Mitsubishi Electric MELSEC iQ-R RD78G4 User Manual
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Mitsubishi Electric MELSEC iQ-R RD78G4 User Manual

Mitsubishi Electric MELSEC iQ-R RD78G4 User Manual

Motion module
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MELSEC iQ-R
Motion Module
User's Manual (Startup)
-RD78G4
-RD78G8
-RD78G16
-RD78G32
-RD78G64
-RD78GHV
-RD78GHW

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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...

  • Page 3: When Using A Switching Hub With Cc-Link Ie Tsn

    WHEN USING A SWITCHING HUB WITH CC-Link IE A dedicated TSN hub may be required depending on parameter settings or the network topology used to connect modules on CC-Link IE TSN. Read the following carefully.  When using PLCopen Motion control mode Page 44 SYSTEM CONFIGURATION Page 85 Switching hub ...
  • 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. Doing so may result in malfunction due to electromagnetic interference. Keep a distance of 100mm or more between those cables. ●...
  • Page 7 Also, attach an extension connector protective cover to each unused extension cable connector as necessary. Directly touching any conductive parts of the connectors while power is on may result in electric shock. *1 For details, please consult your local Mitsubishi Electric representative.
  • 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 ● Do not touch the integrated circuits on the circuit board of an extended SRAM cassette or a battery- less option 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.
  • Page 11 Cautions When Using Mitsubishi Electric Programmable Controllers or GOTs Connected to a Personal Computer With the RS-232/USB Interface (FA-A-0298) When the USB cable used is the GT09-C30USB-5P manufactured by Mitsubishi Electric, specific measures are not required to connect the AC-powered personal computer to the module. However, note that the signal ground (SG) is common for the module and its USB interface.
  • Page 12 [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.

  • Page 13: 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 14: Table Of Contents

    CONTENTS WHEN USING A SWITCHING HUB WITH CC-Link IE TSN ......... .1 SAFETY PRECAUTIONS .
  • Page 15 Structure of modules on CC-Link IE TSN and Ethernet devices ........71 Structure of a CC-Link IE TSN and CC-Link IE Field Network.
  • Page 16 Structure of modules on CC-Link IE TSN and Ethernet devices ........142 11.3 Structure of a CC-Link IE TSN and CC-Link IE Field Network.

  • Page 17: Relevant Manuals

    RELEVANT MANUALS Manual name [manual number] Description Supported mode Available form PLCopen Simple Motion Motion control mode FB mode MELSEC iQ-R Motion Module User's Manual Specifications, procedures before operation, Print book   (Startup) system configuration, and wiring of the Motion e-Manual [IB-0300406ENG] (this manual) module...
  • Page 18 Mitsubishi Electric FA electronic book manuals that can be browsed using a dedicated tool. e-Manual has the following features: • Required information can be cross-searched in multiple manuals. • Other manuals can be accessed from the links in the manual.

  • Page 19: Terms

    TERMS Unless otherwise specified, this manual uses the following terms. Term Description Actual position A position address returned by a device station assigned to an axis that is rounded by the ring counter. It is affected by a current position change. Axis A target for motion control.
  • Page 20 Term Description MR-J5D-G Servo amplifier model MR-J5D_-_G_. MR-J5W-G Servo amplifier model MR-J5W_-_G. Multiple start Executing another motion control FB to the same axis while a motion control FB is executed. Network area A software that performs the network control in the Motion module. Object Various data held by the CANopen-compatible device station.

  • Page 21: Generic Terms And Abbreviations

    A generic term for the devices supporting IP communication (such as a personal computer, a vision sensor, and a bar code reader). A generic term for the Mitsubishi Electric GOTs (GOT1000, GOT2000 series). Motion system A generic term for software that performs the motion control and the network control.

  • Page 22: Supported Mode

    SUPPORTED MODE The Motion module has the PLCopen Motion control FB mode and Simple Motion mode. Users can freely switch the mode. When performing the positioning control with the PLCopen Motion Control FB, use the PLCopen Motion control FB mode. When performing the positioning control using the buffer memory similarly to the SSCNET/H compatible Simple Motion module (QD77MS, RD77MS), use the Simple Motion mode.

