Mitsubishi RD77MS8, RD77MS16 User Manual

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MITSUBISHI ELECTRIC SERVO SYSTEM CONTROLLER

Migration Guide from Positioning Module to

Simple Motion Module [QD74MH ය RD77MS]

● SAFETY PRECAUTIONS ●

(Read these precautions before using this product.)

Before using this product, please read this manual and the relevant manuals carefully and pay full attention to safety to handle the product correctly. The precautions given in this manual are concerned with this product only. Refer to the MELSEC iQ-R Module Configuration Manual for a description of the PLC system safety precautions. 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.

WARNING

CAUTION

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

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

A - 1

[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.

● 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.

A - 2

[Design Precautions]

WARNING

● 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.

● Do not remove the SSCNETIII cable while turning on the control circuit power supply of the

module and servo amplifier. Do not see directly the light generated from SSCNETIII connector of the module or servo amplifier and the end of SSCNETIII cable. When the light gets into eyes, you may feel something wrong with eyes. (The light source of SSCNETIII complies with class1 defined in JISC6802 or IEC60825-1.)

A - 3

[Design Precautions]

WARNING

● 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 in Program" for "Opening Method Setting" in the module parameters. If "Open in Program" is selected, an execution of the remote STOP function causes the communication line to close. Consequently, the CPU module cannot reopen the communication line, and external devices cannot execute the remote RUN functions.

A - 4

[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.

[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 the included terminal cover to the module before turning it on

for operation. Failure to do so may result in electric shock.

A - 5

[Wiring Precautions]

● 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 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.

● 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.

● 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.

● When disconnecting the cable from the module, do not pull the cable by the cable part. For the

cable with connector, hold the connector part of the cable. For the cable connected to the terminal block, loosen the terminal screw. Pulling the cable connected to the module may result in malfunction or damage to the module or cable.

● Prevent foreign matter such as dust or wire chips from entering the module. Such foreign matter

can cause a fire, failure, or malfunction.

● A protective film is attached to the top of the module to prevent foreign matter, such as wire

chips, from entering the module during wiring. Do not remove the film during wiring. Remove it for heat dissipation before system operation.

● Programmable controllers must be installed in control panels. Connect the main power supply

to the power supply module in the control panel through a relay terminal block. Wiring and replacement of a power supply module must be performed by qualified maintenance personnel with knowledge of protection against electric shock. For wiring, refer to the MELSEC iQ-R Module Configuration Manual.

● For Ethernet cables to be used in the system, select the ones that meet the specifications in the

user's manual for the module used. If not, normal data transmission is not guaranteed.

A - 6

[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 theentire 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,

● 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.

A - 7

[Startup and Maintenance Precautions]

CAUTION

● Shut off the external power supply (all phases) used in the system before mounting or removing

the module. Failure to do so may cause the module to fail or malfunction.

● Tighten the screws within the specified torque range. Undertightening can cause drop of the

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

● After the first use of the product, do not mount/remove the module to/from the base unit, and

the terminal block to/from the module, and do not insert/remove the extended SRAM cassette to/from the CPU module more than 50 times (IEC 61131-2 compliant) respectively. Exceeding the limit 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.

A - 8

[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.

A - 9

REVISIONS

Print Date Manual No. Revision

Sep., 2018 L(NA)03170ENG-A First edition

This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.

 2018 MITSUBISHI ELECTRIC CORPORATION

A - 10

INTRODUCTION

Please read this manual carefully so that equipment is used to its optimum.

Safety Precautions ......................................................................................................................................... A- 1

Revisions ···························································································································· A-10 Contents ····························································································································· A-11

1. OVERVIEW OF MIGRATION FROM QD74MH TO RD77MS 1- 1 to 1-14

1.1 Benefits of Migration ········································································································ 1- 1

1.2 Main Target Models for Migration ······················································································· 1- 2

1.3 System Configuration ······································································································ 1- 4

1.3.1 System configuration using QD74MH before migration ····················································· 1- 4

1.3.2 System configuration using RD77MS after migration ························································ 1- 4

1.4 Case Study on Migration ·································································································· 1- 5

1.4.1 Whole system migration (recommended) ······································································· 1- 6

1.4.2 Phased migration ······································································································ 1- 7

1.4.3 Separate repair ········································································································· 1- 8

1.5 Project Diversion ············································································································ 1-10

1.6 Relevant Documents ······································································································· 1-11

1.6.1 Relevant catalogs ····································································································· 1-11

1.6.2 Relevant manuals ····································································································· 1-12

2. DETAILS OF MIGRATION FROM QD74MH TO RD77MS 2- 1 to 2- 32

2.1 Table of Components and Software ··················································································· 2- 1

2.1.1 Servo amplifiers and servo motors ················································································ 2- 2

2.1.2 Engineering environment (required) ·············································································· 2- 3

2.2 Differences Between QD74MH and RD77MS ······································································· 2- 4

2.3 Forced Stop Input Cable ·································································································· 2-17

2.4 Project Diversion ············································································································ 2-20

2.4.1 Project diversion procedures by engineering environment ················································· 2-20

2.4.2 List of divertible/not divertible data ················································································· 2-24

A - 11

MEMO

A - 12

1. OVERVIEW OF MIGRATION FROM QD74MH TO RD77MS

1.1 Benefits of Migration

Migrating from the existing system using QD74MH Positioning modules to a new system using MELSEC iQ-R series Simple Motion module RD77MS16/RD77MS8 (hereinafter called RD77MS) is recommended. We also recommend migrating servo amplifiers to the MR-J4 series at the same time. Migrating not only allows the system to run for longer periods, but also has the following advantages.

(1) High functionality of Positioning module (Simple Motion module)

The Simple Motion module achieves further advanced motion control with a wide variety of motion control functions such as synchronous control, in addition to positioning control. The replaced model offers various new auxiliary features including cam detection function and cam auto generation function, helping to reduce programming time further.

Increased productivity from higher functionality of the controller

→

(2) High-speed communication by SSCNETIII/H

Speeding up and improving noise tolerance of servo system network communications are achieved by optical communication. A long distance cable of 100 m can be also used.

Increased speeds over the entire facility

→

(3) Servo amplifier MR-J4 and servo motor

The MR-J4 series achieves high performance operation with a variety of functions including one-touch tuning, a 22-bit high resolution encoder (4194304 pulse/rev), and 2.5 kHz speed frequency response. The product lineup includes multi-axis servo amplifiers that contribute to energy saving, space saving, and reduced wiring of a machine. The MR-J4 series compatible rotary servo motor, HG series enables to output high torque at high speed. Linear servo motors and direct drive motors are also available. Select the motor type according to your application from our extensive product lineup.

Increase of applications, improved performance, energy saving, downsizing, and reduced

→

wiring of drive systems

(4) Reliable monitoring functions

With our engineering software, the system status is easily monitored just by selecting monitoring items that your system needs from its wealth of monitoring information. In addition, operation is checked through waveforms and each device data collected by digital oscilloscope and GX Logviewer

→ A strong support for troubleshooting

(5) Lower maintenance cost

After 5 years of usage, the products will need maintenance, such as replacement of the whole circuit board due to the life of components including electrolytic capacitors and memories. To use the system the longest possible, an early migration to the latest model is recommended in terms of performance and quality.

Increased equipment longevity

→

1 - 1

1. OVERVIEW OF MIGRATION FROM QD74MH TO RD77MS

1.2 Main Target Models for Migration

The main target models for replacement described in this section are as follows.

(1) Positioning modules

Product name

SSCNETIII compatible

Positioning module

QD74MH8 RD77MS8

QD74MH16 RD77MS16

Model

before migration

after migration

(2) Servo amplifiers and servo motors

The existing MR-J3 series servo amplifiers can be used in the migrated system with RD77MS, however, it is strongly recommended to replace them with the MR-J4 series.

