Mitsubishi Electric MELSEC iQ-R RD78G4 User Manual
Motion module
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Summary of Contents for Mitsubishi Electric MELSEC iQ-R RD78G4
- Page 1 MELSEC iQ-R Motion Module User's Manual (Startup) -RD78G4 -RD78G8 -RD78G16 -RD78G32 -RD78G64 -RD78GHV -RD78GHW...
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Page 3: When Using A Hub With Cc-Link Ie Tsn
WHEN USING A HUB WITH CC-Link IE TSN The dedicated TSN hub is required when modules on CC-Link IE TSN are configured in a star topology or hubs are configured in a cascade connection. Read the following carefully. Page 30 Structure of Authentication Class B Devices and Ethernet Devices Page 40 Hub SAFETY PRECAUTIONS (Read these precautions before using this product.) - Page 4 [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.
- Page 5 [Design Precautions] WARNING ● When connecting an external device with a CPU module or intelligent function module to modify data of a running programmable controller, configure an interlock circuit in the program to ensure that the entire system will always operate safely. For other forms of control (such as program modification, parameter change, forced output, or operating status change) of a running programmable controller, read the relevant manuals carefully and ensure that the operation is safe before proceeding.
- Page 6 [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.
- Page 7 [Installation Precautions] CAUTION ● Use the programmable controller in an environment that meets the general specifications in the Safety Guidelines included with the base unit. Failure to do so may result in electric shock, fire, malfunction, or damage to or deterioration of the product. ●...
- Page 8 [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 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.
- Page 9 [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.
- Page 10 [Startup and Maintenance Precautions] CAUTION ● Tighten the screws within the specified torque range. Undertightening can cause drop of the component or wire, short circuit, or malfunction. Overtightening can damage the screw and/or module, resulting in drop, short circuit, or malfunction. ●...
- Page 11 [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.
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Page 12: Introduction
INTRODUCTION Thank you for purchasing the Mitsubishi Electric MELSEC iQ-R series programmable controllers. This manual describes the specifications, procedures before operation and wiring of the relevant products listed below. Before using this product, please read this manual and the relevant manuals carefully and develop familiarity with the functions and performance of the MELSEC iQ-R series programmable controller to handle the product correctly. -
Page 13: Table Of Contents
CONTENTS WHEN USING A HUB WITH CC-Link IE TSN........... . .1 SAFETY PRECAUTIONS . -
Page 14: Relevant Manuals
This manual does not include information on the network function blocks. Refer to the following for details on the network function blocks. MELSEC iQ-R Ethernet/CC-Link IE Function Block Reference 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: •... -
Page 15: Terms
Set TRUE to the Execute input or the Enable input to the motion control FB General-purpose hub An authentication Class A hub authorized by CC-Link Partner Association A generic term for Mitsubishi Electric Graphic Operation Terminal GOT1000 and GOT2000 series GX Works3 The product name of the software package for the MELSEC programmable controllers... - Page 16 Term Description RD78G Another term for the MELSEC iQ-R series Motion module (compatible with CC-Link IE TSN) RD78GH RD78G(H) A generic term for RD78G_, RD78GH_ (high performance version) Real axis An axis that is linked with a slave device on network Remote station A station that exchanges I/O signals (bit data) and I/O data (word data) with another station by cyclic transmission.
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Page 17: Future Support Planned
FUTURE SUPPORT PLANNED The following functions are mentioned in this manual, but it is planned for a future support. The information in this page might be changed for improvement without prior notice. Model Description RD78GH • RD78GHV • RD78GHW Function Description Operation cycle Auto refresh link devices of motion syncronization stations... - Page 18 MEMO...
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Page 19: Chapter 1 Part Names
PART NAMES This chapter describes the part names of the Motion module. RD78G RD78G (Uncovered) RD78GH RD78GH (Uncovered) (10) (11) (10) (11) (12) (12) Name Description RUN LED For details, refer to the following. Page 18 LED Display Specifications ERR LED PROGRAM RUN LED (P RUN is shown inside the cover) D LINK LED SD/RD LED... -
Page 20: Led Display Specifications
LED Display Specifications This section lists the LED display specifications of the Motion module. : OFF, : ON, ●: Flashing Name Description LED display Status RUN LED Indicates the operating status. RUN LED Operating normally RUN LED Error, Initializing ERR LED Indicates the error status. -
Page 21: Chapter 2 Specifications
SPECIFICATIONS Performance Specifications This section lists the performance specifications of the RD78G(H). Item RD78G4 RD78G8 RD78G16 RD78G32 RD78G64 RD78GHV RD78GHW Number of Real drive axis 4 axes 8 axes 16 axes 32 axes 64 axes 128 axes 256 axes controlled Virtual drive axis Total 1024 axes axes... -
Page 22: Specifications Of Interfaces With External Devices
Manufacturer Card capacity NZ1MEM-xGBSD Mitsubishi Electric Corporation 2, 4, 8, 16G bytes *1 The "X" of the model name represents the card capacity. For commercially available SD memory cards, refer to the following. Before using a commercially available SD memory card, check that the card does not affect the control of the target system. -
Page 23: External Circuit Design
External Circuit Design Forced stop circuit A wiring example which uses a remote input module (NZ2GN2B1-32D) for the forced stop input is shown below. Set AxisName.Pr.ForcedStop_Signal according to the input modules. R61P RnCPU RD78G(H) Remote input module CC-Link IE 24 V DC Forced stop <Remote input module NZ2GN2B1-32D>... - Page 24 It is also possible to use the forced stop signal of the drive unit. Operation status of the emergency stop, drive unit forced stop and the Motion controller forced stop are as follows. Item Operation when the Remarks signal is turned on Emergency stop Servo OFF The power supply of the drive unit is shut off by external circuit, and the servomotor stops.
