Function List; Main Functions; Sub Function; Common Function - Mitsubishi Electric FATEC MELSEC iQ-R Training Manual

3.3

Function List

RD77MS has some functions. This document explains the functions of RD77MS classifying
them as shown below.

(1) Main functions

(1) Home position return control
The home position return control is a function to determine the position of origin
for positioning control (machine home position return) and move a workpiece to
the origin (fast home position return). Use this function to return a workpiece to
the home position when the power supply is turned on or after the positioning is
stopped.
(2) Major positioning controls
The positioning data stored in RD77MS is used for these controls. Basic controls,
such as position control and speed control, are executed by setting the
necessary items in the positioning data and start the positioning data.
(3) High-level positioning controls
The positioning data and block start data stored in RD77MS are used for these
controls.
Applied positioning controls as shown below can be performed.
• A series of positioning data are handled as a block, and some blocks are
• Position control and speed control are executed with criteria for conditions.
• Positioning data of several axes are started simultaneously (commands are
• Specified positioning data is executed repeatedly.
(4) Manual control
Signals are externally input to RD77MS, and RD77MS performs the positioning
operation. Use the manual control to move a workpiece to any position (JOG
operation) and make fine adjustments to positioning (inching or manual pulse
generator operation).
(5) Extended controls
In addition to the positioning control, the following controls can be performed.
• Speed control and torque control (speed/torque control) not containing a
• Control by replacing hardware mechanism consisting of gears, shafts,

(2) Sub function

When a main function is executed, correction or restriction to the control can be made,
or various functions can be added.

(3) Common function

Controls for the parameter initialization function and execution data backup function
common to the operations of RD77MS can be performed.
executed in the specified order.
output simultaneously to some servo amplifiers).
position loop in command to servo amplifiers
transmissions and cams with software by using the synchronous control
parameters to synchronize with the input axis (synchronous control)
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