  • Page 23: Component

    COMPONENT The following figure shows the components when the RD78G(H) is used. General-purpose external input signal of servo amplifier Upper limit signal Lower limit signal Proximity dog RD78G(H) External input signal/switching signal Remote I/O CC-Link IE TSN Network cable Synchronous encoder MR-J5-G servo amplifier via servo amplifier MR-J5W-G servo amplifier...
  • Page 24 MEMO...

  • Page 25: Part 1 Plcopen Motion Control Fb Mode

    PART 1 PLCopen MOTION CONTROL FB MODE This part consists of the following chapters. This chapter describes in detail about using the Motion module in PLCopen Motion control mode. 1 PART NAMES 2 SPECIFICATIONS 3 FUNCTION LIST 4 PROCEDURES BEFORE OPERATIONS 5 SYSTEM CONFIGURATION 6 INSTALLATION AND WIRING...

  • Page 26: Chapter 1 Part Names

    PART NAMES This chapter describes the part names of the Motion module. RD78G RD78G (Uncovered) RD78GH RD78GH (Uncovered) (10) (10) (11) (11) (13) (14) (12) (15) (15) Name Details *1*2 RUN LED Indicates the operating status. • ON: Operating normally •...
  • Page 27 Name Details (10) SD memory card access control switch Switch for stopping card access when removing the SD memory card. (Page 80 SD Memory Card) (11) SD memory card slot A slot to insert an SD memory card. (12) Ethernet port Connects to a device station.

  • Page 28: Chapter 2 Specifications

    SPECIFICATIONS Performance Specifications of Motion Module This section lists the performance specifications of the Motion module. 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 axes Virtual drive axis...

  • Page 29: Specifications Of Interfaces With External Devices

    Specifications of Interfaces with External Devices This section lists the external interfaces. : Support possible Interface name RD78G RD78GH Application CC-Link IE TSN 1 port 2 ports Network connection SD memory card Restoration of parameters and logs, installation of Motion module software ...

  • Page 30: Performance Specifications Of Ethernet

    Item RD78G4 RD78G8 RD78G16 RD78G32 RD78G64 RD78GHV RD78GHW *8*13*14 Maximum number of connectable devices 257 devices Maximum number of networks Communication method Time sharing method Multicast filter Supported *1 The maximum number of points for all link devices may not be used simultaneously depending on the number of device stations, or the number of points and assignments of the link devices that are set on the "CC-Link IE TSN Configuration"...

  • Page 31: Sd Memory Card

    Unsupported Number of times of installation/removal Within 500 times Use the recommended SD memory card listed below. Model Manufacturer Card type Card capacity NZ1MEM-2GBSD Mitsubishi Electric Corporation 2G bytes NZ1MEM-4GBSD SDHC 4G bytes NZ1MEM-8GBSD 8G bytes NZ1MEM-16GBSD 16G bytes Before using a commercially available SD memory card, check that the card does not affect the control of the target system on user’s own responsibility.

  • Page 32: 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 the forced stop signal (AxisName.Pr.ForcedStop_Signal) according to the input modules. Motion R61P RnCPU unit Remote input module CC-Link IE 24V DC...
  • Page 33 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 servo motor stops.

  • Page 34: 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. For details, refer to "Restrictions by the version" in the following manual. MELSEC iQ-R Motion Module User's Manual (Application) Control Functions The PLCopen Motion control FB mode has several functions.

  • Page 35: Motion Control

    Motion control 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 the motion control FB.

  • Page 36: Control/Operation/Maintenance

    Functions Details 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. Addition/Subtraction positioning Combines the movement amount of 2 axes and transmits.

  • Page 37: 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 "Functions" in the following manual. MELSEC iQ-R Motion Module User's Manual (Network) Cyclic transmission This function allows periodic data communications among stations on the network using link devices. : Connection available, : Connection not available Function Description...

