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Chapter 2 Specifications; Performance Specifications - Mitsubishi Electric MELSEC iQ-R RD78G4 User Manual

Motion module.
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2
SPECIFICATIONS
2.1

Performance Specifications

This section lists the performance specifications of the RD78G(H).
Item
*2
Number of
Real drive axis
controlled
Virtual drive axis
*1
axes
Virtual linked axis
*3
Operation cycle
Interpolation function
Control method
Control unit
Positioning
Positioning range
Speed command
Acceleration/
deceleration
process
Acceleration/
deceleration time
Rapid stop
deceleration time
Flash ROM write count
Number of occupied I/O points
Internal current consumption
(5 V DC)
External
Height
dimensions
Width
Depth
Mass
*1 Even when an axis (real axis, and virtual axis) does not exist in the system setting, an error does not occur. Since there is no axis to be
controlled, the motion control cannot be carried out. Operation other than the motion control, such as program execution by ST
language is available.
*2 When a multi-axis drive unit and a general output device are used as multiple axes, the number of those axes are counted.
Ex: The 2-axis drive unit is counted as 2 axes.
*3 It depends on the number of controlled axes.
*4 It is restricted by the system memory capacity.
RD78G4
RD78G8
RD78G16
4 axes
8 axes
16 axes
*4
Total 1024 axes
125 to 4 ms
1- to 4-axis linear interpolation
2-axis circular interpolation
PTP (Point To Point) control, path control (linear, and arc can be set), speed control, speed-torque control
pulse, m, degree, Revolution, inch, arbitrary unit character string
-10000000000.0  Positioning range < 10000000000.0
In position control: 0, +0.0001 to +2500000000.0
In speed control: 0, 0.0001 to 2500000000.0
Acceleration/deceleration specification method (acceleration, deceleration, jerk), acceleration/deceleration time constant
method
Acceleration/deceleration specification method
2
[Unit] U/s
[Range] 0.0000, 0.0001 to 2147483647.0
Acceleration/deceleration time constant method
[Unit] s
[Range] 0.000000, 0.000001 to 8400.0
Up to 100,000 times
32 points
1.93 A
106 mm (4.17 inch)
27.8 mm (1.09 inch) (1 slot width)
110 mm (4.33 inch)
0.26 kg
RD78G32
RD78G64
RD78GHV
32 axes
64 axes
128 axes
31.25 s / 4axes
48 points
2.33 A
56 mm (2.2 inch) (2 slots width)
0.44 kg
2.1 Performance Specifications
RD78GHW
256 axes
2 SPECIFICATIONS
19
2

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