(a) Servo amplifiers and rotary servo motors

Before migration from QD74MH

MR-J3

series

Servo amplifier

MR-J3- B

MR-J3W-

MR-J3-

MR-J3- B-RJ006

Rotary

servo motor

HF-KP

HF-MP

HF-SP

HF-JP

HC-LP

HC-RP

HC-UP

HA-LP

MR-J4

series

Servo amplifier

(b) Servo amplifiers and linear servo motors

Before migration from QD74MH

Linear

servo motor

LM-F

LM-K2

LM-U2

MR-J4

series

Servo amplifier

MR-J3

series

Servo amplifier

MR-J3- B-RJ004 LM-H2

Model

After migration to RD77MS

servo motor

MR-J4-

MR-J4W2-

MR-J4W3-

After migration to RD77MS

MR-J4-

MR-J4W2- B

MR-J4W3-

B(-RJ)

HG-KR

HG-MR

HG-SR

HG-RR

HG-UR

HG-JR

servo motor

LM-H3

LM-F

LM-K2

LM-U2

Rotary

Linear

1 - 2

1. OVERVIEW OF MIGRATION FROM QD74MH TO RD77MS

Communications medium Optical fiber cable

Communications speed 50 Mbps 150 Mbps

Communications cycle

Number of control axes

Transmission distance

(3) Servo system network

Item

Send 0.44 ms/0.88 ms 0.222 ms/0.444 ms/0.888 ms

Receive 0.44 ms/0.88 ms 0.222 ms/0.444 ms/0.888 ms

Up to 16 axes/line

[Standard code for inside panel]

Up to 3 m between stations Maximum overall distance: 48 m (3 m × 16 axes)

[Standard cable for outside panel]

Up to 20 m between stations Maximum overall distance: 320 m (20 m × 16 axes)

[Long distance cable]

Up to 50 m between stations Maximum overall distance: 800 m (50 m × 16 axes)

(same as SSCNETIII)

←

(same as SSCNETIII)

←

[Standard code for inside panel and standard cable for outside panel]

Up to 20 m between stations Maximum overall distance: 320 m (20 m × 16 axes)

[Long distance cable]

Up to 100 m between stations Maximum overall distance: 1600 m (100 m × 16 axes)

(4) Engineering environment (required)

Product name Model Version

MELSOFT GX Works3

MELSOFT MR Configurator2

SW1DND-GXW3-E Ver.1.046Y or later

SW1DNC-MRC2-E Ver.1.27D or later

1 - 3

1. OVERVIEW OF MIGRATION FROM QD74MH TO RD77MS

1.3 System Configuration

1.3.1 System configuration using QD74MH before migration

Main base unit

Power supply module

PLC CPU module

Qn(H)CPU

Positioning module

QD74MH

Forced stop input cable

Q170DEMICBL

Forced stop input (24 VDC)

SSCNETIII cable

MR-J3BUS

M(-A/-B)

USB communication cable or RS-232 communication cable

Servo motor

HC/HA/HF series

1.3.2 System configuration using RD77MS after migration

Servo amplifier

MR-J3-B

Main base unit

Power supply module

PLC CPU module

RnCPU

Simple Motion module

RD77MS

USB communication cable or Ethernet communication cable

External in

SSCNETIII cable

MR-J3BUS

(Note-1): Replace the forced stop input cable for the new controller. (Refer to section 1.4.2.)

ut signal cable

Forced stop input (24 VDC)

M(-A/-B)

(Note-1)

Servo amplifier

Servo motor

HG series

MR-J4-B

1 - 4

1. OVERVIEW OF MIGRATION FROM QD74MH TO RD77MS

1.4 Case Study on Migration

The following describes a case study for migrating the existing system using QD74MH.

(1) Whole system migration (recommended)

The controller, servo amplifiers, servo motors, and servo system network are replaced simultaneously. Although a large-scale installation is required, the whole system migration allows the system to operate for longer periods. (Refer to section 1.4.1.)

(2) Phased migration (When the whole system migration is difficult due to the installation

period and cost.)

The controller is replaced with RD77MS in the first phase, and then the MR-J3-B servo amplifiers are gradually replaced with MR-J4-B. (Refer to section 1.4.2.)

(3) Separate repair

This is a replacement method for when the controller, the servo amplifier, or the servo motor malfunctions. (Refer to section 1.4.3.)

Consideration of migration

Whole system

migration?

YES

(1) Whole system migration

→ Refer to section 1.4.1.

Phased

migration?

YES

(2) Phased migration

→ Refer to section 1.4.2.

(3) Separate repair

→ Refer to section 1.4.3.

1 - 5

1. OVERVIEW OF MIGRATION FROM QD74MH TO RD77MS

1.4.1 Whole system migration (recommended)

The following shows the system when the whole system migration takes place.

[Current model]

MR-J3-B

HC/HA/HF

servo motor

[Changes in the system]

Product name Model before migration

Main base unit Q3 B R3 B

PLC CPU module Qn(H)CPU RnCPU

Positioning module QD74MH RD77MS

Servo amplifier MR-J3-B MR-J4-B

Servo motor HC/HA/HF series HG series

Forced stop input cable

QD74MH

Forced stop input Forced stop input

Q170DEMICBL

[Model after migration]

MR-J4-B

servo motor

Fabricate the cable with A6CON connector. (Refer to section 2.3.)

RD77MS

Model after migration

1 - 6

1. OVERVIEW OF MIGRATION FROM QD74MH TO RD77MS

1.4.2 Phased migration

The following shows the procedure for the phased migration in which the controller is replaced with RD77MS in the first phase, and then the MR-J3-B servo amplifiers are gradually replaced with MR-J4-B in the following phases.

[Current model]

RD77MS

(RnCPU + R3

Replacement - Phase 1]

[

Replacement of the controller + forced stop input cable

Forced stop input Forced stop input

MR-J3-B

HC/HA/HF

servo motor

HC/HA/HF

servo motor

[Replacement - Phase 2] Servo amplifier and servo motor replacement for only one axis

[Replacement - Phase 3] Servo amplifier and servo motor replacement for all axes, and servo system network replacement

Forced stop input

MR-J4-B

(J3 compatibility mode)

MR-J4-B

servo moto

Forced stop input

(Note): For replacing only the servo amplifier or the servo

motor, refer to “1.4.3 Separate repair”.

(Note): For details of the J3 compatibility mode, refer to

“Transition from MELSERVO-J3/J3W Series to J4 Series Handbook”.

(Note): When replacing all the servo amplifiers with

MR-J4-B, the operation mode can be switched from “J3 compatibility mode” to “J4 mode”. The servo system network is also changed from SSCNETIII to SSCNETIII/H.

1 - 7

1. OVERVIEW OF MIGRATION FROM QD74MH TO RD77MS

1.4.3 Separate repair

The following shows the procedure for the separate repair.

(1) When the controller has malfunctioned.

Replace only the controller.

MR-J3-B

HC/HA/HF servo motor

(2) When the MR-J3-B servo amplifier has malfunctioned.

Replace only the servo amplifier.

HC/HA/HF servo motor

R3 B

+RnCPU

+RD77MS

(Note):

MR-J3-B can operate with the replaced controller

The existing servo amplifiers and servo motors can

be used with the new controller.

Replacement with MR-J4-B

(J3 compatibility mode)

(Note):

For the compatible servo motors, refer to

“Transition from MELSERVO-J3/J3W

Series to J4 Series Handbook”.

1 - 8

1. OVERVIEW OF MIGRATION FROM QD74MH TO RD77MS

(3) When the HC/HA/HF servo motor has malfunctioned

Simultaneously replace the servo amplifier and the malfunctioned servo motor.

Replacement with MR-J4-B

(J3 compatibility mode)

Replacement with HG servo motor

1 - 9

1. OVERVIEW OF MIGRATION FROM QD74MH TO RD77MS

1.5 Project Diversion

The following describes about the project diversion for Qn(H)CPU and QD74MH setting software.

(1) PLC CPU projects

Be sure to recreate sequence programs for the migrated system

the buffer memory and the control method differs between QD74MH and RD77MS. Refer to relevant manuals for details.

(2) Projects of QD74MH setting software (Japanese version only)

Projects in QD74MH setting software are partially divertible. Refer to "2.4 Project diversion" for the procedure for project diversion.

because the structure of

1 - 10

1. OVERVIEW OF MIGRATION FROM QD74MH TO RD77MS

1.6 Relevant Documents

Refer to the following relevant documents for the replacement.

1.6.1 Relevant catalogs

Servo System Controllers MELSEC iQ-R/MELSEC iQ-F Series

SERVO AMPLIFIERS & MOTORS MELSERVO-J4

L(NA)03100

Transition from MELSERVO-J3/J3W Series to J4 Series Handbook

L(NA)03127

L(NA)03058

1 - 11

1. OVERVIEW OF MIGRATION FROM QD74MH TO RD77MS

1.6.2 Relevant manuals

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

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

MELSEC iQ-R Simple Motion Module User's Manual

(Advanced Synchronous Control)

RD77MS Before Using the Product

MR-J4-_B_(-RJ) SERVO AMPLIFIER INSTRUCTION MANUAL

MR-J4 Servo amplifier Instructions and Cautions for Safe Use of AC Servos

MELSERVO-J4 Servo amplifier INSTRUCTION MANUAL TROUBLE SHOOTING

(1) Simple Motion module

Manual title Manual No.

(2) Servo amplifier

Manual title Manual No.

IB-0300245

IB-0300247

IB-0300249

BCN-B62008-335E

SH-030106

IB-0300175E

SH-030109

MR-J4W2-_B/MR-J4W3-_B/MR-J4W2-0303B6 SERVO AMPLIFIER

INSTRUCTION MANUAL

SH-030105

1 - 12

1. OVERVIEW OF MIGRATION FROM QD74MH TO RD77MS

MEMO

1 - 13

1. OVERVIEW OF MIGRATION FROM QD74MH TO RD77MS

MEMO

1 - 14

2. DETAILS OF MIGRATION FROM QD74MH TO RD77MS

2.1 Table of Components and Software

Prepare Positioning modules, servo amplifiers, and an engineering environment according to the following tables in this section.

