

AX1-8 ●

AX1-16 ●

AX1-32 ●

AX1-4 

AX1-8 

AX1-16 

AX1-32 

AX1-4  Flashing (500 ms interval): A data link faulty station detected

AX1-8 

AX1-16 

AX1-32 

AX1-4  Major error

AX1-8 

AX1-16 

AX1-32 

The axes stopped The axes on standby

The axis in operation

Minor error (related to axis)

Minor error (general)

Flashing (200 ms interval): Moderate error

: OFF, : ON, ●: Flashing

*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. *4 The AX LED does not turn OFF when the axis is in operation or a minor error (related to axis) has occurred.

Status LED display Description

Indicates the data link status. D LINK 

D LINK ●

D LINK 

Indicates the data sending/receiving status.

Indicates the receive data and line error status.

Indicates the port status. L ER  Abnormal data received

Indicates the link status. LINK  Link-up

SD/RD  Data being sent or received

SD/RD  Data not sent nor received

L ERR  Abnormal data received

L ERR  Normal data received

L ER  Normal data received

LINK  Link-down

Data link (cyclic transmission being performed)

Data link (cyclic transmission stopped)

Data link not performed (disconnection)

: OFF, : ON, ●: Flashing

*1 The LED is always OFF in offline mode.

1 PART NAMES

1.2 LED Display Specifications of the RD77GF

Page 24

2 SPECIFICATIONS

This chapter describes the performance specifications of the RD77MS and the RD77GF.

2.1 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 0.444 ms/0.888 ms/1.777 ms/3.555 ms

Interpolation function 2-axis linear

interpolation, 2-axis circular interpolation

Control method PTP (Point To Point) control, path control (linear, arc, and helix can be set), speed control, speed-

position switching control, position-speed switching control, speed-torque control

Control unit mm, inch, degree, pulse

Positioning data 600 data/axis (The 101st data to the 600th data can be set only with the engineering tool.)

Execution data backup function Parameters, positioning data, and block start data can be saved on flash ROM. (battery-less backup)

Positioning Positioning system PTP control: Incremental system/absolute system

Speed-position switching control: Incremental system/absolute system Position-speed switching control: Incremental system Path control: Incremental system/absolute system

Positioning range In absolute system

• -214748364.8 to 214748364.7 (m)

• -21474.83648 to 21474.83647 (inch)

• 0 to 359.99999 (degree)

• -2147483648 to 2147483647 (pulse)

In incremental system

• -214748364.8 to 214748364.7 (m)

• -21474.83648 to 21474.83647 (inch)

• -21474.83648 to 21474.83647 (degree)

• -2147483648 to 2147483647 (pulse)

In speed-position switching control (INC mode)/position-speed switching control

• 0 to 214748364.7 (m)

• 0 to 21474.83647 (inch)

• 0 to 21474.83647 (degree)

• 0 to 2147483647 (pulse) In speed-position switching control (ABS mode) 0 to 359.99999 (degree)

Speed command 0.01 to 20000000.00 (mm/min)

0.001 to 2000000.000 (inch/min)

0.001 to 2000000.000 (degree/min) 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.)

Rapid stop deceleration time 1 to 8388608 (ms)

2-, 3-, or 4-axis linear interpolation, 2-axis circular interpolation, 3-axis helical interpolation

2 SPECIFICATIONS

2.1 Performance Specifications of the RD77MS

Page 25

Item RD77MS2 RD77MS4 RD77MS8 RD77MS16

Starting time*3Operation cycle

External wiring connection system 40-pin connector

Applicable wire size

External input wiring connector A6CON1, A6CON2, A6CON4 (sold separately)

Manual pulse generator/ Incremental synchronous encoder input maximum 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) 1.0 A

External dimensions

Mass 0.22 kg 0.23 kg

0.444 ms

Operation cycle

0.888 ms

Operation cycle

1.777 ms

Operation cycle

3.555 ms

When A6CON1 or A6CON4 is used 0.088 to 0.3 mm2 (AWG28 to AWG22) stranded wire

When A6CON2 is used 0.088 to 0.24 mm

Height 106 mm (4.17 inch)

Width 27.8mm (1.09inch)

Depth 110 mm (4.33 inch)

Maximum number of axes: 1 axis

Maximum number of axes: 2 axes

Maximum number of axes: 4 axes

Maximum number of axes: 8 axes

Maximum number of axes: 12 axes

Maximum number of axes: 8 axes

Maximum number of axes: 12 axes

Maximum number of axes: 16 axes

Maximum number of axes: 8 axes

Maximum number of axes: 12 axes

Maximum number of axes: 16 axes

Differential-output type

Open-collector type

0.7 ms

0.74 ms

1.1 ms

1.32 ms

1.46 ms

1.1 ms

1.46 ms

1.59 ms

0.92 ms

1.12 ms

1.52 ms

Up to 1 Mpulses/s

Up to 200 kpulses/s

(AWG28 to AWG24) stranded wire

*1 The speed-position switching control (ABS mode) can be used only when the control unit is "degree". *2 When "Speed control 10  multiplier setting for degree axis function" is valid, the setting range is 0.01 to 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

2.1 Performance Specifications of the RD77MS

Page 26

2.2 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

Control method PTP (Point To Point) control, path control (linear, and arc can be set), speed control, speed-position

Control unit mm, inch, degree, pulse

Positioning data 600 data/axis (All the data points can be set with the buffer memory.)

Execution data backup function Parameters, positioning data, and block start data can be saved on flash ROM. (battery-less backup)

Positioning Positioning system PTP control: Incremental system/absolute system

Positioning range In absolute system

Speed command 0.01 to 20000000.00 (mm/min)

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.)

Rapid stop deceleration time 1 to 8388608 (ms)

Starting time 0.2 ms to 5.0 ms

Manual pulse generator

Flash ROM write count Max. 100000 times

Number of occupied I/O points 32 points (I/O assignment: Intelligent function module 32 points) 64 points (I/O

Internal current consumption (5 V DC) 1.1 A

External dimensions

Mass 0.23 kg

Signal input form Link device

1 pulse input magnification 1 to 10000 times

Height 106 mm (4.17 inch)

Width 27.8 mm (1.09 inch)

Depth 110 mm (4.33 inch)

switching control, position-speed switching control, speed-torque control

Speed-position switching control: Incremental system/absolute system Position-speed switching control: Incremental system Path control: Incremental system/absolute system

• -214748364.8 to 214748364.7 (m)

• -21474.83648 to 21474.83647 (inch)

• 0 to 359.99999 (degree)

• -2147483648 to 2147483647 (pulse) In incremental system

• -214748364.8 to 214748364.7 (m)

• -21474.83648 to 21474.83647 (inch)

• -21474.83648 to 21474.83647 (degree)

• -2147483648 to 2147483647 (pulse) In speed-position switching control (INC mode)/position-speed switching control

• 0 to 214748364.7 (m)

• 0 to 21474.83647 (inch)

• 0 to 21474.83647 (degree)

• 0 to 2147483647 (pulse) In speed-position switching control (ABS mode) 0 to 359.99999 (degree)

0.001 to 2000000.000 (inch/min)

0.001 to 2000000.000 (degree/min) 1 to 1000000000 (pulse/s)

assignment: Intelligent function module 64 points)

2 SPECIFICATIONS

2.2 Performance Specifications of the RD77GF

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 network

Maximum number of link points per station

Safety communications

Inter-module synchronization cycle synchronization communication)

Transient transmission 1: N communication (such as monitor, program upload/download)

Transient transmission capacity 1920 bytes maximum

Maximum number of transient transmissions per link scan

Communication speed 1 Gbps

Network topology Line topology, star topology

Communication cable • Ethernet cable which satisfies 1000BASE-T standard:

Maximum station-to-station distance 100 m (conforms to ANSI/TIA/EIA-568-B (Category 5e))

Overall cable distance Single master

Number of cascade connections 4 levels maximum

Maximum number of connectable stations

Maximum number of networks 239

Communication method Token passing

Master station RX 16K points (16384 points, 2K bytes)

Local station

Maximum number of safety connectable stations per network

Maximum number of safety connections per network

Maximum number of safety connections per station

Maximum number of link points per safety connection

configuration

Single master configuration

RX 16K points (16384 points, 2K bytes)

RY 16K points (16384 points, 2K bytes)

RWr 8K points (8192 points, 16K bytes)

RWw 8K points (8192 points, 16K bytes)

RY 16K points (16384 points, 2K bytes)

RWr 8K points (8192 points, 16K bytes)

RWw 8K points (8192 points, 16K bytes)

RX 2K points (2048 points, 256 bytes)

RY 2K points (2048 points, 256 bytes)

RWr 1K points (1024 points, 2K bytes)

RWw 1K points (1024 points, 2K bytes)

(with

256 points when communication mode is "High-Speed"

121 stations

1814 connections

120 connections

8 words (input: 8 words, output: 8 words)

0.50 ms/1.00 ms/2.00 ms/4.00 ms

Dedicated instructions from sequence programs

Category 5e or higher, straight cable (double shielded, STP)

• RJ45 connector

Line topology: 12000 m (when 121 stations are connected) Star topology: Depends on the system configuration.

121 stations (master station: 1, slave station: 120)

*1 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. *2 The cycle that each module performs the synchronous control via a network using the synchronous communication function. *3 A switching hub supporting synchronous communication is required for the star topology.

2 SPECIFICATIONS

2.2 Performance Specifications of the RD77GF

Page 28

2.3 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)

Isolation method Photocoupler

Rated input voltage 24 V DC

Rated input current (I

Operating voltage range 19.2 to 26.4 V DC (24 V DC+10/-20%, ripple ratio 5% or less)

ON voltage/current 17.5 V DC or more/3.5 mA or more

OFF voltage/current 7 V DC or less/1 mA or less

Input resistance Approx. 6.8 kΩ

Response time OFF  ON 1 ms or less

) Approx. 5 mA

ON  OFF

Forced stop input

■Specifications of forced stop input signal

Item Specifications

Number of input points 1 point

Input method Positive common/Negative common shared

Common terminal arrangement 1 point/common (Common contact: EMI.COM)

Isolation method Photocoupler

Rated input voltage 24 V DC

Rated input current (I

Operating voltage range 19.2 to 26.4 V DC (24 V DC+10/-20%, ripple ratio 5% or less)

ON voltage/current 17.5 V DC or more/3.5 mA or more

OFF voltage/current 7 V DC or less/1 mA or less

Input resistance Approx. 6.8 kΩ

Response time OFF  ON 4 ms or less

) Approx. 5 mA

ON  OFF

2 SPECIFICATIONS

2.3 Specifications of Interfaces with External Devices of the RD77MS

Page 29

Manual pulse generator/Incremental synchronous encoder input

A-phase

0.5 μs or more

1 μs or more

B-phase

0.25 μs or less

0.5 μs or more

0.25 μs or more

(Note): Duty ratio 50%

A-phase

2.5 μs or more

5 μs or more

B-phase

1.2 μs or less

2.5 μs or more

1.2 μs or more

(Note): Duty ratio 50%

■Specifications of manual pulse generator/incremental synchronous encoder

Item Specifications

Signal input form

Differential-output type (26LS31 or equivalent)

Maximum input pulse frequency 1 Mpulses/s (After magnification by 4, up to 4 Mpulses/s)

Pulse width 1 s or more

Leading edge/trailing edge time 0.25 s or less

Phase difference 0.25 s or more

Rated input voltage 5.5 V DC or less

High-voltage 2.0 to 5.25 V DC

Low-voltage 0 to 0.8 V DC

Differential voltage 0.2 V

Cable length Up to 30 m (98.43 ft.)

Example of waveform

A-phase/B-phase (Magnification by 4/Magnification by 2/Magnification by 1), PULSE/SIGN

Voltage-output type/Open-collector type (5 V DC)

Maximum input pulse frequency 200 kpulses/s (After magnification by 4, up to 800 kpulses/s)

Pulse width 5 s or more

Leading edge/trailing edge time 1.2 s or less

Phase difference 1.2 s or more

Rated input voltage 5.5 V DC or less

High-voltage 3.0 to 5.25 V DC/2 mA or less

Low-voltage 0 to 1.0 V DC/5 mA or more

Cable length Up to 10 m (32.81 ft.)

Example of waveform

*1 Set the signal input form in "[Pr.24] Manual pulse generator/Incremental synchronous encoder input selection".