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Page 25: Chapter 3 Function List
FUNCTION LIST There are restrictions in the function that can be used by the software of the Motion module and the version of engineering tool. Refer to the following for details. MELSEC iQ-R Motion Module User's Manual (Application) Control Functions The Motion module has several functions. -
Page 26: Motion Control 1
Motion control 1 Functions Details Start and stop Start Starts motion control. Retrigger/continuous update Changes the control of the on-going FB with a retrigger/continuous update. Multiple start (buffer mode) Multiple motion control FBs execute continuously without stopping by executing the motion FB of another instance to the axis and the axes group that are executing MCFB. -
Page 27: Motion Control 2
Motion control 2 Functions Details Operation profile Operation profile data Opens the profile for the cam and reads/writes the cam. data function Synchronous Cam operation Operates by synchronizing the slave axis with the master axis based on cam table. control Gear operation Sets the speed ratio between the master axis and the slave axis, and starts gear operation. -
Page 28: List Of Network Function
List of Network Function The following table lists the functions of CC-Link IE TSN. For details on the functions, refer to the following. MELSEC iQ-R Motion Module User's Manual (Network) Cyclic transmission Data are periodically exchanged among stations on the network using slave label. Function Description Communications using slave label... -
Page 29: Chapter 4 Procedures Before Operations
PROCEDURES BEFORE OPERATIONS This chapter describes the procedures before operation of RD78G(H). Mounting the module Mount the Motion module to the main base unit or extension base unit. For details, refer to the following. MELSEC iQ-R Module Configuration Manual Wiring Connect the Motion module to external devices. - Page 30 Network diagnostics Using network diagnostics, check if the cables are connected properly and communication are performed normally with the parameters. For details, refer to the following. MELSEC iQ-R Motion Module User's Manual (Network) Parameter settings in slave devices Set parameters of the drive unit to use. For details, refer to each drive unit manual.
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Page 31: Chapter 5 System Configuration
SYSTEM CONFIGURATION CC-Link IE TSN is configured using Ethernet cables. (Page 40 Ethernet cable) (1) Motion module (2) Drive unit (3) Inverter device (4) Remote I/O module (5) Ethernet device Authentication Class setting From "Connection Device Information" under "Basic Settings" of the engineering tool, select either of the following items according to devices to be connected. -
Page 32: Structure Of Authentication Class B Devices And Ethernet Devices
Structure of Authentication Class B Devices and Ethernet Devices System configuration used when "Authentication Class B Only" is selected from "Connection Device Information" under "Basic Settings" in the engineering tool. The modules on CC-Link IE TSN and TSN hub are authentication Class B devices. Connection with modules on CC-Link IE TSN only ■Line topology The network is configured in line topology. - Page 33 Connection with modules on CC-Link IE TSN and Ethernet devices ■Line topology The network with modules and devices is configured in line topology. TSN hub is not required. Connect an Ethernet device at the end. No.0 No.1 No.2 No.0, No.1, No.2: Modules on CC-Link IE TSN (master station, drive unit, remote station) (1) Ethernet device (such as personal computer) When an error occurs in a slave station, the stations connected after the faulty station will be disconnected.
- Page 34 ■Coexistence of line and star topologies Line and star topology can be mixed. Connect an Ethernet device at the end. No.1 No.0 TSN HUB No.2 No.2 No.0 No.1 TSN HUB No.0: Master station No.1: Drive unit No.2: Remote station (1), (2), (3) Ethernet device (such as personal computer, vision sensor, or bar code reader) 5 SYSTEM CONFIGURATION 5.1 Structure of Authentication Class B Devices and Ethernet Devices...
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Page 35: Structure Of Authentication Class B/A Devices And Ethernet Devices
Structure of Authentication Class B/A Devices and Ethernet Devices System configuration used when "Mixture of Authentication Class B/A or Authentication Class A Only" is selected from "Connection Device Information" under "Basic Settings" of the engineering tool. The modules on CC-Link IE TSN are an authentication Class B device, and the general-purpose hub is an authentication Class A device. - Page 36 ■Coexistence of line and star topologies Line and star topology can be mixed. Connect slave stations of authentication Class B devices without using a general-purpose hub. Connect an Ethernet device at the end. When connecting an Ethernet device with a communication speed of 100Mbps to the Motion module, a general-purpose hub is required.