Product name

Positioning module

Forced stop input cable Q170DEMICBL M A6CON1, A6CON2，A6CON4

Connector for forced stop input cable

SSCNETIII cable

(Note-1): " " indicates the cable length.

(015: 0.15m, 03: 0.3m, 05: 0.5m, 1: 1m, 5: 5m, 10: 10m, 20: 20m, 30: 30m, 40: 40m, 50: 50m)

(Note-2): For a long distance cable of up to 100 m or an ultra-long bending life cable, contact Mitsubishi Electric System &

Service Co., Ltd.

[Sales office] FA PRODUCT DIVISION mail: osb.webmaster@melsc.jp

(Note-1)

QD74MH8 QD74MH16

Q170DEMICON

MR-J3BUS MR-J3BUS MR-J3BUS

Model

before migration

M M-A

(Note-2)

M-B

Model

after migration

[Simple Motion module] RD77MS8 RD77MS16

←(same as the left)

2 - 1

2. DETAILS OF MIGRATION FROM QD74MH TO RD77MS

2.1.1 Servo amplifiers and servo motors

The servo system network is changed from SSCNETIII to SSCNETIII/H. Select a SSCNETIII/H compatible servo amplifier and a servo motor connectable to the selected servo amplifier.

(1) Servo amplifiers/Rotary servo motors

Before migration from QD74MH

Rotary

servo motor

HF-KP

HF-MP

HF-SP

HF-JP

HC-LP

HC-RP

HC-UP

HA-LP

MR-J3

series

Servo amplifier

MR-J3- B

MR-J3W-

MR-J3-

MR-J3- B-RJ006

MR-J4

series

After migration to RD77MS

Servo amplifier

MR-J4-

MR-J4W2-

MR-J4W3-

B(-RJ)

Rotary

servo motor

HG-KR

HG-MR

HG-SR

HG-RR

HG-UR

HG-JR

(2) Servo amplifiers/Linear servo motors

Before migration from QD74MH

Linear

servo motor

LM-F

LM-K2

LM-U2

MR-J3

series

Servo amplifier

MR-J3- B-RJ004 LM-H2

After migration to RD77MS

Servo amplifier

MR-J4

series

MR-J4-

MR-J4W2- B

MR-J4W3-

B(-RJ)

Linear

servo motor

LM-H3

LM-F

LM-K2

LM-U2

2 - 2

2. DETAILS OF MIGRATION FROM QD74MH TO RD77MS

Communications medium Optical fiber cable

Communications speed 50 Mbps 150 Mbps

Communications cycle

Number of control axes

Transmission distance

(3) Comparison of servo system network

Item

Send

Receive

0.44 ms/0.88 ms

Up to 16 axes/line

[Standard code for inside panel]

Up to 3 m between stations Maximum overall distance: 48 m (3 m × 16 axes)

[Standard cable for outside panel]

Up to 20 m between stations Maximum overall distance: 320 m (20 m × 16 axes)

[Long distance cable]

Up to 50 m between stations Maximum overall distance: 800 m (50 m × 16 axes)

(same as SSCNETIII)

←

0.222ms/0.444ms/0.888ms

(same as SSCNETIII)

←

[Standard code for inside panel and standard cable for outside panel]

Up to 20 m between stations Maximum overall distance: 320 m (20 m × 16 axes)

[Long distance cable]

Up to 100 m between stations Maximum overall distance: 1600 m (100 m × 16 axes)

2.1.2 Engineering environment (required)

The engineering environment that supports RD77MS is as follows.

Product name Model Version

MELSOFT GX Works3 SW1DND-GXW3-E Ver.1.046Y or later

MELSOFT MR Configurator2 SW1DNC-MRC2-E Ver.1.27D or later

2 - 3

2. DETAILS OF MIGRATION FROM QD74MH TO RD77MS

2.2 Differences Between QD74MH and RD77MS

(1) Performance and specifications

►

: An item in which the axis movement will be changed after migration.

Model

Item

Number of control axes

Operation cycle 0.88ms

QD74MH8 QD74MH16 RD77MS8 RD77MS16 Points for migration

8 16 8 16

♦

0.444ms/0.888ms/1.777ms/

3.555ms

An item that requires a setting change at migration.

−

The default value differs.

►

Pr.96

Set

to “0000H”.

Control method

Starting time (1 axis linear interpolation)

Servo system network SSCNETIII SSCNETIII/H or SSCNETIII

Servo amplifier

Machine home position return (Home position return method)

HP shift function

OP search limit function

Incremental feed operation

Synchronous Not provided Provided −

Trapezoidal acceleration/ deceleration

S-curve acceleration/ deceleration

MR-J3-

Data set method, Stopper type,

Limit switch combined type,

Scale origin signal detection type)

• The speed during HP shift: the value set in “

• Move for the set amount without

deceleration, even at zero point signal.

6.0ms

6.5ms

B/MR-J3W- B/

BS/MR-J3W- B-RJ006/

MR-J3-

(Proximity dog method,

Dog cradle type,

B-RJ004

6 types

Pr.56 Creep speed”.

Provided

Provided Provided (Inching operation)

1.46ms (Operation cycle 0.888ms)

1.59ms (Operation cycle 1.777ms)

1.52ms (Operation cycle 3.555ms)

MR-J4-

MR-J4W2-

6 types

(Proximity dog method,

Count method1, Count method2,

Data set method, Scale home

position signal detection method,

Driver home position return method

• The speed during HP shift: Select the value with either “ Pr.46 HPR speed” or ”

• Decelerate to a stop at zero point signal, and then accelerate again to the specified speed to move for the set shift distance.

(Note-1)

Pr.47 Creep speed”.

Not provided

B(-RJ)/

B/MR-J4W3- B

)

−

►Select a servo system

network which is compatible with the devices to be connected such as servo amplifiers.

Pr.97 0: SSCNETIII

1: SSCNETIII/H

−

Stopper type, dog cradle type, and limit switch combined type are not available with RD77MS

(Note-2)

►

♦ Set ” Pr.56 Speed

designation during HP shift” to “1” ( Creep speed).

Pr.47

♦ The OP search limit

function is not available with RD77MS

The operation name has been changed.

(Note-2)

2 - 4

2. DETAILS OF MIGRATION FROM QD74MH TO RD77MS

(Continued)

Model

Item

Linear interpolation control Speed: Combined-speed only

Speed limit value

Acceleration/deceleration control

Sudden-stop control

Forced stop control

Pausing function

Parameter change request

Torque limit function

QD74MH8 QD74MH16 RD77MS8 RD77MS16 Points for migration

Select the command speed with

“

Pr.20 Interpolation speed

designation method”

0: Composite speed 1: Reference axis speed

[Linear interpolation control]

Composite speed:

Pr.26

Linear interpolation speed limit value Speed for each axis: The limits are set with

Pr.10

limit value.

[Manual control]

The limits are set with

Pr.10

limit value.

Pr.16

S-curve

acceleration/deceleration time

[Linear interpolation control]

Speed for each axis: The limits are set with limit value.

Speed

[Manual control]

Speed

The limits are set with speed limit value.

Not provided

constant

Cd.4

Axis sudden stop Not provided

Forced stop is executed by the signal

(Y2) from PLC CPU.

0: Forced stop release 1: Forced stop

Cd.158

Forced stop input

0000H: Forced stop ON (Forced

stop)

0001H: Forced stop OFF (Forced

stop release)

Cd.5

Pausing Not provided

Provided Not provided

Torque limit value: 0.1% unit

Controlled by the motor maximum torque.

Torque limit value: 0.1% unit

Controlled by the value set in

Pr.17

Torque limit setting value”

“

Cd.101

or “ value”

However, when a home position

Torque output setting

return is being executed, the value

Pr.54

set in “

HPR torque limit value”

is applied.

Pr.8

Pr.31

Speed

JOG

♦ Composite speed cannot

be designated for 4-axis linear interpolation

(Note-2)

♦ The composite speed

cannot be used for limiting

(Note-2)

speed

♦ The S-curve acceleration/

deceleration time constant is not available with RD77MS

(Note-2)

♦ The sudden-stop control

is not available with RD77MS

►When the buffer memory

executes the forced stop control, set “ Forced stop valid/invalid selection” to “2”.

►Cannot be used with the

forced stop by 24 VDC external input signal.

(Note-2)

Pr.82

♦ The pausing function is

not available with RD77MS

(Note-2)

♦ The parameter change

function is not available with RD77MS

♦The default value of

►

Pr.17 Torque limit

“ setting value” is 3000[0.1%]. Review the value according to the motor to be used.

(Note-2)

2 - 5

2. DETAILS OF MIGRATION FROM QD74MH TO RD77MS

(Continued)

Model

Item

Torque change function

Acceleration/deceleration time change function

Engineering environment

(Note-1): The home position return set in driver (servo amplifier) is used. (Note-2): Contact your local sales office for details. (Note-3): Only Japanese version is available for QD74MH setting software.