2 SPECIFICATIONS

2.3 Specifications of Interfaces with External Devices of the RD77MS

Page 30

[Pr.24] Manual pulse generator/Incremental synchronous encoder input selection

A-phase/B-phase

[Pr.151] Manual pulse generator/Incremental synchronous encoder input logic selection

Positive logic Negative logic

Forward run Reverse run Forward run Reverse run

PULSE/SIGN

*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".

Forward run Reverse run

HIGH LOW

Forward run Reverse run

HIGHLOW

2 SPECIFICATIONS

2.3 Specifications of Interfaces with External Devices of the RD77MS

Page 31

2.4 External Circuit Design

Forced stop

EMI

EMI. COM

R61P RD77MSRnCPU

24 V DC

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. Set "[Pr.82] Forced stop valid/

invalid selection" to "0: Valid (External input signal)".

2 SPECIFICATIONS

2.4 External Circuit Design

Page 32

[RD77GF]

X01

X12

X23

X34

X45

X56

X78

X89

X910

XA11

XB12

XC13

XD14

XE15

XF16

COM17

COM18

+24V

24G

R61P RD77GFRnCPU

Remote input

module

CC-Link IE Field Network

COM

Forced stop24 V DC

Signal name

Pin No.

Not insulated

UNIT POWER CABLE

Input terminal block

Module power supply/ FG terminal block

Module power supply

Forced stop

24 V DC

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.

*1 Only one wire can be connected to a terminal of the terminal block for module power supply and FG. Multiple wires cannot be connected

to a terminal. Connecting two or more wires may cause a poor contact.

It is also possible to use the forced stop signal of the servo amplifier. Operation status of the emergency stop, servo amplifier

forced stop and the Motion controller forced stop are as follows.

Item Operation when the

signal is turned on

Emergency stop Servo OFF The power supply of the servo amplifier is shut off by external circuit, and the servomotor stops.

Servo amplifier forced stop

Motion controller forced stop

Shut-off the main circuit power supply of a servo amplifier when an emergency stop, alarm, servo amplifier forced stop, or

motion controller forced stop occurs. Make sure to use molded-case circuit breakers (MCCB) for input wires of a servo

amplifier power supply. For details, refer to the servo amplifier instruction manual.

2 SPECIFICATIONS

2.4 External Circuit Design

Remarks

A stop command from the external circuit to the servo amplifier is output, and the servo amplifier stops the servomotor.

A stop command from the Simple Motion module to the servo amplifier is output, and the servo amplifier stops the servomotor.

Page 33

3 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)

3.1 Control Functions

The Simple Motion module has several functions. Refer to the following for details on each function. MELSEC 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

Home position return control

"Home position return control" is a function that established the start point for carrying out positioning control (Machine home

position return), and carries out positioning toward that start point (Fast home position return). 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.: positioning data No. 1, No. 2, No. 3, etc.) can be set.

High-level positioning control

This control executes the "positioning data" stored in the Simple Motion module using the "block start data". The following

types of applied positioning control can be carried out.

• Random blocks, handling several continuing positioning data items as "blocks", can be executed in the designated order.

• "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.

Manual 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.

Expansion control

The following controls other than the positioning control can be executed.

• Speed control and torque control not including position loop for the command to servo amplifier (Speed-torque control).

• Synchronous control with gear, shaft, change gear and cam not by mechanical, but by software use "advanced

synchronous control parameter", and is synchronized with input axis (Advanced synchronous control).

3 FUNCTION LIST

3.1 Control 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 return control

Major positioning control

High-level positioning control

Machine home position return control Mechanically establishes the positioning start point using a proximity dog, etc.

Fast home position return control Positions a target to the home position address ([Md.21] Machine feed value) stored in the Simple

Position control

Speed control

Speed-position switching control First, carries out speed control, and then carries out position control (positioning with designated

Position-speed switching control First, carries out position control, and then carries out speed control (continuous output of the

Other control

Block start (Normal start) With one start, executes the positioning data in a random block with the set order.

Condition start Carries out condition judgment set in the "condition data" for the designated positioning data, and

Wait start Carries out condition judgment set in the "condition data" for the designated positioning data, and

Simultaneous start Simultaneously executes the designated positioning data of the axis designated with the "condition

Repeated start (FOR loop) Repeats the program from the block start data set with the "FOR loop" to the block start data set in

Repeated start (FOR condition) Repeats the program from the block start data set with the "FOR condition" to the block start data set

Linear control (1-axis linear control) (2-axis linear interpolation control) (3-axis linear interpolation control) (4-axis linear interpolation control)

Fixed-feed control (1-axis fixed-feed control) (2-axis fixed-feed control) (3-axis fixed-feed control) (4-axis fixed-feed control)

2-axis circular interpolation control

3-axis helical interpolation control

Speed control (1-axis speed control) (2-axis speed control) (3-axis speed control) (4-axis speed control)

Current value changing Changes the feed current value ([Md.20]) to the address set in the positioning data.

NOP instruction No execution control method. When NOP instruction is set, this instruction is not executed and the

JUMP instruction Unconditionally or conditionally jumps to designated positioning data No.

LOOP Carries out loop control with repeated LOOP to LEND.

LEND Returns to the beginning of the loop control with repeated LOOP to LEND.

In the data setting method, no axis movement occurs since the current position is set as the home position. (Positioning start No. 9001)

Motion module using machine home position return. (Positioning start No. 9002)

Positions a target using a linear path to the address set in the positioning data or to the position designated with the movement amount.

Positions a target by the movement amount designated with the amount set in the positioning data. (With fixed-feed control, the "[Md.20] Feed current value" is set to "0" when the control is started. With 2-, 3-, or 4-axis fixed-feed control, the fixed-feed is fed along a linear path obtained by interpolation.)

Positions a target using an arc path to the address set in the positioning data, or to the position designated with the movement amount, sub point or center point.

Positions a target using a helical path to a specified position. (Specify the position by specifying the end point address directly or by specifying the relative distance from the current position (movement amount).)

Continuously outputs the command corresponding to the command speed set in the positioning data.

address or movement amount) by turning the "speed-position switching signal" ON.

command corresponding to the designated command speed) by turning the "position-speed switching signal" ON.

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 using current value changing start No. (No. 9003)

operation of the next data is started.

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 point's "block start data" is executed.

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.)

data". (Outputs commands at the same timing.)

"NEXT" for the designated number of times.

in "NEXT" until the conditions set in the "condition data" are established.

3 FUNCTION LIST

3.1 Control Functions

Page 35

Main functions Details

Manual control

Inter-module synchronization function Synchronizes the control timings among multiple modules on the same base.

Expansion control

JOG operation Outputs a command to servo amplifier while the JOG start signal is ON.

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.

Speed-torque control Carries out the speed control or torque control that does not include the position loop for the

command to servo amplifier by switching control mode.

Advanced synchronous control Carries out the synchronous control that synchronizes with input axis by setting the system such as

gear, shaft, change gear and cam to the "advanced synchronous control parameter".

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.

[Da.1] Operation pattern Details

Independent positioning control (positioning complete) When "independent positioning control" is set for the operation pattern of the started positioning

Continuous positioning control When "continuous positioning control" is set for the operation pattern of the started positioning data,

Continuous path control When "continuous path control" is set for the operation pattern of the started positioning data, the

data, only the designated positioning data will be executed, and then the positioning will end.

after the designated positioning data is executed, the program will stop once, and then the next following positioning data will be executed.

designated positioning data will be executed, and then without decelerating, the next following positioning data will be executed.

3 FUNCTION LIST

3.1 Control Functions

Page 36

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 characteristic to machine home position return

Functions that compensate control

Functions that limit control

Functions that change control details

Functions related to positioning start

Absolute position system This function restores the absolute position of designated axis.

Functions related to positioning stop

Home position return retry function [RD77MS]

Home position shift function [RD77MS]

Backlash compensation function

Electronic gear function By setting the movement amount per pulse, this function can freely change the machine movement

Near pass function

Speed limit function If the command speed exceeds "[Pr.8] Speed limit value" during control, this function limits the

Torque limit function If the torque generated by the servomotor exceeds "[Pr.17] Torque limit setting value" during control, this

Software stroke limit function If a command outside of the upper/lower limit stroke limit setting range, set in the parameters, is issued,

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 signal.

Speed change function This function changes the speed during positioning.

Override function This function changes the speed within a percentage of 0 to 300% during positioning. This is executed

Acceleration/deceleration time change function

Torque change function This function changes the "torque limit value" during control.

Target position change function

Pre-reading start function This function shortens the virtual start time.

Stop command processing for deceleration stop function

Continuous operation interrupt function

Step function This function temporarily stops the operation to confirm the positioning operation during debugging, etc.

This function retries the home position return with the upper/lower limit switches during the machine home position return. This allows machine home position return to be carried out even if the axis is not returned to before the proximity dog with JOG operation, etc.

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.

This function compensates the mechanical backlash amount. Feed commands equivalent to the set backlash amount are output each time the movement direction changes.

amount per commanded pulse. When the movement amount per pulse is set, a flexible positioning system that matches the machine system can be structured.

This function suppresses the machine vibration when the speed is changed during continuous path control in the interpolation control.

commanded speed to within the "[Pr.8] Speed limit value" setting range.

function limits the generated torque to within the "[Pr.17] Torque limit setting value" setting range.

this function will not execute positioning for that command.

Set the new speed in the speed change buffer memory ([Cd.14] New speed value), and change the speed with the speed change request ([Cd.15]).

using "[Cd.13] Positioning operation speed override".

This function changes the acceleration/deceleration time during speed change.

This function changes the target position during positioning. Position and speed can be changed simultaneously.

Function that selects a deceleration curve when a stop cause occurs during deceleration stop processing to speed 0.

This function interrupts continuous operation. When this request is accepted, the operation stops when the execution of the current positioning data is completed.

The operation can be stopped at each "automatic deceleration" or "positioning data".

3 FUNCTION LIST

3.1 Control Functions

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,

M code output function This function issues a command for a sub work (clamp or drill stop, tool change, etc.) according to the

Teaching function This function stores the address positioned with manual control into the "[Da.6] Positioning address/

Command in-position function This function calculates the remaining distance for the Simple Motion module to reach the positioning stop

Acceleration/deceleration processing function

Deceleration start flag function

Follow up function This function monitors the motor rotation amount with the servo turned OFF, and reflects it on the feed

Speed control 10  multiplier setting for degree axis function

Operation setting for incompletion of home position return function

and carries out the next positioning.

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.

movement amount" having the designated positioning data No. ([Cd.39]).

position. When the value is less than the set value, the "command in-position flag" is set to "1". When using another auxiliary work before ending the control, use this function as a trigger for the sub work.

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.

current 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 setting continuous path control for position control. It cannot be set to

be invalid with parameters.

3 FUNCTION LIST

3.1 Control Functions

Page 38

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

Execution data backup function This function writes the execution data being used in the control into the flash ROM/internal memory

External input signal select function [RD77MS]

Link device external signal assignment function [RD77GF]

History monitor function This function monitors start history and current value history of all axes.

Amplifier-less operation function This function executes the positioning control of Simple Motion module without connecting to the servo

Virtual servo amplifier function This function executes the operation as the axis (virtual servo amplifier axis) that operates only command

Driver communication function [RD77MS] This function uses the "Master-slave operation function" of servo amplifier. The Simple Motion module

Mark detection function This function is used to latch any data at the input timing of the mark detection signal (DI).

Optional data monitor function [RD77MS] This function is used to store the data selected by user up to 4 data per axis to buffer memory and monitor

Event history function This function collects errors and event information occurred in the Simple Motion module in the CPU

Connect/disconnect function of SSCNET communication [RD77MS]

Servo cyclic transmission function [RD77GF] This function reads and writes objects of slave devices with cyclic transmission.

Servo transient transmission function [RD77GF] This function reads and writes objects of slave devices with transient transmission.

Online module change [RD77MS] Allows to replace a module without stopping the system. For procedures for the online module change,

Test mode This mode executes the test operation and adjustment of axes using an engineering tool.

Servo parameter change function [RD77GF] This function transfers servo parameters. Servo parameters, which are controlled by servo amplifiers, can

Hot line forced stop function This function is used to execute deceleration stop safety for other axes when the servo alarm occurs in the

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

(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), proximity dog signal (DOG), and stop signal (STOP)). The function enables the assignment of external input signal of each axis to any terminals of the external input connection connector on the Simple Motion module. [RD77GF] This function sets the input type and signal logic for each external input signal of each axis (upper/lower stroke limit signal (FLS/RLS), proximity dog signal (DOG), and stop signal (STOP)).

This function assigns link devices to external signals of the Simple Motion module.

amplifiers. It is used to debug the program at the start-up of the device or simulate the positioning operation.