  • Page 38: Transient Transmission

    Transient transmission This function is used for communications at any timing and has the following three functions. : Connection available, : Connection not available Function Description Availability Standard Motion station control station Communications using a dedicated instruction Reads/writes data from the master station or local station to a remote ...
  • Page 39 This function improves Reliability, Availability, and Serviceability and makes automated equipment easy to use comprehensively. : Connection available, : Connection not available Function Description Availability Standard Motion station control station Device station disconnection Stops data link of the device station where an error occurred, and ...

  • Page 40: Troubleshooting

    Troubleshooting This function shows the status of the module and network by executing diagnostics and operation tests using the engineering tool. : Connection available, : Connection not available Function Description Availability Standard Motion station control station CC-Link IE TSN/CC-Link IE Field diagnostics Monitors the CC-Link IE TSN status.

  • Page 41: Chapter 4 Procedures Before Operations

    PROCEDURES BEFORE OPERATIONS This chapter describes the procedures before operation of RD78G(H) using PLCopen Motion control FB mode. Mounting the module Mount the Motion module to the main base unit or extension base unit. For details on mounting modules, refer to the following. MELSEC iQ-R Module Configuration Manual Wiring Connect the Motion module to external devices.
  • Page 42 Writing parameters Write the set parameters and programs to the Motion module. • "Motion Module (Built-in Memory)" or "Motion Module (SD Memory Card)" can be selected as a parameter storage location of module extended parameters. The initial setting is "Motion Module (Built-in Memory)". When writing module extended parameters, specify the same storage location in the writing destination of GX Works3 as "Module Extended Parameter Storage Location Setting"...

  • Page 43: Communication With The Engineering Tool

    Communication with the Engineering Tool This section describes communication between the motion system and external devices such as GX Works3 (motion control setting function). For details of the online function, refer to the following manual. GX Works3 Operating Manual For communication for access to other module from a tool such as the engineering tool via the Motion module, refer to "Communications using the engineering tool"...
  • Page 44 Precautions The following shows the specifications specific to the SLMP commands for the motion system (points that differ from the descriptions in "SLMP Reference Manual"). • "Model codes" that can be acquired with the Read Type Name command are listed below. Model name Model code RD78G4...

  • Page 45: Precautions

    Precautions Communication with the Motion module is possible only through connection with the control CPU or own Motion module. Communication via a module other than the control CPU or own Motion module on the base may not be possible depending on the path.

  • Page 46: Chapter 5 System Configuration

    SYSTEM CONFIGURATION CC-Link IE TSN is configured using Ethernet cables. (Page 83 Ethernet cable) For specifications on connectable devices, refer to the manual of each device. (1) Motion module (2) Drive unit (3) Inverter device (4) Remote I/O module (5) Ethernet device Both P1 and P2 can be used when using RD78GH.
  • Page 47 CC-Link IE TSN 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. Connected device System configuration Supported information standard CC-Link IE TSN Class B Select this if the system is to be configured without connecting the CC-Link IE TSN Class A device.
  • Page 48 Structure of CC-Link IE TSN Class B Devices Only The following shows the system configuration when "Connection Device Information" under "Basic Settings" is set to "CC-Link IE TSN Class B Only" in the engineering tool. When "Connection Device Information" under "Basic Settings" of the master station is set to "CC-Link IE TSN Class B Only", up to 121 stations (one master station and 120 device stations) can be connected.
  • Page 49 Availability of connection with devices (when using unicast mode) The following shows the case when "Communication Mode" under "Application Settings" is set to "Unicast". When the communication speed for the master station is set to 1Gbps The following table lists the availability of connection with a network configuration device when the "Communication Speed" for the master station is set to "1Gbps".
  • Page 50 When the communication speed for the master station is set to 100Mbps The following table lists the availability of connection with a network configuration device when the "Communication Speed" for the master station is set to "100Mbps". : Connection available, : Connection not available : Connection available only when the device on the end side is a standard station S: TSN hub available H: General-purpose hub available...
  • Page 51 Availability of connection with devices (when using multicast mode) The following shows the case when "Communication Mode" under "Application Settings" is set to "Multicast". When the communication speed for the master station is set to 1Gbps The following table lists the availability of connection with a network configuration device when the "Communication Speed" for the master station is set to "1Gbps".
  • Page 52 When the communication speed for the master station is set to 100Mbps The following table lists the availability of connection with a network configuration device when the "Communication Speed" for the master station is set to "100Mbps". : Connection available, ●: Connection available via a switching hub, : Connection not available : Connection available only when the device on the end side is a standard station.
  • Page 53 Structure of modules on CC-Link IE TSN only Connection with modules on CC-Link IE TSN only ■Line topology Modules are connected in a line topology. A TSN hub is not required. When an error occurs in a device station, the stations connected after the faulty station will be disconnected. No.0 No.1 No.2...