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Page 37: Precautions For System Configuration
Precautions for System Configuration Devices connected to the same network Do not connect the devices as described below. Doing so may cause the disconnection of all stations. • The devices having network types other than CC-Link IE TSN and Ethernet (such as CC-Link IE Controller Network and CC-Link IE Field Network) are connected to the same network line. - Page 38 The actual network configuration and network map can be matched by executing the network map update of the CC-Link IE TSN/CC-Link IE Field diagnostics. ( MELSEC iQ-R Motion Module User's Manual (Network)) A data link error may momentarily occur in all the stations and outputs of the connected slave stations may turn off since all stations on the network will be reconnected when executing the network map update.
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Page 39: Chapter 6 Installation And Wiring
INSTALLATION AND WIRING Installation and Removal of SD Memory Card This section describes the methods for installation of an SD memory card to the Motion module, and removal. Installation of SD memory card • When installing an SD memory card to the Motion module, take note of the SD memory card position, and install using the following procedure. - Page 40 Removal of the SD memory card • When removing an SD memory card from the Motion module, remove the SD memory card using the following procedure. Carry out one of the following to stop access of the SD memory card. •...
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Page 41: Wiring
Wiring This section describes wiring for when CC-Link IE TSN is used. Wiring methods The following describes connection and disconnection of the Ethernet cable. ■Connecting the cable Push the Ethernet cable connector into the Motion module until it clicks. Pay attention to the connector's direction. Lightly pull it to check that it is securely connected. - Page 42 • IEEE802.3 (1000BASE-T) • ANSI/TIA/EIA-568-B (Category 5e) Cables for CC-Link IE TSN are available from Mitsubishi Electric System & Service Co., Ltd. (Catalogs for cable are also available.) In addition, the connector processing of cable length is available for your preference. Please consult your local Mitsubishi representative.
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Page 43: Appendices
APPENDICES Appendix 1 Component List The positioning system using the Motion module is configured of the following devices. Part name Type Remarks Motion module RD78G4 RD78G RD78G8 Number of controlled axes RD78G16 G: Compatible with CC-Link IE TSN RD78G32 RD78GH RD78G64 Number of controlled axes (V: 128, W: 256) High performance... -
Page 44: Appendix 2 External Dimensions
Appendix 2 External Dimensions RD78G4 [Unit: mm (inch)] 110 (4.33) 27.8 (1.09) RD78G8 [Unit: mm (inch)] 110 (4.33) 27.8 (1.09) APPX Appendix 2 External Dimensions... - Page 45 RD78G16 [Unit: mm (inch)] 110 (4.33) 27.8 (1.09) RD78G32 [Unit: mm (inch)] 110 (4.33) 27.8 (1.09) APPX Appendix 2 External Dimensions...
- Page 46 RD78G64 [Unit: mm (inch)] 110 (4.33) 27.8 (1.09) RD78GHV [Unit: mm (inch)] 110 (4.33) 56 (2.20) APPX Appendix 2 External Dimensions...
- Page 47 RD78GHW [Unit: mm (inch)] 110 (4.33) 56 (2.20) APPX Appendix 2 External Dimensions...
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Page 48: Appendix 3 Open Source Software
The software of the Motion module includes the following open software. • Distributed software as a free software in which copyright of a third party exists. Software which Mitsubishi Electric Corporation or a third party hold copyright cannot be subjected to a distribution of the source cord. - Page 49 msinttypes msinttypes distributed by BSD license is used on this product. Copyright notice and license notice of msinttypes are included below. The msinttypes r29 Copyright (c) 2006-2013 Alexander Chemeris All rights reserved. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
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Page 50: Index
INDEX ....23 ...17 Absolute position control LEDs for CC-Link IE TSN connector . - Page 51 ......23 Technical units ......24 Torque control .
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Page 52: Revisions
Japanese manual number: IB-0300405-A This manual confers no industrial property rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual. -
Page 53: Warranty
WARRANTY Warranty 1. Warranty period and coverage We will repair any failure or defect hereinafter referred to as "failure" in our FA equipment hereinafter referred to as the "Product" arisen during warranty period at no charge due to causes for which we are responsible through the distributor from which you purchased the Product or our service provider. -
Page 54: Trademarks
TRADEMARKS Ethernet is a registered trademark of Fuji Xerox Co., Ltd. in Japan. Microsoft and Windows are either registered trademarks or trademarks of Microsoft Corporation in the United States and/or other countries. PLCopen is a registered trademark of PLCopen The company names, system names and product names mentioned in this manual are either registered trademarks or trademarks of their respective companies. - Page 56 IB(NA)-0300406ENG-A(1907)MEE MODEL: RD78-U-S-E HEAD OFFICE : TOKYO BUILDING, 2-7-3 MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN NAGOYA WORKS : 1-14 , YADA-MINAMI 5-CHOME , HIGASHI-KU, NAGOYA , JAPAN When exported from Japan, this manual does not require application to the Ministry of Economy, Trade and Industry for service transaction permission. Specifications subject to change without notice.