(instruction) virtually without servo amplifiers.

controls the master axis and the slave axis is controlled by data communication between servo amplifiers (driver communication) without Simple Motion module.

them.

module, and saves them to an SD memory card. The error history can be checked 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 SSCNET cables.

refer to the following. MELSEC iQ-R Online Module Change Manual

be changed with a Simple Motion module.

servo amplifier MR-JE-B(F).

3 FUNCTION LIST

3.1 Control Functions

Page 39

3.2 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 : Combination not possible

Main functions Combination with operation pattern

Home position return control

Major positioning control Position control 1-axis linear control 

Manual control JOG operation, inching operation 

Expansion control Speed-torque control 

Machine home position return control 

Fast home position return control 

2-, 3-, or 4-axis linear interpolation control 

1-axis fixed-feed control  (Continuous path control cannot be set)

2-, 3-, or 4-axis fixed-feed control (interpolation)  (Continuous path control cannot be set)

2-axis circular interpolation control 

3-axis helical interpolation control 

Speed control (1- to 4-axis)  (Only independent positioning control can be set)

Speed-position switching control  (Continuous path control cannot be set)

Position-speed switching control  (Only independent positioning control can be set)

Other control Current value changing  (Continuous path control cannot be set)

NOP instruction 

JUMP instruction 

LOOP to LEND

Manual pulse generator operation 

Advanced synchronous control (output axis) 

*1 The operation pattern is one of the "positioning data" setting items.

3 FUNCTION LIST

3.2 Combination of Main Functions and Sub Functions

Page 40

Combination of main functions and sub functions

: Combination possible : Combination limited : Combination not possible

Main functions Functions characteristic to

machine home position return

Home position return control

Major positioning control

Manual control

Expansion control

Home position return retry function

Machine home position return control *1[RD77MS]

Fast home position return control 

Position control

Speed control (1- to 4-axis) 

Speed-position switching control 

Position-speed switching control

Other control

JOG operation, inching operation 

Manual pulse generator operation 

Speed-torque control 

Advanced synchronous control (output axis)

1-axis linear control 

2-, 3-, or 4-axis linear interpolation control

1-axis fixed-feed control 

2-, 3-, or 4-axis fixed-feed control (interpolation)

2-axis circular interpolation control

3-axis helical interpolation control

Current value changing 

NOP instruction

JUMP instruction 

LOOP to LEND



[RD77GF]





Home position shift function

[RD77MS] *3[RD77GF]

Functions that compensate control

Backlash compensation

Electronic gear function

function

[RD77MS] *3[RD77GF]

Near pass function

[RD77MS]

 [RD77GF]

*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 Availability of the function depends on the home position return specifications of the servo amplifier.

3 FUNCTION LIST

3.2 Combination of Main Functions and Sub Functions

Page 41

: Always combine : Combination possible : Combination limited : Combination not possible

Main functions Functions that limit control

Home position return control

Major positioning control

Manual control

Expansion control

Speed limit function

Machine home position return control [RD77MS]

Fast home position return control 

Position control

Speed control (1- to 4-axis) 

Speed-position switching control 

Position-speed switching control

Other control

JOG operation, inching operation 

Manual pulse generator operation 

Speed-torque control 

Advanced synchronous control (output axis)

1-axis linear control 

2-, 3-, or 4-axis linear interpolation control

1-axis fixed-feed control 

2-, 3-, or 4-axis fixed-feed control (interpolation)

2-axis circular interpolation control

3-axis helical interpolation control

Current value changing 

NOP instruction 

JUMP instruction 

LOOP to LEND



[RD77GF]





Torque limit function

[RD77MS] *1[RD77GF]

Software stroke limit function

[RD77MS] *1[RD77GF]

Hardware stroke limit function

[RD77MS] *1[RD77GF]

Forced stop function

[RD77MS] *1[RD77GF]

*1 Availability of the function depends on the home position return specifications of the servo amplifier.

3 FUNCTION LIST

3.2 Combination of Main Functions and Sub Functions

Page 42

: Combination possible : Combination limited : Combination not possible

Main functions Functions that change control details

Home position return control

Major positioning control

Manual control

Expansion control

Speed change function

Machine home position return control *1[RD77MS]

[RD77GF]

Fast home position return control 

Position control

Speed control (1- to 4-axis) 

Speed-position switching control 

Position-speed switching control

Other control

JOG operation, inching operation 

Manual pulse generator operation 

Speed-torque control 

Advanced synchronous control (output axis)

1-axis linear control 

2-, 3-, or 4-axis linear interpolation control

1-axis fixed-feed control 

2-, 3-, or 4-axis fixed-feed control (interpolation)

2-axis circular interpolation control

3-axis helical interpolation control

Current value changing 

NOP instruction

JUMP instruction 

LOOP to LEND





Override function

*1[RD77MS] [RD77GF]



Acceleration/ deceleration time change function

*1[RD77MS] [RD77GF]



Torque change function

Tar get position change function

[RD77MS] [RD77GF]





*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

3.2 Combination of Main Functions and Sub Functions

Page 43

: Combination possible : Combination limited : Combination not possible

Main functions Functions

related to positioning start

Pre-reading start function

Home position return control

Major positioning control

Manual control

Expansion control

Machine home position return control [RD77MS]

Fast home position return control 

Position control

Speed control (1- to 4-axis) 

Speed-position switching control 

Position-speed switching control 

Other control

JOG operation, inching operation 

Manual pulse generator operation 

Speed-torque control 

Advanced synchronous control (output axis)

1-axis linear control 

2-, 3-, or 4-axis linear interpolation control

1-axis fixed-feed control 

2-, 3-, or 4-axis fixed-feed control (interpolation)

2-axis circular interpolation control

3-axis helical interpolation control

Current value changing 

NOP instruction 

JUMP instruction 

LOOP to LEND





Functions related to positioning stop

Step function Stop

command processing for deceleration stop function

[RD77GF]

Other functions

Skip function M code output

function



*1 Change the current value using the positioning data. Disabled for a start of positioning start No. 9003.

3.2 Combination of Main Functions and Sub Functions

3 FUNCTION LIST

Page 44

: Combination possible : Combination limited : Combination not possible

Main functions Other functions

Teaching function

Home position return control

Major positioning control

Manual control

Expansion control

Machine home position return control

Fast home position return control

Position control

Speed control (1- to 4-axis) 

Speed-position switching control

Position-speed switching control

Other control

JOG operation, inching operation

Manual pulse generator operation

Speed-torque control 

Advanced synchronous control (output axis)

1-axis linear control

2-, 3-, or 4-axis linear interpolation control

1-axis fixed-feed control

2-, 3-, or 4-axis fixed-feed control (interpolation)

2-axis circular interpolation control

3-axis helical interpolation control

Current value changing

NOP instruction 

JUMP instruction 

LOOP to LEND

[RD77MS]























Command in-position function

Acceleration/ deceleration processing function

[RD77GF]

Deceleration start flag function

Speed control 10  multiplier setting for degree axis function

Operation setting for incompletion of home position return function

[RD77MS]

[RD77GF]





*7





*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.

MELSEC iQ-R Simple Motion Module User's Manual (Application) *7 Refer to the following for details.

MELSEC iQ-R Simple Motion Module (Advanced Synchronous Control)

3 FUNCTION LIST

3.2 Combination of Main Functions and Sub Functions

Page 45

3.3 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

Fixed-cycle communication The communication cycle of the Simple Motion module is fixed cycle. Communicates with slave modules

Communications with other stations

Access to devices and link devices

Cyclic data integrity assurance

Interlink transmission Transfers data in the link devices of the master station to another network module on a relay station.

Mode selection for cyclic transmission Selects the mode for optimizing the performance of cyclic transmission based on the cyclic transmission

Input status setting for data link faulty station

Output status setting for CPU STOP Selects whether cyclic data output is held or cleared when the CPU module mounted with a Simple

Output status setting for CPU stop error Selects whether cyclic transmission output is held or cleared when a stop error occurs in the CPU module

Cyclic transmission stop and restart Stops the cyclic transmission during debugging and other operations. (Data reception from a slave station

*1 When the software version of the Simple Motion module is "Ver.01":

The set parameter is ignored in the Simple Motion module and operate as "Disable" in station-based units. Assure data using interlock

programs as required.

When the software version of the Simple Motion module is "Ver.02" or later:

To enable data assurance in an asynchronous station, read/write data by direct access in the inter-module synchronous interrupt

program (I44) without using a link refresh. *2 When the software version of the Simple Motion module is "Ver.01":

The set parameter is ignored in the Simple Motion module and operate as "Hold". Add "Data link status of each station" (SW00B0 to

SW00B7) to an interlock of the program as required.

Communications using RX and RY

Communications using RWr and RWw

Link refresh Automatically transfers data between the link device of the Simple Motion module and the device of the

Direct access to link devices

in a cycle set in the inter-module synchronization cycle setting.

Communicates I/O data in units of bits between the master station and other stations.

Communicates I/O data in units of words between the master station and other stations.

CPU module

Directly accesses the link devices of the Simple Motion module from a program.

Assures the cyclic data integrity in units of 32 bits or station-based units.

and transient transmission frequency.

Selects whether input data from another station where a data link error occurs is cleared or held.

Motion module is set to STOP.

which a Simple Motion module is mounted with.

and data sending from the own station are stopped.) Also, the stopped cyclic transmission is restarted. Transient transmission does not stop.

Transient transmission

Function Description

Communications within the same network Performs the transient transmission to other stations using dedicated instructions and the engineering

Communications with different networks Performs the transient transmission seamlessly to stations on different networks using dedicated

Dedicated instruction An instruction for using functions of modules. (MELSEC iQ-R Programming Manual (CPU Module

tool.

instructions and the engineering tool.

Instructions, Standard Functions/Function Blocks))

RAS

Function Description

Slave station disconnection (only for asynchronized stations)

Automatic return Automatically returns the station disconnected from the network due to a data link error to the network

Disconnects only the slave station where an error occurs, and continues the data link with the stations that are operating normally. In a line topology, all stations connected after the faulty station are disconnected.

when it recovers and restarts data link.

3 FUNCTION LIST

3.3 List of RD77GF Network Function

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

Diagnostics of own network

Diagnostics of other network

Cable test Checks the connection status of the Ethernet cables.

Communication test Checks whether the communication route for transient transmission from the own station to the

IP communication test Checks whether no error occurs in the communication path when the IP packet transfer function is used.

causes, and corrective actions can be checked in the engineering tool.

destination station is correct or not.

Others

Function Description

CC-Link IE Field Network synchronous communication function

Reserved station specification Specifies stations reserved for future use. The reserved stations are not actually connected, but counted

Temporary cancel of the reserved station setting (only for asynchronized stations)

Error invalid station and temporary error invalid station setting

IP packet transfer function Enables communications in a protocol such as FTP and HTTP using the specified IP address of an

Automatic detection of connected devices Reduces the time of setting parameters by automatically reading information of slave stations.

iQ Sensor Solution data backup/restoration function

Safety communication function Establishes a safety connection and enables one-on-one safety communications periodically between

*1 When the network synchronization communication is performed with local stations, set the inter-module synchronization cycle to any of

the following.

 0.50 ms

 1.00 ms

 2.00 ms

 4.00 ms

For the inter-module synchronization cycle when the network synchronization communication is performed with the slave stations other

than local stations, refer to the manual for the slave station used.

For the setting method of the inter-module synchronization cycle, refer to the following.

MELSEC iQ-R Inter-Module Synchronization Function Reference Manual

Synchronizes control intervals between slave stations over CC-Link IE Field Network according to synchronization cycle specified in the master station. This allows different slave stations on the same network to operate with the same timing. (MELSEC iQ-R Inter-Module Synchronization Function Reference Manual)

as connected stations. The stations are not detected as faulty stations even though they are not actually connected.

Temporarily cancels the reserved station specification without changing the parameters.

Prevents the master station from detecting a slave station as a faulty station even if the slave station is disconnected during data link. This function is used to replace a slave station during data link, for instance.

Ethernet device, over CC-Link IE Field Network. With this function, two networks of CC-Link IE Field Network and Ethernet are not required, resulting in reduced wiring cost.

For details, refer to the following. (iQ Sensor Solution Reference Manual)

Backs up the setting data of the slave station into the SD memory card of the CPU module on the master station. The setting data backed up on the SD memory card of the CPU module on the master station is restored into the slave module. For details, refer to the following. (MELSEC iQ-R CPU Module User's Manual (Application))

safety stations in the same network.