  • Page 54: Ring Topology

    ■Ring topology For RD78GH, modules are connected in a ring topology. For the devices supporting a ring topology, refer to the CC-Link Partner Association website (www.cc-link.org). No.0 No.2 No.1 No.3 No.0: Master station No.1: Local station No.2, No.3: Remote station 5 SYSTEM CONFIGURATION 5.1 Structure of CC-Link IE TSN Class B Devices Only...
  • Page 55 Connection with modules on CC-Link IE TSN with a communication speed of 100Mbps This section describes the network topology when "Communication Speed" under "Application Settings" is set to "100Mbps". ■Line topology Modules are connected in a line topology. • Adjust the communication speed of each module. •...
  • Page 56 • When "Communication Mode" is set to "Multicast" and "Communication Speed" of the master station is set to "1Gbps", communication may not be possible depending on the type of the device if device stations with different communication speeds of 1Gbps and 100Mbps coexist on the end side via the switching hub. The communication will be enabled by configuring settings with the TSN hub so that the multicast frame (with multicast MAC address 09:00:70:00:10:02 and 09:00:70:00:10:05) will not be transferred to the device station with 100Mbps.
  • Page 57 ■Ring topology For RD78GH, modules are connected in a ring topology. For the devices supporting a ring topology, refer to the CC-Link Partner Association website (www.cc-link.org). No.0 (100Mbps) No.2 (100Mbps) No.1 (100Mbps) No.3 (100Mbps) No.0: Master station No.1: Local station No.2, No.3: Remote station 5 SYSTEM CONFIGURATION 5.1 Structure of CC-Link IE TSN Class B Devices Only...