QD74MH8 QD74MH16 RD77MS8 RD77MS16 Points for migration

Torque limit value: 0.1% unit Forward/reverse torque limit value individual setting

Cd.11 Torque limit request Cd.12 Forward rotation torque limit

value

Cd.13 Reverse rotation torque limit

value

Torque limit value: 0.1% unit Forward/reverse torque limit value same setting/individual setting

Cd.112 Torque change function

switching request 0: Forward/reverse torque

limit value same setting

1: Forward/reverse torque

limit value individual setting

Cd.22 New torque value/forward

new torque value

Cd.113 New reverse torque value

Cd.18 Acceleration time change

request

Cd.20 Deceleration time change

request

Cd.12 Acceleration/deceleration

time change value during speed change, enable/ disable

1: Enables modifications to

acceleration/deceleration time

MELSOFT GX Works2

QD74MH setting software

(Note-3)

MELSOFT GX Works3

(Simple Motion Module Setting

Function)

Cd.112 Torque change

Set “ function switching request” to “1”.

►♦The acceleration/

deceleration time can be changed by setting

Cd.12 .

−

2 - 6

2. DETAILS OF MIGRATION FROM QD74MH TO RD77MS

(2) Exterior dimensions/mass/installation

QD74MH8 QD74MH16

QD74MH16

RUN

ERR.

498

RD77MS8 RD77MS16

RD77MS16

ERRRUN

AX1-16

Exterior dimensions [mm]

Mass [kg]

Internal current consumption (5 VDC) [A]

CN1

EMI

QD74MH16

27.4

498

(Note) The connector for SSCNETIII cable is at the bottom of

the module.

98.0[H]×27.4[W]×90.0[D] 106.0[H]×27.8[W]×110.0[D]

0.15 0.23

0.70 1.0

Top ofpanel or wiring duct

RD77MS

RD77MS4

ERRRUN

3421

30 mm or more

(Note-1)

Base unit

110

80 mm

or more

27.8

106

Door

70 mm

Panel

119 mm

or more

5mmormore

(Note-2)

5 mm or more

(Note-1): For wiring duct with 50mm or less height. For other cases, 40mm or more.

(Note-2): 20mm (0.79inch) or more when the adjacent module is not removed and the extension cable is connected.

2 - 7

2. DETAILS OF MIGRATION FROM QD74MH TO RD77MS

(3) Operation cycle

The operation cycle settings of QD74MH can be imported to RD77MS when the projects of QD74MH are diverted to RD77MS in MELSOFT GX Works3. (Refer to section 2.4.1 for details of project diversion.) However, if the operation cycle is set as default (automatic), the operation cycle will be changed. Set an operation cycle where necessary by following the table below because the change in the operation cycle may change program execution timing.

[Control axes and operation cycle at default]

Model

Item

Number of control axes

QD74MH RD77MS

Up to 16 Up to 16

Operation cycle (default)

[Settable operation cycle]

QD74MH RD77MS

0.88ms

0.444ms

0.888ms

1.777ms

3.555ms

0.444ms/1 to 4 axes

0.888ms/5 to 8 axes

1.777ms/9 to 16 axes

2 - 8

2. DETAILS OF MIGRATION FROM QD74MH TO RD77MS

(4) Parameter setting

Review the existing settings and sequence programs for the parameters, monitor data, control data which do not exist in RD77MS.

Refer to manuals of each module for details.

(a) Parameter

QD74MH RD77MS Points for migration

Pr.2

Pr.0

Electronic gear numerator (AP)

1 to 32768

Pr.2

Electronic gear denominator (AL)

1 to 32768

Pr.4

Software stroke limit upper limit value

Number of pulses per rotation (AP)

1 to 200000000

Pr.3

Movement amount per rotation (AL)

1 to 200000000

Pr.12

Software stroke limit upper limit value −

An item that requires a setting change at migration

►

The setting range has been changed.

Pr.6

Software stroke limit lower limit value

Pr.8

Backlash compensation amount

Pr.10

Speed limit value

1 to 2147 (Unit:×10

Pr.15

Acceleration/deceleration method

[PLS/s])

0: Linear acceleration/deceleration 1: S-curve acceleration/deceleration

Pr.16

S-curve acceleration/deceleration time

constant

Pr.17

Sudden stop deceleration time

0 to 20000

Pr.20

Command in-position range

0 to 2147483647

Pr.23

Target position change overrun processing

selection

Pr.25

Interpolation group

Pr.26

Linear interpolation speed limit value

Pr.31

External input signal logic selection

b0: Upper hardware stroke limit b4: Lower hardware stroke limit b8: Proximity dog

Pr.50

OPR method

0: Proximity dog 2: Data set 6: Scale origin signal detection

Pr.51

OPR direction

Pr.13

Software stroke limit lower limit value −

Pr.11

Backlash compensation amount −

Set the value multiplied by 10

Pr.8

Speed limit value

1 to 1000000000

Pr.31

JOG speed limit value

►

The setting range has been changed.

Set the same value as

►

1 to 1000000000

Pr.34

Acceleration/deceleration process

selection 0: Trapezoid acceleration/deceleration process 1: S-curve acceleration/deceleration process

−

Pr.36

Rapid stop deceleration time

►If

1 to 8388608

If “0” is set, change it to “1”.

Pr.16

Command in-position width

►

1 to 2147483647

−

The layout of signals has been

Pr.22

Input signal logic selection

b0: Lower limit

►

changed.

b1: Upper limit b6: Proximity dog signal

If “Data set method” or “Scale

Pr.43

HPR method

0: Proximity dog method 6: Data set method

►

origin signal detection method” are set, change the setting.

7: Scale origin signal detection method

Pr.44

HPR direction −

Pr.8

−

“0” is set, change it to “1”.

−

6 .

Pr.52

OP address

Pr.45

HP address −

2 - 9

2. DETAILS OF MIGRATION FROM QD74MH TO RD77MS

(Continued)

Pr.54

OPR speed

5 to 2147000000

Pr.56

Creep speed

5 to 32767

Pr.58

OPR acceleration time − −

Pr.59

OPR deceleration time − −

QD74MH RD77MS Points for migration

Pr.46

HPR speed

►

1 to 1000000000

Pr.47

Creep speed

1 to 1000000000

The setting range has been changed.

If the current setting is outside of

the settable range of RD77MS, review the setting.

Pr.60

OP shift amount

Pr.62

OP search limit

Pr.64

Incremental linear scale setting

Pr.66

Operation setting for incompletion of OPR

0: Not executed 1: Executed

Pr.53

HP shift amount −

− −

Pr.55

Operation setting for incompletion of

HPR 0: Positioning control is not executed 1: Positioning control is executed.

Pr.80

JOG speed − −

Pr.82

JOG operation acceleration time − −

Pr.83

JOG operation deceleration time − −

Pr.84

Incremental feedrate − −

Pr.101

External forced stop selection

Pr.82

Forced stop valid/invalid selection −

−

2 - 10

2. DETAILS OF MIGRATION FROM QD74MH TO RD77MS

(b) Monitor data

An item that requires a setting change at migration

QD74MH RD77MS Points for migration

Md.0

Current feed value

Md.2

Feedrate

Md.4

External input signal

b0: Upper hardware stroke limit b4: Lower hardware stroke limit b8: Proximity dog

Md.5

Positioning data No. being executed

Md.6

Error code

Md.7

Error details − −

Md.8

Warning code

Md.9

Status 1

b0: OPR request b1: OPR complete

Md.10

Status 2

b0: Positioning complete b1: Command in-position

Md.26

Real current value

Md.28

Deviation counter value

Md.31

Motor current

Md.32

Motor rotation speed

Md.34

Regenerative load ratio

Md.35

Effective load torque ratio

Md.36

Peak torque ratio

Md.40

Servo status 1

b0: READY ON b1: Servo ON b7: Servo error (Servo alarm) b12: In-position b13: Torque limit b14: Absolute position lost b15: Servo warning

Md.41

Servo status 2

b0: Zero point pass b3: Zero speed

Md.100

Axis error status − −

Md.101

Axis warning status − −

Md.102

Number of write accesses to flash ROM

Md.103

Forced stop input status

0: Forced stop 1: Forced stop release

Md.20

Feed current value −

Md.22

Feedrate −

Md.30

External input signal

b0: Lower limit signal b1: Upper limit signal b6: Proximity dog signal

Md.44

Positioning data No. being executed −

Md.23

Axis error No. −

Md.24

Axis warning No. −

Md.31

Status

b2 : Command in-position flag b3 : HPR request flag b4 : HPR complete flag b15: Positioning complete

Md.101

Real current value −

Md.102

Deviation counter value −

Md.104

Motor current value −

Md.103

Motor rotation speed −

Md.109

Regenerative load ratio/Optional data monitor output 1

Md.110

Effective load torque/Optional data monitor output 2

Md.111

Peak torque ratio/Optional data monitor output 3

Md.108

Servo status 1

b0: READY ON b1: Servo ON b7: Servo alarm b12: In-position b13: Torque limit b14: Absolute position lost b15: Servo warning

Md.119

Servo status 2

b0 : Zero point pass b3 : Zero speed

Md.19

Number of write accesses to flash ROM −

Md.50

Forced stop input

0: Forced stop input ON (Forced stop) 1: Forced stop input OFF (Forced stop release)

►

The layout of input signals has been changed.