3 FUNCTION LIST

3.3 List of RD77GF Network Function

Page 47

4 PROCEDURES BEFORE OPERATIONS

4.1 Procedures before Operation of the RD77MS

This chapter describes the procedures before operation of the RD77MS.

1. 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

2. Wiring

Connect the Simple Motion module 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. MELSEC iQ-R Simple Motion Module User's Manual (Application)

5. Auto refresh setting

Set values for the refresh settings using an engineering tool.

For details, refer to the following. MELSEC iQ-R Simple Motion Module User's Manual (Application)

6. Checking connection

Check that the Simple Motion module is connected to external devices correctly.

7. Programming

Create programs.

For details, refer to the following. MELSEC iQ-R Simple Motion Module User's Manual (Application)

8. Te st m o de

Execute the test operation using an engineering tool.

For details, refer to the following. MELSEC iQ-R Simple Motion Module User's Manual (Application)

9. Test operation

Check that the positioning is correctly carried out as designed.

4 PROCEDURES BEFORE OPERATIONS

4.1 Procedures before Operation of the RD77MS

Page 48

4.2 Procedures before Operation of the RD77GF

This chapter describes the procedures before operation of the RD77GF.

1. 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

2. Wiring

Connect the Simple Motion module to external devices.

3. Adding the module

Add the RD77GF to the module map of the project using an engineering tool.

4. Module setting (system parameter)

[When the software version of the Simple Motion module is "Ver.04" or before]

The RD77GF uses the CC-Link IE Field Network synchronous communication function. Therefore, the inter-module

synchronization function needs to be set.

Set the inter-module synchronization in "System parameter" of the engineering tool.

• Set the RD77GF as the synchronization target module in the inter-module synchronization setting.

• Set any of 0.50 ms, 1.00 ms, 2.00 ms, or 4.00 ms as the inter-module synchronous cycle according to the number of

control axes and network device configuration.

A reference of the inter-module synchronization cycle that can be set is shown below. The cycle that can be

set depends on the control and number of link devices. If processing in the Simple Motion module is not

completed within the inter-module synchronization cycle, it may cause the warning "Synchronization cycle

time over" (warning code: 0CC0H), the error "Inter-module synchronization process error" (error code:

2600H), or "Operation cycle time over error" (error code: 193FH), etc.

The following number of setting stations is for the case that 1 to 16 stations are set to the MR-J4-GF (Motion

Mode), and 17 to 120 stations are set to 160 points (RX/RY) and 72 points (RWw/RWr) per station on

average.

• 1 to 4 stations: 0.50 ms (It is recommended to set "[Pr.152] Maximum number of control axes" based on the

number of axes.)

• 5 to 13 stations: 1.00 ms (It is recommended to set "[Pr.152] Maximum number of control axes" based on

the number of axes.)

• 14 to 64 stations: 2.00 ms

• 65 to 120 stations: 4.00 ms

[When the software version of the Simple Motion module is "Ver.05" or later]

Set the inter-module synchronization function as required.

The CC-Link IE Field Network synchronous communication cycle is set to the inter-module synchronization

cycle when using the inter-module synchronization. When not using the inter-module synchronization, it

depends on "[Pr.96] Operation cycle setting".

Adjust the setting cycle depending on the control and number of link devices and stations. If processing in the

Simple Motion module is not completed within the cycle that is set, it may cause the warning "Synchronization

cycle time over" (warning code: 0CC0H), the error "Inter-module synchronization process error" (error code:

2600H), or "Operation cycle time over error" (error code: 193FH), etc.

For details, refer to the following.

MELSEC iQ-R Simple Motion Module User's Manual (Application) MELSEC iQ-R Inter-Module Synchronization Function Reference Manual

4 PROCEDURES BEFORE OPERATIONS

4.2 Procedures before Operation of the RD77GF

Page 49

5. 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" when the MR-J4-GF is used) are used as the axis 1 to 32.

For details, refer to the following.

MELSEC iQ-R Simple Motion Module User's Manual (Network) MELSEC iQ-R Simple Motion Module User's Manual (Application) CC-Link IE Field Network Interface Servo Amplifier Instruction Manual (Motion Mode)

6. Module setting (module extended parameter)

Configure the setting related to axis control in "Module Extended Parameter" of the engineering tool.

For details, refer to the following. MELSEC iQ-R Simple Motion Module User's Manual (Application)

7. Auto refresh setting

Set the link refresh settings in "Basic Settings" of Module Parameter (Network).

For details, refer to the following. MELSEC iQ-R Simple Motion Module User's Manual (Network)

Set the refresh setting for monitor data of axis control in Module Parameter (Motion).

For details, refer to the following. MELSEC iQ-R Simple Motion Module User's Manual (Application)

8. Programming

Create programs.

For details, refer to the following. Page 72 List of labels to be used

Note the following when using the inter-module synchronization function.

• Always create an inter-module synchronous interrupt program (I44) and enable interrupt (EI instruction). If a sequence

program does not include "I44" or "EI", I/O signals (X/Y) of the RD77GF may not be refreshed. Even when control of the

RD77GF does not need to be synchronized with the inter-module synchronization cycle, create an empty inter-module

synchronous interrupt program (I44).

For details, refer to the following.

MELSEC iQ-R Inter-Module Synchronization Function Reference Manual MELSEC iQ-R Programming Manual (Program Design)

9. Writing parameters

Write the set parameters and programs to the CPU module.

• "Simple Motion Module" or "CPU module (including an SD memory card inserted into the CPU module)" can be selected as

a parameter storage location of module extended parameters. The initial setting is "Simple Motion Module". When writing

module extended parameters, specify the same storage location in the writing destination of the engineering tool as

"Module extended parameter storage location setting" in "Module operation setting" of Module Parameter (Motion).

For details, refer to the following. MELSEC iQ-R Simple Motion Module User's Manual (Application)

10. Network diagnostics

Using network diagnostics, check if the cables are connected properly and communication are performed normally with the

configured parameters.

For details, refer to the following. MELSEC iQ-R Simple Motion Module User's Manual (Network)

4 PROCEDURES BEFORE OPERATIONS

4.2 Procedures before Operation of the RD77GF

Page 50

11. 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)

• Set Function selection T-3 (PT29) to "_ _ _ 1" (Dog detection with on). (To use signals other than servo amplifier as external

input signals.)

In addition, it is recommended to set the following parameter.

• Set Function selection D-4 (PD41) to "_ 1 _ _" (Stroke limit enabling condition selection: Enabled only for home position

return mode).

Set the followings to use the linear servo motor control mode, direct drive motor control mode and fully closed loop control

mode.

Operation mode Setting

Linear servo motor control mode

Direct drive motor control mode • Set the operation mode (PA01) to "_ _ 6 _" (DD motor control mode).

Fully closed loop control mode • Set the operation mode (PA01) to "_ _ 1 _" (Fully closed loop control mode).

*1 When the software version of the Simple Motion module is "Ver.01":

The connection with MR-J4-GF (linear servo motor control mode) is not supported.

If connected, the error "Connection servo amplifier speed unit setting error" (error code: 1CBDH) occurs and the target axis becomes

disconnected.

For details, refer to the following. CC-Link IE Field Network Interface Servo Amplifier Instruction Manual (Motion Mode)

• Set the operation mode (PA01) to "_ _ 4 _" (Linear servo motor control mode).

• Set "[Cd.133] Semi/Fully closed loop switching request" to "1: Fully closed loop control". The switching status of semi closed loop control/fully closed loop control is displayed in "[Md.113] Semi/Fully closed loop status".

12. Te s t m o de

Execute the test operation using an engineering tool.

For details, refer to the following. MELSEC iQ-R Simple Motion Module User's Manual (Application)

13. Test operation

Check that the program is correctly carried out as created

4 PROCEDURES BEFORE OPERATIONS

4.2 Procedures before Operation of the RD77GF

Page 51

5 NETWORK CONFIGURATION OF RD77GF

Star topology Line topology

Star and line mixed

Switching hub

Switching hub Switching hub

Line topology

Fault

(1)

5.1 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.

Item Description

Star topology The network is configured into a star shape using a switching hub and Ethernet cables. Slave stations can be easily added

Line topology The network is configured into a line using Ethernet cables. A switching hub is not required.

*1 Add/remove slave stations one by one. If multiple slave stations are added/removed at a time, all stations on the network will be

reconnected, and an error may momentarily occur in all the stations.

to the network using this topology. When an error occurs in a slave station, data link can be continued with the stations that are operating normally.

When an error occurs in a slave station, the stations connected after the faulty station will be disconnected.

(1)Master station (station No.0)

5 NETWORK CONFIGURATION OF RD77GF

5.1 CC-Link IE Field Network Configuration

Page 52

■Ring topology

Ring topology

Ring topology is not available.

(1) (2) (3) (4)

Switching hub

Up to 4-layer

cascade connection

The Simple Motion module does not support ring topology.

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

Cascade connection

Cascade connection is available up to 4 levels.

When mounting with the Safety CPU

When the Simple Motion module is mounted with the Safety CPU, safety communications is available in addition to the

standard communications (cyclic transmission and transient transmission).

For details on the safety communications, refer to the following. MELSEC iQ-R Simple Motion Module User's Manual (Network)

5 NETWORK CONFIGURATION OF RD77GF

5.1 CC-Link IE Field Network Configuration

Page 53

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" (SB0099). Number of connected modules

detected by "Number of connected modules over occurrence status" (SB0099) is the total of the slave

stations which are currently connected and the disconnected stations (slave stations which were previously

connected).

• The number of stations which were previously connected can be cleared by executing the network map

update of the CC-Link IE Field Network diagnostics. (MELSEC iQ-R Simple Motion Module User's

Manual (Network))

• A data link error may momentarily occur in all the stations and outputs of the connected slave stations may

turn off since all stations on the network will be reconnected when executing the network map update. Set output data if needed. (Page 52 Output hold when a data link error occurs)

Connecting/disconnecting a cable and powering off/on a device

If the following operations are performed, the actual network configuration and the network map of the CC-Link IE Field

Network diagnostics may be a mismatch. Whether mismatch is occurred or not can be checked using "Network configuration

mismatch occurrence status" (SB0098).

In addition, if the following operations are performed, an alarm (communication error) may occur in the station in which the

synchronization communication is performed or a data link error may momentarily occur in all the stations and outputs of the

connected slave stations may turn off. An operation cycle time over error or an inter-module synchronization cycle over error

may be detected in the Simple Motion module. Check parameters related to output hold setting, inter-module synchronization

cycle, and alarm detection for slave stations again if needed.

Network configuration Operation

Star topology • Powering off and on a slave station or switching hub

• Connecting/disconnecting an Ethernet cable connected to the switching hub

• Disconnecting an Ethernet cable from a slave station and connecting it to another slave station or a switching hub

• Disconnecting more than 9 stations, or half the number of slave stations or more in the system

• Changing the network topology when adding a slave station

Line topology • Simultaneously powering off/on multiple stations

• Simultaneously connecting/disconnecting Ethernet cables to/from multiple stations (When a data link faulty station returns, a data link error will occur in all the stations.)

• Disconnecting more than 9 stations, or half the number of slave stations or more in the system

• Changing the network topology when adding a slave station

The actual network configuration and network map can be matched by executing the network map update of the CC-Link IE Field Network diagnostics. (MELSEC iQ-R Simple Motion Module User's Manual

(Network))

A data link error may momentarily occur in all the stations and outputs of the connected slave stations may

turn off since all stations on the network will be reconnected when executing the network map update. Set output data if needed. (Page 52 Output hold when a data link error occurs)

5 NETWORK CONFIGURATION OF RD77GF

5.1 CC-Link IE Field Network Configuration

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"  "Supplementary Cyclic Settings"  "I/O Maintenance Settings"  "Data Link Error Station Setting"

■For a head module whose serial No. (first five digits) is "12071" or earlier

Select the "Hold" in the following setting using GX Works2.

Navigation window  "Parameter"  "PLC Parameter"  [I/O Assignment] tab  [Detailed Setting] button  "Error

Time Output Mode"

This setting is not required for a head module whose serial No. (first five digits) is "12072" or later.

Connected station Nos.

Do not duplicate station Nos. Data link may be stopped when the station No. is duplicated.

Power-on order

To avoid incorrect input from slave stations, power on slave stations before the master station.

Processing time during connection

When the servo amplifier is reconnected during transient communication (such as dedicated instruction, transient

transmission function, communication with an engineering tool), it may take some time to complete the connection.