  • Page 58: Structure Of Modules On Cc-Link Ie Tsn And Ethernet Devices

    Structure of modules on CC-Link IE TSN and Ethernet devices Connection with modules on CC-Link IE TSN and Ethernet devices ■Line topology The network with modules and devices is configured in a line topology. A TSN hub is not required. Connect an Ethernet device to the end of the network.
  • Page 59 Structure of CC-Link IE TSN Class B/A Devices This section describes the system configuration in the following cases. • Motion module supports the protocol version 2.0 • The CC-Link IE TSN module supports the protocol version 2.0 only • Set "Connection Device Information" under "Basic settings" of the engineering tool to "Mixture of CC-Link IE TSN Class B/ A or CC-Link IE TSN Class A only"...
  • Page 60 The availability of connection of network configuration devices varies depending on the communication mode and communication speed. • When using unicast mode Page 59 When the communication speed for the master station is set to 1Gbps Page 60 When the communication speed for the master station is set to 100Mbps •...
  • Page 61 Availability of connection with devices (when using unicast mode) The following shows the case when "Communication Mode" under "Application Settings" is set to "Unicast". When the communication speed for the master station is set to 1Gbps The following table lists the availability of connection with a network configuration device when the "Communication Speed" for the master station is set to "1Gbps".
  • Page 62 When the communication speed for the master station is set to 100Mbps The following table lists the availability of connection with a network configuration device when the "Communication Speed" for the master station is set to "100Mbps". : Connection available, : Connection not available : Connection available only when the device on the end side is a standard station.
  • Page 63 Availability of connection with devices (when using multicast mode) The following shows the case when "Communication Mode" under "Application Settings" is set to "Multicast". When the communication speed for the master station is set to 1Gbps The following table lists the availability of connection with a network configuration device when the "Communication Speed" for the master station is set to "1Gbps".
  • Page 64 When the communication speed for the master station is set to 100Mbps The following table lists the availability of connection with a network configuration device when the "Communication Speed" for the master station is set to "100Mbps". : Connection available, : Connection not available : Connection available only when the device on the end side is a standard station.
  • Page 65 Structure of modules on CC-Link IE TSN only Connection with modules on CC-Link IE TSN only ■Line topology Modules are connected in a line topology. • Connect the CC-Link IE TSN Class A device to the end of the CC-Link IE TSN Class B device. No.0 No.1 No.2...
  • Page 66 • When the "Communication Mode" is "Multicast", communication may not be possible depending on the communication device if a local station is connected with a CC-Link IE TSN Class A remote station as a mixture on the end side via a switching hub.
  • Page 67 • In a CC-Link IE TSN Class B/A mixed structure, when connecting a CC-Link IE TSN Class B device in a star topology, connect the CC-Link IE TSN Class A device via a TSN hub. No.0 No.1 Class B Class B No.3 No.4 TSN HUB...
  • Page 68 • In a CC-Link IE TSN Class B/A mixed structure, when connecting a CC-Link IE TSN Class B device in a line topology, connect the CC-Link IE TSN Class A device directly or via a general-purpose hub. General- No.0 No.1 purpose hub No.2 No.3...
  • Page 69 Precautions In a CC-Link IE TSN Class B/A mixed structure, set whether to use a TSN hub in the "TSN HUB Setting" of "Connection Device Information" under "Basic settings". If the "TSN hub setting" and the system structure differ in whether a TSN hub is present, the CC-Link IE TSN Class A device may not perform a data link.
  • Page 70 Connection with modules on CC-Link IE TSN with a communication speed of 100Mbps This section describes the network topology when "Communication Speed" under "Application Settings" is set to "100Mbps". ■Line topology Modules are connected in a line topology. • Adjust the communication speed of the module. •...
  • Page 71 • When "Communication Mode" is set to "Multicast" and the communication speed of the master station is 1Gbps, communication may not be possible depending on the type of the device if device stations with different communication speeds of 1Gbps and 100Mbps coexist on the end side via the switching hub. The communication will be enabled by configuring settings with the switching hub so that the multicast frame (with multicast MAC address 09:00:70:00:10:02 and 09:00:70:00:10:05) will not be transferred to the port of the device station with 100Mbps.
  • Page 72 ■Coexistence of line and star topologies Line and star topologies can be mixed in the same network configuration. • When the master station with a communication speed of 1Gbps and a device station with a communication speed of 100Mbps exist in the structure, set "Communication Period Setting" to "Low-Speed" for the device station with a communication speed of 100Mbps.
  • Page 73 Structure of modules on CC-Link IE TSN and Ethernet devices Connection with modules on CC-Link IE TSN and Ethernet devices ■Line topology The network with modules and devices is configured in a line topology. A general-purpose hub is not required. Connect Ethernet devices to the end of the network.
  • Page 74 ■Coexistence of line and star topologies Line and star topologies can be mixed by following these connection requirements. • Connect Ethernet devices at the end of a line topology. • When connecting the Ethernet device in a star topology, connect the Ethernet device to a switching hub. No.0 No.1 Class B...

  • Page 75: Structure Of A Cc-Link Ie Tsn And Cc-Link Ie Field Network

    Structure of a CC-Link IE TSN and CC-Link IE Field Network Set the Motion module and CC-Link IE Field compatible network modules to different network numbers, and mount the master station of each network to the same base unit. Connect Ethernet devices to the end of the network. For details on CC-Link IE Field Network, refer to the following.

  • Page 76: Structure When Cc-Link Ie Tsn Communication Software Is Used

    Structure when CC-Link IE TSN Communication Software is Used Connection specifications CC-Link IE TSN Communication Software can be connected to a port of the CC-Link IE TSN Class B device (supporting CC- Link IE TSN) or a TSN hub. Up to two CC-Link IE TSN Communication Software can be connected. ■Line topology Connect a cable for CC-Link IE TSN Communication Software to the end of the network.
  • Page 77 ■Coexistence of line and star topologies Connect a cable for CC-Link IE TSN Communication Software to a port of the TSN hub or the end of the network. No.0 TSN HUB No.3 No.1 No.4 No.5 No.2 TSN HUB No.0: Master station No.1, No.2: Local station No.3, No.4, No.5: Remote station (1) CC-Link IE TSN Communication Software...