Md.31

“

The servo status is 32-bit data

Status” is 16-bit data.

−

2 - 11

2. DETAILS OF MIGRATION FROM QD74MH TO RD77MS

An item that requires a setting change at migration

►

QD74MH RD77MS Points for migration

Cd.0

Axis error reset

0: Not commanded

Cd.5

Axis error reset

1: Axis error is reset.

Only “1: Axis error is reset” is valid.

1: Commanded

Cd.1

Parameter change request − −

Cd.2

Start method − −

Cd.3

Axis stop

0: Not commanded 1: Commanded

Cd.4

Axis sudden stop − −

Cd.5

Pausing − −

Cd.8

Forward rotation JOG start

0: Stop 1: Start

Cd.9

Reverse rotation JOG start

0: Stop 1: Start

Cd.11

Torque limit request − −

Cd.12

Forward rotation torque limit value

Cd.13

Reverse rotation torque limit value

Cd.15

Speed change request

0: Not requested

Cd.180

Axis stop

1: Axis stop requested Other than 1: Axis stop not requested

Cd.181

Forward run JOG start

1: JOG started Other than 1: JOG not started

Cd.182

Forward run JOG start

1: JOG started Other than 1: JOG not started

− −

Cd.15

Speed change request

1: Executes speed change

Only “1: Axis stop requested” is valid.

Only “1: JOG started” is valid.

Only “1: Change the speed is” valid.

1: Requested

Cd.16

New speed value

5 to 2147000000

Cd.14

New speed value

0 to 1000000000

If the current setting is outside of

►

the settable range of RD77MS, review the setting.

Cd.18

Acceleration time change request

0: Not requested 1: Requested

Cd.12

Acceleration/deceleration time change value

during speed change, enable/disable

1: Enables modifications to acceleration/deceleration

time

Other than 1: Disables modifications to acceleration/

Set this data to select whether

►

acceleration/deceleration time is allowed to be modified or not when a speed change is executed.

deceleration time

Cd.19

New acceleration time value

0 to 20000

Cd.20

Deceleration time change request 0: Not requested 1: Requested

Cd.10

New acceleration time value

0 to 8388608

Cd.12

Acceleration/deceleration time change value

during speed change, enable/disable

1: Enables modifications to acceleration/deceleration

time

Other than 1: Disables modifications to acceleration/

The setting range has been changed.

Set this data to select whether

►

acceleration/deceleration time is allowed to be modified or not when a speed change is executed.

deceleration time

2 - 12

2. DETAILS OF MIGRATION FROM QD74MH TO RD77MS

(Continued)

Cd.21

New deceleration time value

0 to 20000

Cd.23

Target position change request

0: Not requested 1: Requested

Cd.24

New target position value

QD74MH RD77MS Points for migration

Cd.11

New deceleration time value

0 to 8388608

Cd.29

Target position change request flag

1: Requests a change in the target position

Cd.27

Target position change value (New address) −

The setting range has been changed.

Only “1: requests a change in the target position” is valid.

Cd.28

New current value

Cd.30

Each axis servo OFF

0: Not commanded 1: Commanded

Cd.45

Semi/Fully closed loop switching

request

(When MR-J3-

Cd.46

Gain changing request

B-RJ006 is used)

0: Not requested 1: Requested

Cd.100

Flash ROM write request

0: Not requested 1: Requested

Cd.101

Parameter initialization request

0: Not requested 1: Requested

Cd.9

New current value −

Cd.100

Servo OFF command

0: Servo ON 1: Servo OFF Valid only during “servo ON for all axes”.

Cd.133

Semi/Fully closed loop switching request

Cd.108

Gain switching command flag

0: Gain switching command OFF 1: Gain switching command ON

Cd.1

Flash ROM write request

1: Requests write access to flash ROM.

Cd.2

Parameter initialization request

1: Requests parameter initialization

−

2 - 13

2. DETAILS OF MIGRATION FROM QD74MH TO RD77MS

(5) I/O signals

(a) Signal direction: Positioning module (Simple Motion module) → PLC CPU

QD74MH RD77MS

Device No. Signal name

X0 Unit READY X1 Error detection X2 Warning detection

X3 Synchronization flag X4 X5 X6 X7 X8 X9

Unusable

XB XC XD XE

XF X10 Axis 1 X11 Axis 2 Axis 2

X12 Axis 3 Axis 3 X13 Axis 4 Axis 4 X14 Axis 5 Axis 5 X15 Axis 6 Axis 6 X16 Axis 7 Axis 7 X17 Axis 8 Axis 8 X18 Axis 9 Axis 9 X19 Axis 10 Axis 10 X1A Axis 11 Axis 11 X1B Axis 12 Axis 12 X1C Axis 13 Axis 13 X1D Axis 14 Axis 14 X1E Axis 15 Axis 15 X1F Axis 16 Axis 16

(Note-1): These signals are included in the buffer memory “

(Note-2): There are some devices that will become “Use prohibited” after replacing the existing model

with RD77MS. The device No. with “Use prohibited” are used by system. Therefore, a user

cannot use them. In the case of using them, the operation is not guaranteed.

RD77MS buffer memory “

Buffer memory address Signal name

2417+100n

b9 Axis warning detection

b13 Error detection

(Note-1)

BUSY

Md.31

RD77MS READY

Synchronization flag

Use prohibited

Axis 1

Md.31

Status” in RD77MS.

Status”

(Note-2)

BUSY

n: Axis No.-1

2 - 14

2. DETAILS OF MIGRATION FROM QD74MH TO RD77MS

(b) Signal direction: PLC CPU → Positioning module (Simple Motion module)

QD74MH RD77MS

Device No. Signal name

Y0 PLC READY

Y1 All axis servo ON

Y2 Forced stop input

(Note-1)

Unusable

YA YB YC YD YE

YF Y10 Axis 1 Y11 Axis 2 Axis 2

Y12 Axis 3 Axis 3 Y13 Axis 4 Axis 4 Y14 Axis 5 Axis 5 Y15 Axis 6 Axis 6 Y16 Axis 7 Axis 7 Y17 Axis 8 Axis 8 Y18 Axis 9 Axis 9

Positioning start

Y19 Axis 10 Axis 10 Y1A Axis 11 Axis 11 Y1B Axis 12 Axis 12 Y1C Axis 13 Axis 13 Y1D Axis 14 Axis 14 Y1E Axis 15 Axis 15 Y1F Axis 16 Axis 16

(Note-1): These signals are included in the buffer memory “

(Note-2): There are some devices that will become “Use prohibited” after replacing the existing model

with RD77MS. The device No. with “Use prohibited” are used by system. Therefore, a user

cannot use them. In the case of using them, the operation is not guaranteed.

RD77MS

Buffer memory address Setting value

5945

buffer

memory “

Cd.158

Forced stop input”

Set the forced stop information to the buffer memory. 0: Forced stop ON (Forced stop)

1: Forced stop OFF (Forced stop release)

A value other than "1" is regarded as "0".

Use prohibited

Axis 1

Positioning start

Cd.158

Forced stop input” in RD77MS.

(Note-2)

2 - 15

2. DETAILS OF MIGRATION FROM QD74MH TO RD77MS

(6) Items that need a review or a change following the servo system network change

Items

Electronic

gear

Positioning

data

QD74MH RD77MS

Differences

− −

Change “

Movement amount per rotation” of the basic parameter 1

according to the resolution per the connected servo

motor rotation.

Review the positioing data while taking into account the

differences in resolution per the connected servo motor

rotation and the setting changes in the electronic gear

above.

Change/revision

Pr.2

Number of pulses per rotation” and “

Pr.3

2 - 16

2. DETAILS OF MIGRATION FROM QD74MH TO RD77MS

2.3 Forced Stop Input Cable

The forced stop input cable needs to be replaced along with the controller replacement.

(1) Cable replacement (recommended)

The existing forced stop cable (Q170DEMICBL external input connection connector for RD77MS. To use the forced stop function with RD77MS, fabricate the cable with the following connectors and cables.

(a) Appearance

A6CON1 A6CON2 A6CON4

M) for QD74MH is not compatible with the

(b) Connector type

Type Model

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

Part name Specification

Applicable connector A6CON1, A6CON4 A6CON2

Applicable wire size 0.3 mm2 AWG28 to 24

(Note): The external input wiring connector is not included. Please purchase them by customer.

[Specialized tool]

- Pressure-bonding tool for A6CON2 (Fujitsu component LTD.):

Model name: FCN-363T-T005/H

Contact: http://www.fujitsu.com/jp/group/fcl/en/

2 - 17

2. DETAILS OF MIGRATION FROM QD74MH TO RD77MS

Pin layout

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

Front view o the module

(Note-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) (Note-2): Set the signal input form in "

(Note-3): Voltage-output/open-collector type

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

(Note-4): Differential-output type

Connect the A-phase/PLS signal to HAH, and the A-phase/PLS inverse signal to HAL.