5 NETWORK CONFIGURATION OF RD77GF

5.1 CC-Link IE Field Network Configuration

Page 55

5.2 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.

Connecting devices to the CPU module (built-in Ethernet port part)

When connecting devices to the CPU module (built-in Ethernet port part), power off the CPU module before connection.

5 NETWORK CONFIGURATION OF RD77GF

5.2 Precautions for System Configuration

Page 56

6 WIRING

6.1 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.

Caution for wiring

CAUTION

• Check the layout of the terminals and then properly route the wires to the module.

• The external input wiring connector 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 SSCNET cable to the bottom connector on the module.

• 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 should 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 external input/output signal cable and the power line must be adjacently laid (less than 100 mm (3.94 inch)), use a shielded cable. Ground the shield of the cable securely to the control panel on the Simple Motion module side.

• Forcibly removal the SSCNET cable from the Simple Motion module will damage the Simple Motion module and SSCNET cables.

• After removal of the SSCNET cable, be sure to put a cap on the SSCNET connector. Otherwise, adhesion of dirt deteriorates in characteristic and it may cause malfunctions.

• Do not remove the SSCNET cable while turning on the power supply of Simple Motion module and servo amplifier. Do not see directly the light generated from SSCNET connector and the end of SSCNET cable. When the light gets into eye, may feel something wrong with eyes.(The light source of SSCNET cable complies with class1 defined in JISC6802 or IEC60825-1.)

• If a power such as a major shock, lateral pressure, haul, sudden bending or twist is added to the SSCNET cable, it distorts or breaks inside and optical transmission is not be available. Note that the short SSCNET cable can be twisted easily.

• Be sure to use the SSCNET cable within the range of operating temperature described in each servo amplifier instruction manual. Especially, as optical fiber for MR-J3BUS_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 SSCNET cable, be sure to secure the minimum cable bend radius or more.

• 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 w eight on SSCNET 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.

6 WIRING

6.1 Wiring of the RD77MS

Page 57

CAUTION

Cable

Optical cord

SSCNETµ cable Cord Cable

MR-J3BUS_M

MR-J3BUS_M-A

MR-J3BUS_M-B

: Normally, cable is not affected by plasticizer. : Phthalate ester plasticizer such as DBP and DOP may affect optical characteristic of cable.

• 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 cable. However, some wire sheaths and cable ties, which contain migrating plasticizer (phthalate ester), may affect MRJ3BUS_M and MR-J3BUS_M-A cables (made of plastic). In addition, MR-J3BUS_M-B cable (made of quartz glass) is not affected by plasticizer.

• If the adhesion of solvent and oil to the cord part of SSCNET cable may lower the optical characteristic and machine characteristic. To use the cable in that environment, be sure to do the protection measures to the cord part.

• 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 SSCNET connector.

• To protect a light device inside a connector from dust, a cap is attached to the SSCNET connector for the SSCNET cable. Therefore, do not remove a cap until just before connecting the SSCNET cable. Also, when removing the SSCNET cable, make sure to attach a cap.

• Keep the cap and the tube for protecting light cord end of SSCNET cable in a plastic bag with a zipper included with the SSCNET cable to prevent them from becoming dirty.

• When exchanging the Simple Motion module or servo amplifier, make sure to attach a cap to the SSCNET connector. When asking repair of Simple Motion module or servo amplifier for some troubles, make also sure to attach a cap to the SSCNET 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

module side.

• Use separate shielded cables for the external input signal, forced stop input, and manual pulse generator/incremental

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. MELSEC iQ-R Module Configuration Manual

or more). The shielded must be grounded on the Simple Motion

6 WIRING

6.1 Wiring of the RD77MS

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.

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.

■Minimum 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 SSCNET 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 attention for avoiding the case that SSCNET cable is hold down by the door and the cable bend

becomes smaller than the minimum bend radius.

Model name of SSCNETIII 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)

■Tensio n

If tension is added on the SSCNET cable, the increase of transmission loss occurs because of external force which concentrates on the fixing part of SSCNET cable or the connecting part of SSCNET connector. At worst, the breakage of SSCNET cable or damage of SSCNET connector may occur. For cable laying, handle without putting forced tension. (Refer to each servo amplifier instruction manual for the tension strength of SSCNET cable.)

■Lateral pressure

If lateral pressure is added on the SSCNET cable, the cable itself distorts, internal optical fiber gets stressed, and then transmission loss will increase. At worst, the breakage of SSCNET cable may occur. As the same condition also occurs at cable laying, do not tighten up SSCNET 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.

■Twisti n g

If the SSCNET 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 SSCNET cable may occur at worst.

■Disposal

When incinerating optical cable (cord) used for SSCNET cable, hydrogen fluoride gas or hydrogen chloride gas which is corrosive and harmful may be generated. For disposal of SSCNET cable, request for specialized industrial waste disposal

services that have incineration facility for disposing hydrogen fluoride gas or hydrogen chloride gas.

6 WIRING

6.1 Wiring of the RD77MS

Page 59

■Wiring process of SSCNET cable

RD77MS4

ERRRUN

Top of panel or wiring duct

Base unit

30 mm (1.18 inch) or more

70 mm (2.76 inch) or more

119 mm

(4.69 inch)

80 mm

(3.15 inch)

or more

Panel

Door

5 mm (0.20 inch) or more

RD77MS

Bundle material Recommended product NK clamp SP type (NIX, INC.)

Cable

Optical cord Loose slack

Base unit

RD77MS

Panel

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

*1 For wiring duct with 50 mm (1.97 inch) or less height. For other cases, 40 mm (1.58 inch) or more. *2 20 mm (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 cushioning such as sponge or rubber which does not contain

plasticizing material.

6.1 Wiring of the RD77MS

6 WIRING

Page 60

Example of measure against noise for compliance with the EMC directive

Control panel: EC-SCF25-78 (Nitto Kogyo Corporation)

CPU

module

Power supply

module

AC power

supply

External input signal cable

SSCNETµ cable

: AD75CK cable clamp

Manual pulse generator, 24 V DC power supply for EMI, External input device, etc.

Servo amplifier

RD77MS

*1 Ground the cables at a position within 30 cm (11.82 inch) from the module with the cable clamp. *2 Wire the power supply cable as short as possible using the twisted cable (2 mm *3 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 (32.81 ft.) or less)

*4 Wire the power supply module as short as possible using the cable of approx. 2 mm

terminal.

or more).

, and ground to the control panel from the FG/LG

• Refer to this chapter or "EMC and Low Voltage Directives" of the following manuals for basic wire. We examined RD77MS

by the above example.

MELSEC iQ-R Module Configuration Manual Safety Guidelines (This manual is included with the base unit.)

• In wiring inside the panel, the power line connected to the power or servo amplifier and the communication cable such as

an expansion cable or a network cable must not be mixed. In the duct, leave 10 cm (3.94 inch) or more between the power

line and the 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.

6 WIRING

6.1 Wiring of the RD77MS

Page 61

6.2 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 (Front view of the module)

2B20 2B19 2B18 2B17 2B16 2B15 2B14 2B13 2B12 2B11 2B10 2B9 2B8 2B7 2B6 2B5 2B4 2B3 2B2 2B1

2A20 2A19 2A18 2A17 2A16 2A15 2A14 2A13 2A12 2A11 2A10 2A9 2A8 2A7 2A6 2A5 2A4 2A3 2A2 2A1

1B20 1B19 1B18 1B17 1B16 1B15 1B14 1B13 1B12 1B11 1B10 1B9 1B8 1B7 1B6 1B5 1B4 1B3 1B2 1B1

Pin No. Signal name Pin No. Signal name Pin No. Signal name Pin No. Signal name

2B20 No connect

1A20

2B19 2A19 1B19 HA

1A19 1A18

2B18 2A18 1B18 HBL

1A17 1A16

2B17 2A17 1B17 HAL

1A15

2B16 2A16 1B16 No connect

1A14 1A13

2B15 2A15 1B15 5 V

1A12 1A11

2B14 2A14 1B14 SG

1A10

2B13 2A13 1B13 No connect

1A9 1A8

2B12 2A12 1B12 1A12

1A7 1A6

2B 11 2A 11 1B11 1A11

1A5

2B10 2A10 1B10 1A10

1A4 1A3

2B9 2A9 1B9 1A9

1A2 1A1

2B8 2A8 1B8 EMI. COM 1A8 EMI

2A20 No connect

2B7 COM 2A7 COM 1B7 COM 1A7 COM

2B6 COM 2A6 COM 1B6 COM 1A6 COM

2B5 SIN20

2B4 SIN19

2B3 SIN18

2B2 SIN17

2B1 SIN16

2A5 SIN15

2A4 SIN14

2A3 SIN13

2A2 SIN12

2A1 SIN11

1B20 HB

1B5 SIN10

1B4 SIN9

1B3 SIN8

1B2 SIN7

1B1 SIN6

*1, *2, *3

*1, *2, *4

1A20 5 V

1A19 5 V

1A18 HBH

1A17 HAH

1A16 No connect

1A15 5 V

1A14 SG

1A13 No connect

1A5 SIN5

1A4 SIN4

1A3 SIN3

1A2 SIN2

1A1 SIN1

*1, *2, *4

RD77MS2 does not have the connector of 2A20 to 2A1 and 2B20 to 2B1.

*1 Input type from manual pulse generator/incremental synchronous encoder is switched in "[Pr.89] Manual pulse generator/Incremental

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) *2 Set the signal input form in "[Pr.24] Manual pulse generator/Incremental synchronous encoder input selection". *3 With the manual pulse generator/incremental synchronous encoder of voltage-output/open-collector type

Connect the A-phase/PULSE signal to HA, and the B-phase/SIGN signal to HB.

*4 With the manual pulse generator/incremental synchronous encoder of 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. *5 Do not connect to any terminals explained as "No connect". *6 Set the 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". *7 Do not use 1A20, 1A19, 1A(B)15 and 1A(B)14 for other than the power supply of manual pulse generator.

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6.2 External Input Connection Connector of the RD77MS

Page 62

List of input signal details

(a) Magnification by 4

Positioning address

[When increased]

[When decreased]

+1+1 +1 +1+1+1 +1 +1 -1 -1 -1 -1 -1 -1 -1 -1

Positioning address

(b) Magnification by 2

Positioning address

[When increased]

[When decreased]

+1+1 +1 +1+1+1 +1 +1 -1 -1 -1 -1 -1 -1 -1 -1

Positioning address

1) Positive logic

Positioning address

[When increased]

[When decreased]

+1 +1 +1 +1 -1 -1 -1 -1

Positioning address

2) Negative logic

Positioning address

[When increased]

[When decreased]

+1 +1 +1 +1 -1 -1 -1 -1

Positioning address

A-phase

B-phase

Positioning address

+1+1 +1 +1+1+1 -1 -1 -1 -1 -1 -1

Positioning address

PULSE

SIGN

PULSE

SIGN

LOW

Negative logic

[When increased] [When decreased]

PULSE

SIGN

LOW

PULSE

SIGN

HIGH

Positive logic

HIGH

Negative logic

Positive logic

Signal name Pin No. Signal details

Differentialoutput type

Manual pulse generator/ Incremental synchronous encoder Aphase/PULSE

Manual pulse generator/ Incremental synchronous encoder Bphase/SIGN

HAH

1A17 (1) A-phase/B-phase

(A+)

HAL (A-)

HBH (B+)

1B17

1A18

• Input the pulse signal from the manual pulse generator/incremental synchronous encoder A-phase and Bphase.

• If the A-phase leads the B-phase, the positioning address will increase at the rising and falling edges of each phase.

• If the B-phase leads the A-phase, the positioning address will decrease at the rising and falling edges of each phase.

HBL (B-)

Voltageoutput type/opencollector type

Manual pulse generator/ Incremental synchronous encoder Aphase/PULSE

Manual pulse generator/ Incremental synchronous encoder Bphase/SIGN

HA (A)

HB (B)

1B18

1B19

(2) PULSE/SIGN Input the pulse signal for counting the increased/decreased pulse in the pulse input (PULSE). Input the 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

• 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.

1B20

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6.2 External Input Connection Connector of the RD77MS

Page 63

Signal name Pin

Signal details

No.

Manual pulse generator power supply output (+ 5 V DC) (5 V)

Input signal (SIN) 1A1 to

Common (COM) 1A6

Forced stop input signal (EMI) 1A8 • This signal is input when batch forced stop is available for all axes of servo amplifier.

