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

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

-RD77MS2 -RD77GF4

-RD77MS4 -RD77GF8

-RD77MS8 -RD77GF16

-RD77MS16 -RD77GF32

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.

1

[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.

2

[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.

3

[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.

4

[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.

5

[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

● 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 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.

6

[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.

7

[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.

8

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.

9

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.)

10

CONTENTS

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

11

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

12

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.

13

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.

14

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

*1

*1

• 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.)

opposite 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

15

PERIPHERALS

RD77MS4

ERRRUN

AX

3

4

2

1

AX

SSCNET

µ

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

Servo
motor

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.

16

• 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.

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

Servo
motor

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.

17

1 PART NAMES

RD77MS16

ERRRUN

AX1-16

RD77MS8

ERRRUN

AX1-8

RD77MS4

ERRRUN

AX

3

4

2

1

AX

RD77MS2

ERRRUN

2

1

AX

(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

18

1 PART NAMES

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

1 PART NAMES

19

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 

*1

*1

*2

*2

*3

*3

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

20

1.1 LED Display Specifications of the RD77MS

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

*1

ERR 

RUN 
ERR 

ERR 

RUN 
ERR 

RUN 
ERR ●

RUN 
ERR 

AX1-4 

*1

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 

*1

*1

*2

*2

*2

*2

*3

*3

*3

*3

*4

*4

*4

*4

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

1

: 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

*1

*1

*1

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

21

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

*1

*2

22

2 SPECIFICATIONS

2.1 Performance Specifications of the RD77MS

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

*4

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: 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

0.7 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

2

(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

2 SPECIFICATIONS

2.1 Performance Specifications of the RD77MS

23

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)

*2

*1

assignment: Intelligent
function module 64
points)

*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).

2 SPECIFICATIONS

24

2.2 Performance Specifications of the RD77GF

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

*1

*2

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"

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

4

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)

*3

2

*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

25

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

IN

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

IN

ON  OFF

26

2 SPECIFICATIONS

2.3 Specifications of Interfaces with External Devices of the RD77MS

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

0.25 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

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)

*1

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

*2

2

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

2 SPECIFICATIONS

2.3 Specifications of Interfaces with External Devices of the RD77MS

27

[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

28

2 SPECIFICATIONS

2.3 Specifications of Interfaces with External Devices of the RD77MS