Connect the B-phase/SIGN signal to HBH, and the B-phase/SIGN inverse signal to HBL. (Note-5): Do not connect to any of the terminal explained as "No connect". (Note-6): Set the external command signal [DI, FLS, RLS, DOG, STOP] in "

command signal selection" at RD77MS use. (Note-7): Do not use 1A20, 1A19, 1A(B)15, and 1A(B)14 for other than the power supply of manual pulse generator.

The signal layout for the external input connection connector of RD77MS is shown below.

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

2B20

2A20

1B20 HB

2B19 2A19 1B19 HA

A20

2B18 2A18 1B18 HBL

A19

2B17 2A17 1B17 HAL

A18 A17

2B16 2A16 1B16

A16 A15

2B15 2A15 1B15 5V

A14 A13

2B14 2A14 1B14 SG

A12

2B13 2A13 1B13

A11

2B12 2A12 1B12 1A12

A10 A9

2B11 2A11 1B11 1A11

2B10 2A10 1B10 1A10

A7 A6

2B9 2A9 1B9 1A9

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

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

A3 A2

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

2B5 SIN20

2B4 SIN19

2B3 SIN18

2B2 SIN17

2B1 SIN16

No connect

(Note-5)

(Note-6)

2A5 SIN15

(Note-6)

2A4 SIN14

(Note-6)

2A3 SIN13

(Note-6)

2A2 SIN12

(Note-6)

2A1 SIN11

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

No connect

(Note-5)

(Note-6)

1B5 SIN10

1B4 SIN9

1B3 SIN8

1B2 SIN7

1B1 SIN6

Pr.80 External input signal selection" and " Pr.95 External

(Note-1, 2, 3)

(Note-1, 2, 4)

No connect

(Note-5)

(Note-7)

No connect

(Note-5)

(Note-6)

1A20 5V

1A19 5V

1A18 HBH

1A17 HAH

1A16

1A15 5V

1A14 SG

1A13

1A5 SIN5

1A4 SIN4

1A3 SIN3

1A2 SIN2

1A1 SIN1

(Note-7)

(Note-1, 2, 4)

No connect

(Note-5)

(Note-7)

No connect

(Note-5)

(Note-6)

2 - 18

2. DETAILS OF MIGRATION FROM QD74MH TO RD77MS

When using the forced stop function, wire the terminals of the Simple Motion module forced stop input (1A08/1B08) as shown below. As for the 24VDC power supply, the direction of current can be switched.

(2) Conversion connector

When using the forced stop input cable (Q170DEMICBL conversion cable with the A6CON connector and the receptacle below.

Use the cable whose wire size is AWG24.

(a) A6CON connector (RD77MS side)

Use the connector in “(1) Cable replacement (recommended)”.

(b) Receptacle (Forced stop input cable side)

Fabricate the receptacle by combining the following housing and terminal.

Housing : 5559-02P-210 (Manufacturer: Molex Incorporated) Terminal : 5558PBTL (Manufacturer: Molex Incorporated)

RD77MS side

（1A_ _, 1B_ _)

Q170DEMICBL□M side

□

M) for RD77MS, fabricate the

Rec epta cle con nector

EMI.COM

EMI

A6CON

1B8

1A8

・5558 PB TL ・5559 -02 P-21 0

：Twisted pair cable

(N ot e): Use a 24 AWG cable .

（Terminal）（Hous in g）

2 - 19

2. DETAILS OF MIGRATION FROM QD74MH TO RD77MS

2.4 Project Diversion

2.4.1 Project diversion procedures by engineering environment

(1) Procedures for diversion of QD74MH setting software data by MELSOFT GX Works3

The following shows the diversion procedure.

1) Start MELSOFT GX Works3.

2) Select “New” in “Project” menu to create a new MELSEC iQ-R series project.

3) Select “Add New Module” from “Module Information” under “Parameter” in the navigation tree. A new module can also be added on “Module Configuration” screen from the navigation tree.

2 - 20

2. DETAILS OF MIGRATION FROM QD74MH TO RD77MS

4) On the “Add New Module” screen, select “Simple Motion” for [Module Type], the replaced

Simple Motion module model for [Module Name] (the setting example below: RD77MS16), and then set each item in "Mounting Position" of "Advanced Settings" according to your system. Click “OK”.

5) The module label setting confirmation screen will appear. Change the setting where

necessary and click "OK".

2 - 21

2. DETAILS OF MIGRATION FROM QD74MH TO RD77MS

6) Right-click on the new module name (in this example, “RD77MS16” set in 4)) in “Module

Information” in the navigation tree, and select [Import Other Format Data].

7) Select the project files to be diverted in QD74MH setting software, and click “Open”.

8) Select data to import on “Select Data to Import” screen, and click “OK”.

2 - 22

2. DETAILS OF MIGRATION FROM QD74MH TO RD77MS

9) Execute the series conversion of the servo amplifier. Select the network to be used for the

replaced servo amplifiers (for RD77MS), and click [OK].

(Note): When servo parameters settings are changed from “MR-J3 series” to “MR-J4 series”, the parameter

conversion is carried out based on conversion rules.

Refer to “Simple Motion Module Setting Help [Appendix] - [Servo parameter conversion]” for the

conversion rules.

10) When the project diversion completion message appears, click “OK”. Be sure to check the

imported data.

The diversion is completed.

Before writing to the Simple Motion module, be sure to confirm the validity of the diverted parameters.

(2) Sequence programs

The structure of buffer memory and the control method differs between QD74MH and

RD77MS.

Be sure to recreate sequence programs for the new system.

2 - 23

2. DETAILS OF MIGRATION FROM QD74MH TO RD77MS

2.4.2 List of divertible/not divertible data

(1) Module parameters

Pr.101

External forced stop selection

ￚ

Pr.102

Error and warning history selection

ￚ

Pr.0

Electronic gear numerator (AP)

Pr.2

Electronic gear denominator (AL)

Pr.10

Speed limit value

ￚ

The initial values are set for parameters not listed in the table below

Data name

QD74MH RD77MS

Common parameters

Pr.82

Forced stop valid/invalid selection

Pr.96

Operation cycle setting

Pr.97

SSCNET setting

ￚ

Basic parameters 1

Pr.1

Unit setting

Pr.2

Number of pulses per rotation (AP)

Pr.3

Movement amount per rotation (AL)

Basic parameters 2

Pr.8

Speed limit value

Pr.9

Acceleration time 0

Pr.10

Deceleration time 0

Divertible or

not divertible

◯

ￚ

◯

Remarks

ￚ

“0000H: 0.888ms” is set.

The value selected in SSCNET setting at replacement will be set.

Error and warning histories are automatically saved.

“3: pulse” is set.

ￚ

The value that multiplies QD74MH setting value by 1000000 is set.

These acceleration/deceleration time values come from the positioning data. (Refer to (2) in this section)

2 - 24

2. DETAILS OF MIGRATION FROM QD74MH TO RD77MS

(Continued)

Data name

QD74MH RD77MS

Detailed parameters 1

Pr.8

Backlash compensation amount

Pr.20

Command in-position range

Pr.16

S-curve acceleration/deceleration time constant

Pr.23

Target position change overrun processing selection

Pr.25

Interpolation group

Pr.26

Linear interpolation speed limit value

Pr.28

Feed current value update selection during speed-torque control

Pr.31

External input signal logic selection: Lower limit

Pr.31

External input signal logic selection: Upper limit

Pr.31

External input signal logic selection: Proximity dog

Pr.11

Backlash compensation amount

Pr.16

Command in-position width

ￚ

Pr.22

Input signal logic selection: Lower limit

Pr.22

Input signal logic selection: Upper limit

Pr.22

Input signal logic selection: Proximity dog signal

Divertible or

not divertible

◯

Remarks

ￚ

2 - 25

2. DETAILS OF MIGRATION FROM QD74MH TO RD77MS

(Continued)

Data name

QD74MH RD77MS

Detailed parameters 2

ￚ

Pr.82

JOG operation acceleration time

Pr.58

OPR acceleration time

ￚ

Pr.83

JOG operation deceleration time

Pr.59

OPR deceleration time

Pr.10

Speed limit value

ￚ

Pr.25

Acceleration time 1

Pr.26

Acceleration time 2

Pr.27

Acceleration time 3

Pr.28

Deceleration time 1

Pr.29

Deceleration time 2

Pr.30

Deceleration time 3

Pr.31

JOG speed limit value

Pr.32

JOG operation acceleration time selection

Pr.33

ￚ

JOG operation deceleration time selection

Pr.15

Acceleration/deceleration method

Pr.17

Sudden stop deceleration time

ￚ

Pr.80

JOG speed

Pr.84

Incremental feedrate

Pr.34

Acceleration/deceleration process selection

Pr.36

Rapid stop deceleration time

Pr.37

Stop group 1 rapid stop selection

ￚ

Divertible or

not divertible

◯

ￚ

◯

ￚ

Remarks

The acceleration time value comes from positioning data. (Refer to (2) in this section)

ￚ

The deceleration time value comes from positioning data.