Forced stop input signal common (EMI.COM)

Manual pulse generator power supply output (+ 5 V DC) (5 V)

Manual pulse generator power supply output (GND) (SG)

1A20 1A19

1A5, 1B1 to 1B5, 2A1 to 2A5, 2B1 to 2B5

1A7 1B6 1B7 2A6 2A7 2B6 2B7

1B8

1A15 1B15

1A14 1B14

• Power supply for manual pulse generator. (+ 5 V DC)

Do not connect wires other than the signal wires of the manual pulse generator.

Upper limit signal (FLS) • This signal is input from the limit switch installed at the upper limit position of the

Lower limit signal (RLS) • This signal is input from the limit switch installed at the lower limit position of the

Proximity dog signal (DOG)

Stop signal (STOP) • Input this signal to stop positioning.

External command/ Switching signal (DI)

• Common for upper/lower limit, proximity dog, stop, and external command/switching signals.

EMI ON (Opened): Forced stop EMI OFF (24 V DC input): Forced stop release

• Power supply for manual pulse generator (+ 5 V DC) This power supply is used for manual pulse generator. It must not be used except for the manual pulse generator power supply.

• Power supply for manual pulse generator (GND) This power supply is used for manual pulse generator. It must not be used except for the manual pulse generator power supply.

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 proximity dog signal.

stroke.

• Positioning will stop when this signal turns OFF.

• When the home position return retry function is valid, this will be the lower limit for finding the proximity dog signal.

• This signal is used for detecting the proximity dog during the home position return.

• The proximity dog OFF  ON is detected at the rising edge.

• The proximity dog ON  OFF is detected at the falling edge.

• When this signal turns ON, the RD77MS will stop the positioning being executed. After that, even if this signal is turned from ON to OFF, the system will not start.

• Input a control switching signal during speed-position or position-speed switching control.

• Use this signal as the input signal of positioning start, speed change request, 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".

There are no signals of 2A_ and 2B_ at RD77MS2 use.

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6.2 External Input Connection Connector of the RD77MS

Page 64

Interface internal circuit

24 V DC

SIN (FLS,RLS)

SIN (DOG,STOP,DI)

COM

EMI

EMI.COM

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

_ _7

Upper-limit signal, Lower-limit signal, Proximity dog signal, Stop signal, External command signal, Switching signal, Forced stop input signal

Input External input signal*1

(Upper/Lower limit signal

External input signal (Proximity dog External command/Switching signal)

Common COM _ _6

Forced stop input signal EMI 1A8

, Stop,

SIN (FLS, RLS) _ _1 to 5

)

SIN (DOG, STOP, DI)

EMI.COM 1B8

*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 polarity, both "+" and "-" are possible.

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6.2 External Input Connection Connector of the RD77MS

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Manual pulse generator/Incremental synchronous encoder input

Internal circuit

Power supply

5 V DC

Manual pulse

generator/

Incremental

synchronous

encoder

5 V

■Interface between manual pulse generator/incremental synchronous encoder (Differentialoutput type)

Input or Output

Input

Signal name Pin No. Wiring example

When using the external power supply (Recommended)

*1,*2

Manual pulse generator, Aphase/PULSE

Manual pulse generator, Bphase/SIGN

HAH (A+)

HAL (A-)

HBH (B+)

HBL (B-)

1A17

1B17

1A18

1B18

Manual pulse

generator/

Incremental

synchronous

encoder

When using the internal power supply

Internal circuit

Power supply

1A15 1B15

1A14 1B14

External power supply 5 V DC

5 V

Power supply

5 V DC

*1 Set "0: Differential-output type" in "[Pr.89] Manual pulse generator/Incremental synchronous 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 Set the signal input form in "[Pr.24] Manual pulse generator/Incremental synchronous 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. *4 Be sure to connect the 0 V (-) of the manual pulse generator/incremental synchronous encoder and the SG of the Simple Motion

module.

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6.2 External Input Connection Connector of the RD77MS

Page 66

■Interface between manual pulse generator/incremental synchronous encoder (Voltage-output

Internal circuit

Power supply

5 V DC

Manual pulse

generator/

Incremental

synchronous

encoder

5 V

type/open-collector type)

Input or Output

Input

Power supply

Signal name Pin No. Wiring example

When using the external power supply (Recommended)

*1, *2

Manual pulse generator, Aphase/PULSE

Manual pulse generator, Bphase/SIGN

HA (A)

HB (B)

1B19

1B20

1A15 1B15

1A14 1B14

External power

supply 5 V DC

Manual pulse

generator/

Incremental

synchronous

encoder

5 V

Internal circuit

Power supply

5 V DC

When using the internal power supply

*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.

generator/incremental synchronous encoder. If a separate power supply is used, use a stabilized power supply of voltage 5 V DC.

Anything else may cause a failure. *4 Be sure to connect the 0 V (-) of the manual pulse generator/incremental synchronous encoder and the SG of the Simple Motion

module.

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/open-

collector 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 encoder whose current

consumption exceeds 200 mA.

6 WIRING

6.2 External Input Connection Connector of the RD77MS

Page 67

■Manual pulse generator/Incremental synchronous encoder of differential output type

RD77MS

HAH (A+)

HAL (A-)

HBH (B+)

HBL (B-)

5 V

HAH (A+)

HAL (A-)

HBH (B+)

HBL (B-)

5 V

0 V

RD77MS

HAH (A+)

HAL (A-)

HBH (B+)

HBL (B-)

5 V

HAH (A+)

HAL (A-)

HBH (B+)

HBL (B-)

5 V

0 V

When using the internal

power supply

Manual pulse generator/ Incremental synchronous encoder

External 5 V power supply

Twisted pair

Shield

When using the external

power supply (Recommended)

RD77MS

(A)

(B)

5 V

(A)

(B)

5 V

0 V

FG FG

RD77MS

HA (A)

HB (B)

5 V

(A)

HB (B)

5 V

0 V

FG FG

Manual pulse generator/ Incremental synchronous

Twisted pair

Shield Shield

External 5 V power supply

encoder

When using the internal

power supply

When using the external

power supply (Recommended)

■Manual pulse generator/Incremental synchronous encoder of voltage output type/opencollector type

6.2 External Input Connection Connector of the RD77MS

6 WIRING

Page 68

6.3 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

1. Push the Ethernet cable connector into the Simple Motion module until it clicks. Pay attention to the connector's

direction.

2. Lightly pull it to check that it is securely connected.

3. Check whether the LINK LED of the port connected with an Ethernet cable is on.

*1 The time between the cable connection and the LINK LED turning on may vary. The LINK LED usually turns on in a few seconds. Note,

however, that the time may be extended further if the link-up processing is repeated depending on the status of the device on the line. If the LINK LED does not turn on, refer to the following and take corrective actions. MELSEC iQ-R Simple Motion Module User's Manual (Application)

■Disconnecting the cable

1. Press the latch down and unplug the Ethernet cable.

Precautions for wiring Ethernet cables

• Connect a CC-Link IE Field Network cable to a CC-Link IE Field Network cable connector. Otherwise, failure may be

caused.

• Place the Ethernet cable 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 touch the core of the cable-side or module-side connector, and protect it from dirt or dust. If oil from your hand, dirt

or dust is attached to the core, it can increase transmission loss, arising a problem in data link.

• Check that the Ethernet cable is not disconnected or not shorted and there is no problem with the connector connection.

• Do not use Ethernet cables with broken latches. Doing so may cause the cable to unplug or malfunction.

• Hold the connector part when connecting and disconnecting the Ethernet cable. Pulling the cable connected to the module

may result in malfunction or damage to the module or cable.

• For connectors without Ethernet cable, attached connector cover should be placed to prevent foreign matter such as dirt or

dust.

• The maximum station-to-station distance of the Ethernet cable is 100 m. However, the length may be shorter depending on

the operating environment of the cable. For details, contact your cable manufacturer.

• The bend radius of the Ethernet cable is limited. For details, check the specifications of the Ethernet cable to be used.

• When connecting the Ethernet cable, refer to the CC-Link IE Field Network Cable Installation Manual available from the

website of CC-Link Partner Association (www.cc-link.org). The cable installation not following the contents of the manual

may cause malfunction.

6 WIRING

6.3 Wiring of the RD77GF

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

Category 5e or higher, straight cable (double shielded, STP) RJ45 connector The following conditioning cables:

• IEEE802.3 (1000BASE-T)

• ANSI/TIA/EIA-568-B (Category 5e)

■Hub

Use hubs that meet all the conditions listed below. Operation is not guaranteed if the hubs do not meet these conditions.

• Compliance with the IEEE802.3 (1000BASE-T)

• Support of the auto MDI/MDI-X function

• Support of the auto negotiation function

• Switching hub (layer 2 switch)

*1 A repeater hub is not available.

6 WIRING

6.3 Wiring of the RD77GF

Page 70

7 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.

7.1 Operation Examples

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. Note that the programs in

the list are the ones using the axis 1 only.

No. Program name Description

1 PLC READY signal [Y0] ON program Notifies the Simple Motion module that the CPU module is normal before the start of positioning control.

2 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.

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. Set the system structure setting and parameter setting of the Simple Motion module setting for the initial setting.

Page 70 System setting, Page 71 Parameters

2. Set the positioning data of the Simple Motion module setting.

Page 71 Positioning data

3. Program examples of each control

7 OPERATION EXAMPLES

7.1 Operation Examples

Page 71

System configuration

RD77MS16

ERRRUN

AX1-16

(1) (2) (3) (4) (5)

Servo amplifier (MR-J4-_B_)

Servo motor

External device

X40 to X5F

X20 to X3F

Axis 1

RD77GF16

ERRRUN

AX1-16 D LINK SD/RD

L ERR

L ER

LINK

Servo amplifier

(MR-J4-_GF_)

Servo motor

X40

X5F

X20

X3F

(1) (2) (3) (4) (5)

External device

Axis 1

The following figure shows the system configuration used for the program examples in this section.

[RD77MS]

(1) R61P (2) R16CPU (3) RD77MS16 (X0 to X1F/Y0 to Y1F) (4) RX40C7 (X20 to X3F) (5) RX40C7 (X40 to X5F)

[RD77GF]

(1) R61P (2) R16CPU (3) RD77GF16 (X0 to X1F/Y0 to Y1F) (4) RX10 (X20 to X3F) (5) RY10R2 (X40 to X5F)

7 OPERATION EXAMPLES

7.1 Operation Examples

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 0: mm

[Pr.2] Number of pulses per rotation (AP) 4194304 pulses

[Pr.3] Movement amount per rotation (AL) 250000.0 m

Detailed parameters 1 [Pr.22] Input signal logic selection: Lower limit 1: Positive logic

[Pr.22] Input signal logic selection: Upper limit 1: Positive logic

[Pr.116] FLS signal selection: input type 2: Buffer memory

[Pr.117] RLS signal selection: input type 2: Buffer memory

[Pr.118] DOG signal selection: input type 2: Buffer memory

Home position return basic parameters

[Pr.46] Home position return speed 50.00 mm/min

[Pr.47] Creep speed 15.00 mm/min

[Pr.48] Home position return retry 1: Retry home position return with limit switch

■Positioning 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.

Setting item (Axis 1 Positioning data) Setting value (Positioning

data No.1)

Operation pattern 0: Positioning complete

Control method 01h: ABS Linear 1

1-axis linear control (ABS)

Axis to be interpolated 

Acceleration time No. 0: 1000

Deceleration time No. 0: 1000

Positioning address -10000.0 m 2500.0 m 2000.0 m

Arc address 

Command speed 20.00 mm/min 180.00 mm/min 180.00 mm/min

Dwell time 300 ms 0 ms 300 ms

M code 9843 0 0

M code ON signal output timing 0: Use the setting value of M code ON signal output timing

ABS direction in degrees 0: Use the setting value of ABS direction setting at degree

Interpolation speed designation method 0: Use the setting value of interpolation speed designation method

Setting value (Positioning data No.2)

06h: FWD V/P Speed-position switching control (forward run)

Setting value (Positioning data No.3)

08h: FWD P/V Position-speed switching control (forward run)

7 OPERATION EXAMPLES

7.1 Operation Examples

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. MELSEC iQ-R Programming Manual (Program Design)

■Module label

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

[RD77MS example]

Device name Device Label name Signal name

Axis 1

I/O signals X1 RD77_1.bSynchronizationFlag Synchronization flag

DX1 RD77_1.bSynchronizationFlag_D Synchronization flag

X0 RD77_1.bReady READY

X10 RD77_1.bnBusy[0] BUSY signal

Y0 RD77_1.bPLC_Ready PLC READY

Y1 RD77_1.bAllAxisServoOn All axis servo ON

Buffer memory U0\G2417.3 RD77_1.stnAxMntr[0].uStatus.3 Axis 1 Home position return request flag

U0\G2417.D RD77_1.stnAxMntr_D[0].uStatus_D.D Axis 1 Error detection

U0\G2417.F RD77_1.stnAxMntr_D[0].uStatus_D.F Axis 1 Positioning complete

U0\G4326 RD77_1.stnAxCtrl1_D[0].udVP_NewMovementAmount_DAxis 1 Speed-position switching control

movement amount change register

U0\G4328 RD77_1.stnAxCtrl1_D[0].uEnableVP_Switching_D Axis 1 Speed-position switching enable flag

U0\G4330 RD77_1.stnAxCtrl1_D[0].udPV_NewSpeed_D Axis 1 Position-speed switching control speed

U0\G4332 RD77_1.stnAxCtrl1_D[0].uEnablePV_Switching_D Axis 1 Position-speed switching enable flag

change register

7 OPERATION EXAMPLES

7.1 Operation Examples

Page 75

■Global label

Program example

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)

• Internal relay, data device (The settings of Assign (Device/Label) are not required because the unused internal relay and

data device are automatically assigned.)