  • Page 78: Precautions For System Configuration

    Precautions for System Configuration Local station connection and multicast setting limitations Local station connection and multicast setting have the following version restrictions. GX Works3 version Motion module Add-on baseSystem version "1.22" or earlier "1.24" or later "1.082L" or earlier When there is a local station in the network configuration, a If there is a device station set as the motion control station network parameter error occurs in the operation module.
  • Page 79 • Select the range of station numbers to be reassigned device numbers (start station to end station) (2), and click the [Apply] button (3). The start/end of the linked device will be set automatically. When reallocating device numbers, if the station number of the standard station is included in the setting range, the device setting of the standard station will be overwritten.

  • Page 80: Cc-Link Ie Tsn/Cc-Link Ie Field Diagnostics

    Ring topology limitations For a ring topology, use the Add-on baseSystem version "1.30" or later. When using Add-on baseSystem version "1.29" or earlier, data link is not performed. The following table lists the operations when "Network Topology" under "Basic Settings" is set to "Ring", and the setting network topology is different from the actual connection status.
  • Page 81 Calculation of the total cyclic data size The following shows the calculation formula of the total cyclic data size. The part of the variable surrounded by double quotes (" ") is the setting value of "CC-Link IE TSN Configuration" window. Total cyclic data size = 256 + (146 ...

  • Page 82: Chapter 12 Installation And Wiring

    INSTALLATION AND WIRING SD Memory Card For SD memory card handling, refer to "SD Memory Card" in the following manual. MELSEC iQ-R Motion Module User's Manual (Application) 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 83: Precautions

    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 methods to stop access of the SD memory card. •...
  • Page 84 ■Release of the SD memory card forced disable state The SD memory card forced disable state can be released by turning SD memory card force disabled command (System.Cd.Storage_sdcForcedDisable) from TRUE (Forced stop) to FALSE (Forced stop release). Also, either of the following operation automatically sets SD memory card force disabled command (System.Cd.Storage_sdcForcedDisable) to FALSE (Forced stop release) and the SD memory card is access enabled.

  • Page 85: Wiring

    Wiring This section describes the wiring method and wiring products for Ethernet cables and switching hubs. Ethernet cable The Motion module is connected with an Ethernet cable. 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.

  • Page 86: Wiring Products

    • IEEE 802.3 (100BASE-TX) • ANSI/TIA/EIA-568-B (Category 5) Cables for CC-Link IE TSN are available from Mitsubishi Electric System & Service Co., Ltd. (Catalogs for these cables are also available.) In addition, the connector processing of cable length is available for your preference. Please consult your local Mitsubishi representative.

  • Page 87: Switching Hub

    Model (Manufacturer) Reference CC-Link IE TSN industrial managed switch NZ2MHG-TSNT (Mitsubishi Electric Corporation) CC-Link IE TSN Industrial Managed Switch User's Manual *3 When connecting a CC-Link IE TSN Class A device that supports protocol version 2.0 with a general-purpose hub, disable the VLAN setting of the hub.
  • Page 88 MEMO 6 INSTALLATION AND WIRING 6.2 Wiring...
  • Page 89 PART 2 SIMPLE MOTION MODE This part consists of the following chapters. This chapter describes in detail about using the Motion module in Simple Motion mode. 7 PART NAMES 8 SPECIFICATIONS 9 FUNCTION LIST 10 PROCEDURES BEFORE OPERATIONS 11 SYSTEM CONFIGURATION 12 INSTALLATION AND WIRING...