(Refer to (2) in this section)

ￚ

The value that multiplies QD74MH setting value by 1000000 is set.

“2” is set.

ￚ

“1: Rapid stop” is set.

ￚ

2 - 26

2. DETAILS OF MIGRATION FROM QD74MH TO RD77MS

(Continued)

Data name

QD74MH RD77MS

HPR basic parameters

Pr.50

OPR method

Pr.51

OPR direction

Pr.52

OP address

Pr.54

OPR speed

Pr.56

Creep speed

ￚ

Pr.43

HPR method

Pr.44

HPR direction

Pr.45

HP address

Pr.46

HPR speed

Pr.47

Creep speed

Pr.48

HPR retry

HPR detailed parameters

ￚ

Pr.60

OP shift amount

Pr.66

Operation setting for incompletion of OPR

ￚ

Pr.62

OP search limit

Pr.64

Incremental linear scale setting

Pr.51

HPR acceleration time selection

Pr.52

HPR deceleration time selection

Pr.53

HP shift amount

Pr.55

Operation setting for incompletion of HPR

Pr.56

Speed designation during HP shift

ￚ

Divertible or

not divertible

◯

ￚ

◯

ￚ

Remarks

The current values are converted as follow.

“0”→“0” “2”→“6” “3”→“0” “4”→“0” “5”→“0” “6”→“7” “7”→“0”

(Note): The initial values are set

for values other than above.

ￚ

The OPR settings of QD74MH are diverted as follows according

Pr.50

to the value set in “ method”

“0” or “4” has been set:

OPR

“1: Retry HPR with limit switch”

Other than above:

0: Do not retry HPR with

“

limit switch

“3” is set.

”

ￚ

“1: Creep speed” is set.

ￚ

2 - 27

2. DETAILS OF MIGRATION FROM QD74MH TO RD77MS

(2) Positioning data

(a) Although QD74MH positioning data is not compatible with RD77MS, some data can be

converted for the new system. However,

data needs to be reviewed and revised.

make sure that it is not fully diverted for the new system. The positioning

START

Linear interpolation

Has the

interpolation group

been set?

All data is divertible. Not divertible

Yes

Control method?

Has the

interpolation group

been set?

The reference

axis setting?

Inter

Yes

Only positioning address

Other control methods

olation control

Has the

interpolation

axis been set?

is divertible.

Yes

2 - 28

2. DETAILS OF MIGRATION FROM QD74MH TO RD77MS

(b) The following shows the details of positioning data diversion.

1) The existing acceleration/deceleration time settings are diverted to “ time 0”, “

Pr.25

Acceleration time 1”/“

Pr.10 :

Deceleration time 0”, “

time 1”.

2) The control method “6: Speed-torque” is not divertible. Create a sequence program by referring to “MELSEC iQ-R Simple Motion Module User's Manual (Application)”.

3) When the control method is set as either “2: ABS linear interpolation” or “3: INC linear interpolation”, the lowest axis No. in the interpolation group will be set as the reference axis.

) Among the positioning data of axes specified in “

ones in which “2: ABS linear interpolation” or “3: INC linear interpolation” is set can be diverted. However, if the control methods do not match among the axes, the positioning data will

QD74MH RD77MS

Operation pattern Operation pattern

Control method Control method

Interpolation axes

ￚ

Acceleration time No.

ￚ

Acceleration time/torque time

constant

Deceleration time No. Refer to (b)-1) above.

ￚ

Deceleration time

Positioning address/

torque command value

Arc address

ￚ

Command speed/speed limit

value

Dwell time Dwell time

M-code

ￚ

Comments in positioning data

ￚ

Positioning data No.2 to No.32 Positioning data No.2 to No.32

not be diverted.

Data name

ￚ

Positioning address

Command speed

M code ON signal output timing

ABS direction in degrees

Interpolation speed designation

method

Divertible or

not divertible

○: Divertible，×: Not divertible

(Note-1): These settings are diverted as follows according to the number of axes set in “

In addition, the interpolation axis No. is diverted to “Axis to be interpolated No.” in RD77MS.

The number of axes

in the same interpolation group

0 or 1 01h ABS linear 1 02h INC linear 1

2 0Ah ABS linear 2 0Bh INC linear 2

3 15h ABS linear 3 16h INC linear 3

4 1Ah ABS linear 4 1Bh INC linear 4

ABS linear

interpolation

Setting value

Pr.28

Pr.25

interpolation group”, only the

Remarks

○

ￚ

Refer to (b)-1) above.

ￚ

○

The initial value is set.

ￚ

○

ￚ

○

0:ABS linear 1 → 01h:ABS linear 1

1:INC linear 1 → 02h:INC linear 1

2:ABS linear interpolation → (Note-1)

3:INC linear interpolation → (Note-1)

6:Speed-torque → Not diverted

The initial value is set.

No equivalent parameter exists

，

ￚ:

Pr.25

Interpolation group”.

INC linear

interpolation

Pr.9

Acceleration

Deceleration

ￚ

2 - 29

2. DETAILS OF MIGRATION FROM QD74MH TO RD77MS

The following shows the example of interpolation control settings.

[Example 1]

•

Interpolation group (Axis 1 to Axis 3): 1: Group 1

The control method: the same setting for all axes

Pr.25

Axis No. Control method Reference axis Diversion

Axis 1 2: ABS linear interpolation control ○ ○

Axis 2 2: ABS linear interpolation control

Axis 3 2: ABS linear interpolation control

[Example 2]

•

Interpolation group (Axis 1 to Axis 3): 1: Group 1

The control method: A different setting only for axis 1

Pr.25

Axis No. Control method Reference axis Diversion

Axis 1 3: INC linear interpolation control

Axis 2 2: ABS linear interpolation control ○ ○

Axis 3 2: ABS linear interpolation control

Pr.25

[Example 3]

•

Interpolation group (Axis 1 to Axis 3): 1: Group 1

No common settings among the axes

Axis No. Control method Reference axis Diversion

Axis 1 2: ABS linear interpolation control

Axis 2 6: Speed-torque

Axis 3 3: INC linear interpolation control

[Example 4]

•

Interpolation group (Axis 1 to Axis 3): 1: Group 1

Positioning data control method: No interpolation control setting

Pr.25

Axis No. Control method Reference axis Diversion

Axis 1 0: ABS linear 1

Axis 2 0: ABS linear 1

Axis 3 0: ABS linear 1

○

ￚ

○

ￚ

○

ￚ

× × ×

2 - 30

2. DETAILS OF MIGRATION FROM QD74MH TO RD77MS

MEMO

2 - 31

2. DETAILS OF MIGRATION FROM QD74MH TO RD77MS

MEMO

2 - 32

WARRANTY

Please confirm the following product warranty details before using this product.

1. Gratis Warranty Term and Gratis Warranty Range

If any faults or defects (hereinafter "Failure") found to be the responsibility of Mitsubishi occurs during use of the product within the gratis warranty term, the product shall be repaired at no cost via the sales representative or Mitsubishi Service Company. However, if repairs are required onsite at domestic or overseas location, expenses to send an engineer will be solely at the customer's discretion. Mitsubishi shall not be held responsible for any re-commissioning, maintenance, or testing on-site that involves replacement of the failed module. [Gratis Warranty Term] The gratis warranty term of the product shall be for one year after the date of purchase or delivery to a designated place. Note that after manufacture and shipment from Mitsubishi, the maximum distribution period shall be six (6) months, and the longest gratis warranty term after manufacturing shall be eighteen (18) months. The gratis warranty term of repair parts shall not exceed the gratis warranty term before repairs. [Gratis Warranty Range] (1) The range shall be limited to normal use within the usage state, usage methods and usage environment, etc., which

follow the conditions and precautions, etc., given in the instruction manual, user's manual and caution labels on the product.

(2) Even within the gratis warranty term, repairs shall be charged for in the following cases.

1. Failure occurring from inappropriate storage or handling, carelessness or negligence by the user. Failure caused by the user's hardware or software design.

2. Failure caused by unapproved modifications, etc., to the product by the user.

3. When the Mitsubishi product is assembled into a user's device, Failure that could have been avoided if functions or structures, judged as necessary in the legal safety measures the user's device is subject to or as necessary by industry standards, had been provided.

4. Failure that could have been avoided if consumable parts (battery, backlight, fuse, etc.) designated in the instruction manual had been correctly serviced or replaced.

5. Failure caused by external irresistible forces such as fires or abnormal voltages, and Failure caused by force majeure such as earthquakes, lightning, wind and water damage.

6. Failure caused by reasons unpredictable by scientific technology standards at time of shipment from Mitsubishi.

7. Any other failure found not to be the responsibility of Mitsubishi or that admitted not to be so by the user.

2. Onerous repair term after discontinuation of production

(1) Mitsubishi shall accept onerous product repairs for seven (7) years after production of the product is discontinued.