The program examples use the module function blocks (FBs) and module labels displayed in "Module POU".

For details on module function blocks, refer to the following. MELSEC iQ-R Simple Motion Module Function Block Reference

■PLC READY signal [Y0] ON program

■All axis servo ON signal [Y1] ON program

7 OPERATION EXAMPLES

7.1 Operation Examples

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

7.2 Communication Examples of the RD77GF

Network No.1

Ethernet cable (1000BASE-T) Ethernet cable (1000BASE-T)

Master station (station No.0)

Local station (station No.1)

Local station (station No.2)

X/Y00 to X/Y1F

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

• Master module: RD77GF16

• Local module: RJ71GF11-T2

• Input module: RX10

• Output module: RY10R2

7 OPERATION EXAMPLES

7.2 Communication Examples of the RD77GF

Page 80

Link device assignment

1000

10FF 1100

11FF

1000

10FF 1100

11FF

1000

10FF

1100

11FF

100

1FF

FF 100

1FF

FF 100

1FF

FF 100

1FF

FF 100

1FF

100

1FF

1000

10FF

1100

11FF

YRY

CPU module

Station No.1

Station No.2

Station No.1

Range of the station No.2 sending data

Local station Local station

Station No.1

Station No.2

Station No.1

Station No.2

Station No.1

Station No.2

Station No.1

Station No.2

CPU module

Area where data is sent to other stations

Range of the station No.1 sending data

Range of the station No.2 sending data

Range of the sending data to the station No.1

Range of the sending data to the station No.2

Range of the sending data to the station No.1

Range of the sending data to the station No.2

Master station

(Simple Motion

module)

RWr

RWw

RWr

RWw

1000

10FF

1100

11FF

100

1FF

FF 100

1FF

FF 100

1FF

FF 100

1FF

FF 100

1FF

100

1FF

100

1FF

RWr

W RWw

1000

10FF 1100

11FF

FF 100

1FF

Local station Local station

Station No.1

Station No.2

Station No.1

Station No.2

Station No.1

Station No.2

Station No.1

Station No.2

CPU module

Area where data is sent to other stations

Range of the station No.1 sending data

Range of the station No.2 sending data

Range of the sending data to the station No.1

Range of the sending data to the station No.2

Range of the sending data to the station No.1

Range of the sending data to the station No.2

CPU module

Station No.1

Station No.2

Station No.1

Range of the station No.2 sending data

Master station

(Simple Motion

module)

256 points are assigned to each station.

■RX/RY assignment

■RWr/RWw assignment

7 OPERATION EXAMPLES

7.2 Communication Examples of the RD77GF

Page 81

Setting in the master station

Master station (station No.0) Local station (station No.1) Local station (station No.2)

Setting

Connect the engineering tool to the CPU module on the master station and set parameters.

1. Set the CPU module in the following item.

[Project]  [New]

2. Click the [Setting change].

Click the [Setting change] button.

3. Add the module labels of the CPU module.

"Module Label"  "Operation Setting"  "Use Module Label"  [Yes]  Click the [OK] button.

7 OPERATION EXAMPLES

7.2 Communication Examples of the RD77GF

Page 82

4. Confirm the "Module Label: Use" is set, then add the CPU module.

Click the [OK] button.

5. Set the Simple Motion module in the following item.

Navigation window  "Parameter"  "Module Information"  Right-click  [Add New Module]

6. Click the [OK] button to add the Simple Motion module. The method to add the module labels is the same as the

procedure 2 to 3 shown above.

Click the [OK] button.

7 OPERATION EXAMPLES

7.2 Communication Examples of the RD77GF

Page 83

7. Set the contents of "Required Settings" in the following item.

Navigation window  "Parameter"  "Module Information"  "RD77GF16"  "Module Parameter (Network)" 

"Required Settings"

8. Set the network configuration in the following item.

Navigation window  "Parameter"  "Module Information"  "RD77GF16"  "Module Parameter (Network)"  "Basic

Settings"  "Network Configuration Settings"

7 OPERATION EXAMPLES

7.2 Communication Examples of the RD77GF

Page 84

9. Set the refresh settings in the following item.

Navigation window  "Parameter"  "Module Information"  "RD77GF16"  "Module Parameter (Network)"  "Basic

Settings"  "Refresh Setting"

10. Write the set parameters to the CPU module on the master station. Then reset the CPU module or power off and on the

system.

[Online]  [Write to PLC]

In this example, default values were used for parameters that are not shown above. For the parameters, refer

to the following. MELSEC iQ-R Simple Motion Module User's Manual (Application)

7 OPERATION EXAMPLES

7.2 Communication Examples of the RD77GF

Page 85

Setting in the local station

Master station (station No.0) Local station (station No.1) Local station (station No.2)

Setting Setting

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.

1. Set the CPU module and add a module label of the CPU module. The setting method of the CPU module and addition

method of the module label are the same as those of the master station. (Page 79 Setting in the master station)

2. Set the master/local module in the following item.

Navigation window  "Parameter"  "Module Information"  Right-click  [Add New Module]

3. Add a module label of the master/local module. The addition method of the module label is the same as that of the

master station. (Page 79 Setting in the master station)

4. Set the contents of "Required Settings" in the following item. For station No.2, set "Station No." to "2".

Navigation window  "Parameter"  "Module Information"  "RJ71GF11-T2"  "Module Parameter"  "Required

Settings"

7 OPERATION EXAMPLES

7.2 Communication Examples of the RD77GF

Page 86

5. 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"

6. Write the set parameters to the CPU module on the local station. Then reset the CPU module or power off and on the

system.

[Online]  [Write to PLC]

In this example, default values were used for parameters that are not shown above. For the parameters, refer

to the following. MELSEC iQ-R CC-Link IE Field Network User's Manual (Application)

7 OPERATION EXAMPLES

7.2 Communication Examples of the RD77GF

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.

1. Connect the engineering tool to the CPU module on the master station.

2. Start the CC-Link IE Field Network diagnostics.

[Diagnostics]  [CC-Link IE Field Diagnostics]

If the following display appears, data link is normal.

When an icon indicating an error is displayed in "Network Status" in "CC-Link IE Field Diagnostics", use the CC-Link IE Field Network diagnostics to identify the cause of the error and take corrective actions. (MELSEC iQ-R Simple Motion Module

User's Manual (Network))

7 OPERATION EXAMPLES

7.2 Communication Examples of the RD77GF

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.

• Master station (station No.0)

Classification Label name Description Device

Module label RD77GF_1.stGF11.bSts_DataLinkError Data link error status of own station SB0049

RD77GF_1.stGF11.bnSts_DataLinkError_Station[1] Data link status of each station (station

No.1)

RD77GF_1.stGF11.bnSts_DataLinkError_Station[2] Data link status of each station (station

No.2)

Label to be defined Define global labels as shown below:

SW00B0.0

SW00B0.1

7 OPERATION EXAMPLES

7.2 Communication Examples of the RD77GF

Page 89

Program example

(6) 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

RD77MS

MS: SSCNETµ(/H) model

Number of control axes

Appendix 1 Component List of the RD77MS

The positioning system using the Simple Motion module is configured of the following devices.

No. Part name Ty pe Remarks

1 Simple Motion module RD77MS2

RD77MS4

RD77MS8

RD77MS16

2 Servo amplifier 

3 Manual pulse generator  Recommended: MR-HDP01 (Manufactured by Mitsubishi Electric Corporation)

4 SSCNET cable  Cables are needed for connecting the Simple Motion module with a servo amplifier, or

5 External input signal cable  Cables are needed for connecting the Simple Motion module with an external device.

Reference product

Operation has been checked: UFO-M2-0025-2Z1-B00E (Manufactured by Nemicon Corporation)

between servo amplifiers. (Page 88 Reference product)

(Prepare them referring to the manuals for the connected devices and information given in the following. Page 59 Signal layout for external input connection connector)

Connection cable

The cables for connecting between the Simple Motion module and servo amplifiers. Refer to each servo amplifier instruction

manual for details. [SSCNET 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: 10 m

(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.))

Model name Cable length

[m (ft.)]

MR-J3BUS_M (Standard cord for inside panel)

MR-J3BUS_M-A (Standard cable for outside panel)

MR-J3BUS_M-B (Long distance cable)

MR-J3BUS015M 0.15 (0.49) • Simple Motion module  MR-J4(W)-B/MR-JE-B(F)/MR-J3(W)-B

MR-J3BUS03M 0.3 (0.98)

MR-J3BUS05M 0.5 (1.64)

MR-J3BUS1M 1 (3.28)

MR-J3BUS3M 3 (9.84)

MR-J3BUS5M-A 5 (16.40)

MR-J3BUS10M-A 10 (32.81)

MR-J3BUS20M-A 20 (65.62)

MR-J3BUS30M-B 30 (98.43)

MR-J3BUS40M-B 40 (131.23)

MR-J3BUS50M-B 50 (164.04)

Description

• MR-J4(W)-B/MR-JE-B(F)/MR-J3(W)-B  MR-J4(W)-B/MR-JE-B(F)/MR-J3(W)-B

Connection connector

The connector for the external input wiring.

[External input wiring connector]

Part name Specification

Applicable connector A6CON1, A6CON2, A6CON4 (Sold separately)

Applicable wire size 0.3 mm

APPX Appendix 1 Component List of the RD77MS

(When A6CON1 and A6CON4 are used), AWG28 to AWG24 (When A6CON2 is used)

Page 91

Specifications of recommended manual pulse generator

12V 0V A B

+5to

3.6

φ50(1.97)

φ70(2.76)

16 20

Packing t = 2.0

φ60(2.36)

±0.5

φ80(3.15)

±1

±0.5

27.0

(1.06)

(0.14)

(0.63) (0.79)

φ72

(2.83)

±0.2

φ62

(2.44)

-0

3-φ4.8(0.19)

equi-spaced

Space

The figure of processing a disc

8.89 7.6

3 × Studs (M4 × 10)

PCD72, equi-spaced

M3 × 6

(0.35)

(0.30)

Item Specification

Model name MR-HDP01

Ambient temperature -10 to 60

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 V DC

Current consumption 60 mA

Output level "H" level: Power supply voltage

"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 N•m (20)

- 1 V or more (in no load)

*1 If a 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

Manufacturer Model name

Nemicon Corporation

*1 Contact: http://www.nemicon.co.jp/nemicon/

UFO-M2-0025-2Z1-B00E

External dimension drawing of manual pulse generator

MR-HDP01 (Manufactured by Mitsubishi Electric Corporation)

[Unit: mm (inch)]

Appendix 1 Component List of the RD77MS

APPX

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

Permitted axial loads Radial load: Up to 19.6 N, Thrust load: Up to 9.8 N

Runout at input shaft tip 0.02 mm (0.00079 inch) or less, (15 mm (0.59 inch) from tip)

Start friction torque 0.04 N•m (20)

Recommended coupling Bellows coupling

Permitted angular acceleration 40000 rad/s

Vibration resistance 5 G (50 to 200 Hz)

Shock resistance 50 G (11 ms or less)

Internal current consumption [A] 0.25

Mass [kg] 0.6

Connecting cable [m (ft.)] Q170ENCCBL_M (_ = Cable length: 2 (6.56), 5 (16.40), 10 (32.81), 20 (65.62), 30 (98.43), 50 (164.04))

Communications method Differential driver/receiver

Transmission distance Up to 50 m (164.04 ft.)

500 r/min

*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.

The serial absolute synchronous encoder backs up the absolute position with the battery for back up of

absolute position data of the servo amplifier (MR-J4-B-RJ) it is connected to.

Specifications of serial absolute synchronous encoder input (CN2L) of servo amplifier

Item Specifications

Applicable types Q171ENC-W8

Applicable signal types Differential-output type: (SN75C1168 or equivalent)

Transmission method Serial communications

Synchronous method Counter-clock-wise (viewed from end of shaft)

Communication speed 2.5 Mbps

Position detection method Absolute (ABS) method

Resolution 4194304 pulses/rev (22 bit)

Number of modules 1/module (MR-J4-B-RJ)

External connector type 20 pin connector

Applicable connector for the external connection

Applicable wire J14B103715-00 12 pairs

Connecting cable [m (ft.)] Q170ENCCBL_M-A (_ = Cable length: 2 (6.56), 5 (16.40), 10 (32.81), 20 (65.62), 30 (98.43), 50 (164.04))

Cable length Up to 50 m (164.04 ft.)

Back up the absolute position. Depends on the battery (MR-BAT6V1SET).

Battery service life time (value in actual)

MR-J3CN2 (Optional)

10000 [h] (When MR-BAT6V1SET is used while the device is turned OFF at the ambient temperature of 25)

APPX Appendix 1 Component List of the RD77MS

Page 93

Serial absolute synchronous encoder cable

Conductor

Insulation sheath

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. Connector sets (MR-J3CN2) are also available for your fabrication.

Cable model Cable length [m (ft.)] Wire model

Q170ENCCBL_M-A 2 (6.56), 5 (16.40), 10 (32.81), 20 (65.62),

30 (98.43), 50 (164.04)

Use the following or equivalent twisted pair cables as the serial absolute synchronous encoder cables.

Connector sets type Description

MR-J3CN2 Servo amplifier connector

J14B103715-00 12 pairs (BLACK)

Wire model Core size

J14B103715-00 12 pairs (BLACK)

*1 d is as shown below.

*2 Standard OD (Outside Diameter). Maximum OD is about 10% larger.

]

[mm

0.2 24 (12 pairs) 40/0.08 105 or less 0.88 9.0

Number of cores

Characteristics of one core Finished

Structure [Number of wires/ mm]

Conductor resistance [/km]

Insulating sheath OD

d [mm]

CAUTION

• When fabricating the encoder cable, do not make incorrect connection. Wrong connection will cause runaway or explosion.

OD [mm]

APPX

Appendix 1 Component List of the RD77MS

Page 94

■Q170ENCCBL_M-A

Type: Q170ENCCBL_M - A

Cable length [m (ft.)]

Symbol

10 20 30

2 (6.56)

5 (16.40) 10 (32.81) 20 (65.62) 30 (98.43)

50 50 (164.04)

MRR2

MDR2

MR2

MD2

BAT

MR-J4-B-RJ

Q171ENC-W8

CN2L

FJE

NKB

MRR

K L M NSHD P RLG SP5 TMD

MDR

BAT

A B C D E F G H J

LG 2

BAT

MR2 3 MRR2 4 MD2 7 MDR2 8

K L H J

BAT

MR MRR MD MDR

SHD

CN2L connector

Pin arrangement

View A

50 m (164.04 ft.) or less

Synchronous

encoder

Encoder connector

Synchronous encoder cable

Encoder connector

Pin arrangement

View B

: Pin provided : Pin not provided

Signal

SignalPin

Encoder side MS3106B22-14S(plug) MS3057-12A(cable clump)

Cable length 50 m (164.04 ft.) or less

SD plate

Servo amplifier side 36210-0100PL(plug) 36310-3200-008(shell)

: Twisted pair cable

Twisted pair for signal

(BAT/LG, MR/MRR, MD/MDR)

Twisted pair (P5/LG)

Cable cross-section

diagram

Wire the cable as shown in figure below so that twisted pair for signal do not touch.

Core

• Model explanation

• 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.).

APPX Appendix 1 Component List of the RD77MS

Page 95

External dimension drawing of serial absolute synchronous encoder

42(1.65)

85(3.35)

φ5.5

(0.22)

45°

φ100(3.94)

40(1.57)58.5(2.30)22.25

(0.88)

123.25(4.85)

7(0.28)

29(1.14)

58.5(2.30)

37.5(1.48)

2(0.08)

30(1.18)

14(0.55)

φ75(2.95)

-0.020

9.52

(0.37)

-0.008

Cross-section

diagram AA'

8.72 (0.34)

8.72

(0.34)

22.7(0.89) 11 (0.43)

34.8(1.37)

22.4(0.88)

(0.39)

(0.31)

39.6(1.56)

■Serial absolute synchronous encoder (Q171ENC-W8)

[Unit: mm (inch)]

Cable connector for serial absolute synchronous encoder

Manufactured by 3M Japan Limited (SCR type)

■Type

Plug: 36210-0100PL

Shell: 36310-3200-008

[Unit: mm (inch)]

Appendix 1 Component List of the RD77MS

APPX

Page 96

Mounting of serial absolute synchronous encoder

Serial absolute synchronous encoder

Bellows coupling

Bearing

Gear

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.

Item Radial direction Thrust direction

Permitted shaft load Up to 19.6 N Up to 9.8 N

• Excessive load is applied to the shaft of serial absolute synchronous encoder by the large mounting errors in eccentricity

and angle of deviation. As a result, it might damage the machine or shorten extremely the life. Minimize loads applied to the

shaft such that they make within the permitted shaft load range.

CAUTION

• The serial absolute synchronous encoder contains a glass disk and precision mechanism. Take care when handling it. The encoder performance may deteriorate if it is dropped or subjected to shocks or vibration exceeding the prescribed limits.

• Do not connect the shaft of serial absolute synchronous encoder directly to machine side rotary shaft. Always after connecting the shaft of serial absolute synchronous encoder to another bearing once, connect the shaft through a flexible bellows coupling.

• Never hit the end of the serial absolute synchronous encoder shaft with a hammer when connecting the bellows coupling to it. The large loads applied to serial absolute synchronous encoder will damage it.

• The serial absolute synchronous encoder uses optical parts. Mount it in an atmosphere where there are extremely few water drops and little oil and dust.

• In any place where the serial absolute synchronous encoder is exposed to water and/or oil, provide protection from oil and water, e.g. mount a cover. In addition, run the cable downward to prevent oil and/or water from running on the cable into the serial absolute synchronous encoder. When it is inevitable to mount the serial absolute synchronous encoder vertically or obliquely, trap for the cable.

• Use the serial absolute synchronous encoder within the specified temperature range (-5 to 55).

• Do not use rigid couplings. Doing so applies an excessive bending load to the axis, and may break the axis of the servo motor or cause deterioration of the bearings.

APPX Appendix 1 Component List of the RD77MS

Page 97

Appendix 2 Component List of the RD77GF

RD77GF

GF: CC-Link IE Field Network model

Number of controlled axes

The positioning system using the Simple Motion module is configured of the following devices.

No. Part name Type Remarks

1 Simple Motion module RD77GF4

RD77GF8

RD77GF16

RD77GF32

2 Servo amplifier 

3 Slave device compatible with

CC-Link IE Field

4 CC-Link IE Field Network

cable

5 Ethernet hub  Switching hubs are needed for connecting the Simple Motion module, a servo amplifier, and

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.

Ethernet cable Model (Manufacturer)

CC-Link IE Field Network cable SC-E5EW series (Mitsubishi Electric System & Service Co., Ltd.)



 Cables are needed for connecting the Simple Motion module with a servo amplifier/slave

device compatible with CC-Link IE Field, or between servo amplifiers/slave devices compatible with CC-Link IE Field. (Page 95 Reference product)

other brand drive units in star topology. (Page 95 Recommended product)

■Cable types

The following cable types are available depending on the operating environment:

• Standard type: Cables for inside the control panel and indoor connection

• L type: Cables for outdoor connection

Cables and relay adapters of flame retardant or waterproof type are also available. Please contact your local Mitsubishi

representative.

Recommended product

Hub

Use the recommended hubs listed below. Operation is not guaranteed if hubs other than the recommended ones are used.

Typ e Model (Manufacturer)

Industrial managed switch NZ2MHG-T8F2 (Mitsubishi Electric Corporation)

Industrial switching hub NZ2EHG-T8N (Mitsubishi Electric Corporation)

Use the CC-Link IE Field Network synchronization communication-compatible switching hubs when using the CC-Link IE

Field Network synchronization communication function.

CC-Link IE Field Network synchronization communication-compatible switching hubs are available from Mitsubishi Electric

System & Service Co., Ltd. Please consult your local Mitsubishi representative.

Typ e Model (Manufacturer) Maximum

extension level

Industrial managed switch NZ2MHG-T8F2 (Mitsubishi Electric Corporation) 4 levels

CC-Link IE Field Network synchronization communication-compatible switching hub

DT135TX (Mitsubishi Electric System & Service Co., Ltd.) 4 levels

APPX

Appendix 2 Component List of the RD77GF

Page 98

Appendix 3 Connection with External Devices of the

A6CON1 A6CON2 A6CON4

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

Connector type

Typ e Model

Connector

Soldering type, useable for straight out A6CON1

Crimp-contact type, useable for straight out A6CON2

Soldering type, useable for straight out and diagonal out A6CON4

Specifications of the connector

Part name Specification

Applicable connector A6CON1, A6CON4 A6CON2

Applicable wire size 0.3 mm

The external input wiring connector has been prepared. Please purchase them by a customer.

■Specialized tool

• Pressure-bonding tool for A6CON2

Model name:

FCN-363T-T005/H

• Contact for the specialized tool

Fujitsu component LTD.: http://www.fujitsu.com/jp/group/fcl/en/

AWG28 to AWG24

APPX Appendix 3 Connection with External Devices of the RD77MS

Page 99

External input signal cable

Solderless terminalWhen using the external power supplly (Recommended)

Simple Motion module side (1A_ _, 1B_ _ )

FG wire

(3) External input signal

(2A_ _, 2B_ _ )

FG wire

(1) Manual pulse generator/Incremental

synchronous encoder

(2) Forced stop input/external

input signal

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.

Appendix 3 Connection with External Devices of the RD77MS

APPX

Page 100

Solderless terminalWhen using the internal power supply

Simple Motion module side (1A_ _, 1B_ _ )

FG wire

(3) External input signal

(2A_ _, 2B_ _ )

FG wire

(1) Manual pulse generator/Incremental

synchronous encoder

(2) Forced stop input/external

input signal

APPX Appendix 3 Connection with External Devices of the RD77MS

Mitsubishi iQ-RD77GF32, iQ-RD77GF4, iQ-RD77MS4, iQ-RD77MS8, iQ-RD77MS16 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

SAFETY PRECAUTIONS

CONDITIONS OF USE FOR THE PRODUCT

INTRODUCTION

COMPLIANCE WITH EMC AND LOW VOLTAGE DIRECTIVES

CONTENTS

RELEVANT MANUALS

TERMS

PERIPHERALS

1 PART NAMES

1.1 LED Display Specifications of the RD77MS

1.2 LED Display Specifications of the RD77GF

2 SPECIFICATIONS

2.1 Performance Specifications of the RD77MS

2.2 Performance Specifications of the RD77GF

Electrical specifications of input signals

2.3 Specifications of Interfaces with External Devices of the RD77MS

2.4 External Circuit Design

Main functions

3 FUNCTION LIST

3.1 Control Functions

Sub functions

Common functions

3.2 Combination of Main Functions and Sub Functions

Function list of CC-Link IE Field Network

3.3 List of RD77GF Network Function

4 PROCEDURES BEFORE OPERATIONS

4.1 Procedures before Operation of the RD77MS

4.2 Procedures before Operation of the RD77GF

5 NETWORK CONFIGURATION OF RD77GF

5.1 CC-Link IE Field Network Configuration

Precautions

5.2 Precautions for System Configuration

Precautions

6 WIRING

6.1 Wiring of the RD77MS

Signal layout for external input connection connector

6.2 External Input Connection Connector of the RD77MS

List of input signal details

Interface internal circuit

6.3 Wiring of the RD77GF

7 OPERATION EXAMPLES

7.1 Operation Examples

7.2 Communication Examples of the RD77GF

APPENDICES

Appendix 1 Component List of the RD77MS

Reference product

Reference product

Recommended product

Appendix 2 Component List of the RD77GF

Connector

External input signal cable