Discontinuation of production shall be notified with Mitsubishi Technical Bulletins, etc.

(2) Product supply (including repair parts) is not available after production is discontinued.

3. Overseas service

Overseas, repairs shall be accepted by Mitsubishi's local overseas FA Center. Note that the repair conditions at each FA Center may differ.

4. Exclusion of loss in opportunity and secondary loss from warranty liability

Regardless of the gratis warranty term, Mitsubishi shall not be liable for compensation to: (1) Damages caused by any cause found not to be the responsibility of Mitsubishi. (2) Loss in opportunity, lost profits incurred to the user by Failures of Mitsubishi products. (3) Special damages and secondary damages whether foreseeable or not, compensation for accidents, and

compensation for damages to products other than Mitsubishi products.

(4) Replacement by the user, maintenance of on-site equipment, start-up test run and other tasks.

5. Changes in product specifications

The specifications given in the catalogs, manuals or technical documents are subject to change without prior notice.

6. Precautions for Choosing the Products

(1) For the use of our Simple Motion module, its applications should be those that may not result in a serious damage

even if any failure or malfunction occurs in Simple Motion module, and a backup or fail-safe function should operate on an external system to Simple Motion module when any failure or malfunction occurs.

(2) Our Simple Motion module is designed and manufactured as a general purpose product for use at general

industries. Therefore, applications substantially influential on the public interest for such as atomic power plants and other power plants of electric power companies, and also which require a special quality assurance system, including applications for railway companies and government or public offices are not recommended, and we assume no responsibility for any failure caused by these applications when used. In addition, applications which may be substantially influential to human lives or properties for such as airlines, medical treatments, railway service, incineration and fuel systems, man-operated material handling equipment, entertainment machines, safety machines, etc. are not recommended, and we assume no responsibility for any failure caused by these applications when used. We will review the acceptability of the abovementioned applications, if you agree not to require a specific quality for a specific application. Please contact us for consultation.

The company names, system names and product names mentioned in this document are either registered trademarks or trademarks of their respective companies. In some cases, trademark symbols such as ' TM ' or '®' are not specified in this manual.

Migration Guide from Positioning Module to Simple Motion Module [QD74MH ය RD77MS]

Country/Region Sales ofﬁce

USA

Mexico

Brazil

Germany

Italy

Spain

France

Czech Republic

Poland

Russia

Sweden

Turkey

UAE

South Africa

China

Taiwan

Korea

Singapore

Thailand

Indonesia

Vietnam

India

Australia

Mitsubishi Electric Automation, Inc. 500 Corporate Woods Parkway, Vernon Hills, IL 60061, U.S.A.

Mitsubishi Electric Automation, Inc. Mexico Branch Boulevard Miguel de Cervantes Saavedra 301, Torre Norte Piso 5, Ampliacion Granada, Miguel Hidalgo, Ciudad de Mexico, Mexico, C.P.11520

Mitsubishi Electric do Brasil Comercio e Servicos Ltda. Avenida Adelino Cardana, 293, 21 andar, Bethaville, Barueri SP, Brazil

Mitsubishi Electric Europe B.V. German Branch Mitsubishi-Electric-Platz 1, 40882 Ratingen, Germany

Mitsubishi Electric Europe B.V. UK Branch Travellers Lane, UK-Hatﬁeld, Hertfordshire, AL10 8XB, U.K.

Mitsubishi Electric Europe B.V. Italian Branch Centro Direzionale Colleoni - Palazzo Sirio, Viale Colleoni 7, 20864 Agrate Brianza (MB), Italy

Mitsubishi Electric Europe B.V. Spanish Branch Carretera de Rubi, 76-80-Apdo. 420, E-08190 Sant Cugat del Valles (Barcelona), Spain

Mitsubishi Electric Europe B.V. French Branch 25, Boulevard des Bouvets, 92741 Nanterre Cedex, France

Mitsubishi Electric Europe B.V. Czech Branch, Prague Ofﬁce Pekarska 621/7, 155 00 Praha 5, Czech Republic

Mitsubishi Electric Europe B.V. Polish Branch ul. Krakowska 50, 32-083 Balice, Poland

Mitsubishi Electric (Russia) LLC St. Petersburg Branch Piskarevsky pr. 2, bld 2, lit "Sch", BC "Benua", ofﬁce 720; 195027 St. Petersburg, Russia

Mitsubishi Electric Europe B.V. (Scandinavia) Hedvig Mollersgata 6, 223 55 Lund, Sweden

Mitsubishi Electric Turkey A.S. Umraniye Branch Serifali Mahallesi Nutuk Sokak No:5, TR-34775 Umraniye / Istanbul, Turkey

Mitsubishi Electric Europe B.V. Dubai Branch Dubai Silicon Oasis, P.O.BOX 341241, Dubai, U.A.E.

Adroit Technologies 20 Waterford Ofﬁce Park, 189 Witkoppen Road, Fourways, South Africa

Mitsubishi Electric Automation (China) Ltd. Mitsubishi Electric Automation Center, No.1386 Hongqiao Road, Shanghai, China

SETSUYO ENTERPRISE CO., LTD. 6F, No.105, Wugong 3rd Road, Wugu District, New Taipei City 24889, Taiwan

Mitsubishi Electric Automation Korea Co., Ltd. 7F to 9F, Gangseo Hangang Xi-tower A, 401, Yangcheon-ro, Gangseo-Gu, Seoul 07528, Korea

Mitsubishi Electric Asia Pte. Ltd. 307 Alexandra Road, Mitsubishi Electric Building, Singapore 159943

Mitsubishi Electric Factory Automation (Thailand) Co., Ltd. 12th Floor, SV.City Building, Ofﬁce Tower 1, No. 896/19 and 20 Rama 3 Road, Kwaeng Bangpongpang, Khet Yannawa, Bangkok 10120, Thailand

PT. Mitsubishi Electric Indonesia Gedung Jaya 8th Floor, JL. MH. Thamrin No.12, Jakarta Pusat 10340, Indonesia

Mitsubishi Electric Vietnam Company Limited Unit 01-04, 10th Floor, Vincom Center, 72 Le Thanh Ton Street, District 1, Ho Chi Minh City, Vietnam

Mitsubishi Electric India Pvt. Ltd. Pune Branch Emerald House, EL-3, J Block, M.I.D.C., Bhosari, Pune - 411026, Maharashtra, India

Mitsubishi Electric Australia Pty. Ltd. 348 Victoria Road, P.O. Box 11, Rydalmere, N.S.W 2116, Australia

Tel

: +1-847-478-2100

Tel

: +52-55-3067-7512

Tel

: +55-11-4689-3000

Tel

: +49-2102-486-0

Tel

: +44-1707-28-8780

Tel

: +39-039-60531

Tel

: +34-935-65-3131

Tel

: +33-1-55-68-55-68

Tel

: +420-255-719-200

Tel

: +48-12-347-65-00

Tel

: +7-812-633-3497

Tel

: +46-8-625-10-00

Tel

: +90-216-526-3990

Tel

: +971-4-3724716

Tel

: +27-11-658-8100

Tel

: +86-21-2322-3030

Tel

: +886-2-2299-2499

Tel

: +82-2-3660-9529

Tel

: +65-6473-2308

Tel

: +66-2682-6522 to 6531

Tel

: +62-21-3192-6461

Tel

: +84-28-3910-5945

Tel

: +91-20-2710-2000

Tel

: +61-2-9684-7777

HEAD OFFICE: TOKYO BUILDING, 2-7-3 MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN

NAGOYA WORKS: 1-14 , YADA-MINAMI 5, HIGASHI-KU, NAGOYA , JAPAN

New publication, effective September 2018.

Speciﬁcations are subject to change without notice.L(NA)03170ENG-A(1809)MEE

Mitsubishi RD77MS8, RD77MS16 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

● SAFETY PRECAUTIONS ●

REVISIONS

CONTENTS

1. OVERVIEW OF MIGRATION FROM QD74MH TO RD77MS

1.1 Benefits of Migration

1.2 Main Target Models for Migration

1.3 System Configuration

1.3.1 System configuration using QD74MH before migration

1.3.2 System configuration using RD77MS after migration

1.4 Case Study on Migration

1.4.1 Whole system migration (recommended)

1.4.2 Phased migration

1.4.3 Separate repair

1.5 Project Diversion

1.6 Relevant Documents

1.6.1 Relevant catalogs

1.6.2 Relevant manuals

2. DETAILS OF MIGRATION FROM QD74MH TO RD77MS

2.1 Table of Components and Software

2.1.1 Servo amplifiers and servo motors

2.1.2 Engineering environment (required)

2.2 Differences Between QD74MH and RD77MS

2.3 Forced Stop Input Cable

2.4 Project Diversion

2.4.1 Project diversion procedures by engineering environment

2.4.2 List of divertible/not divertible data

WARRANTY