  • Page 90: Part Names

    PART NAMES This chapter describes the part names of the Motion module. RD78G RD78G (Uncovered) (10) (11) (12) (13) Name Details *1*2 RUN LED Indicates the operating status. • ON: Operating normally • Flashing (every 500ms): Clear/Quick-clearing • OFF: Error occurring, initializing ERR LED Indicates the error status.
  • Page 91 Name Details (11) SD memory card slot A slot to insert an SD memory card. (12) Ethernet port Connects to a device station. (13) Product information marking Shows the product information on the Motion module. *1 The error status can be determined by the status of the RUN LED and the ERR LED. When multiple errors occur, the error status is displayed in the order of major, moderate, and minor.
  • Page 92 SPECIFICATIONS Performance Specifications of Motion Module This section lists the performance specifications of the Motion module. Item RD78G4 RD78G8 RD78G16 Number of controlled axes 4 axes 8 axes 16 axes Operation cycle 0.250ms/0.500ms/1.000ms/2.000ms/4.000ms Interpolation function 2-axis to 4-axis linear interpolation 2-axis circular interpolation 3-axis helical interpolation Control method...
  • Page 93 Item RD78G4 RD78G8 RD78G16 Mass 0.26kg *1 In the speed-position switching control (ABS mode), only the control unit "degree" can be used. *2 When "Speed control 10 × multiplier setting for degree axis function" is valid, the speed is 0.01 to 20000000.00 (degree/min). *3 The time from when the positioning start signal is received until when the BUSY signal turns ON 8 SPECIFICATIONS 8.1 Performance Specifications of Motion Module...

  • Page 94: Specifications Of Interfaces With External Devices

    Specifications of Interfaces with External Devices This section lists the external interfaces. : Support possible Interface name RD78G Application CC-Link IE TSN 1 port Network connection SD memory card Restoration of parameters and logs, installation of Motion module software  Performance specifications of CC-Link IE TSN The performance specifications of the CC-Link IE TSN are shown below.
  • Page 95 *4 Includes the master station. *5 An error will not occur even if there is no station and axis in the network setting. *6 Even if the station is a multi-axis drive unit device (a device which can control two axes or more), the number of station is counted as one station when it is recognized as one station.
  • Page 96 Unsupported Number of times of installation/removal Within 500 times Use the recommended SD memory card listed below. Model Manufacturer Card type Card capacity NZ1MEM-2GBSD Mitsubishi Electric Corporation 2G bytes NZ1MEM-4GBSD SDHC 4G bytes NZ1MEM-8GBSD 8G bytes NZ1MEM-16GBSD 16G bytes Before using a commercially available SD memory card, check that the card does not affect the control of the target system on user’s own responsibility.
  • Page 97 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 "[Pr.82] Forced stop valid/invalid selection" and "[Cd.158] Forced stop input" according to the input modules. Motion R61P RnCPU...
  • Page 98 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 servo motor stops.

  • Page 99: Function List

    FUNCTION LIST Control Functions The Simple Motion mode has several functions. For details on each function, refer to the following. MELSEC iQ-R Motion Module User's Manual (Application for Simple Motion Mode) Main functions Home position return control "Home position return control" is a function (Fast home position return) that established the start point for carrying out positioning control (Machine home position return), and carries out positioning toward that start point.
  • Page 100 The outline of the main functions for positioning control with the Motion module is described below. Main functions Details Home position Machine home position return control Mechanically establishes the positioning start point. return control (Positioning start No. 9001) Fast home position return control Positions a target to the home position address ([Md.21] Machine feed value) stored in the Motion module using machine home position return.
  • Page 101 Main functions Details Inter-module synchronization function Synchronizes the control timings of multiple modules on the same base. Expansion Speed-torque control Carries out the speed control or torque control that does not include the position loop for the control command to servo amplifier by switching control mode. Advanced synchronous control Carries out the synchronous control that synchronizes with the input axis by setting the system such as gear, shaft, change gear and cam to the "advanced synchronous control parameter".

  • Page 102: Sub Functions

    Sub functions When the main functions are executed, this function compensates and limits controls, or adds functions. The outline of the functions that assist positioning control using the Motion module is described below. Sub function Details Functions that Backlash compensation This function compensates the mechanical backlash amount.
  • Page 103 Sub function Details Other functions Operation setting for This function is provided to select whether positioning control is operated or not, when the home position incompletion of home return request flag is ON. position return function Servo ON/OFF Servo ON/OFF This function executes servo ON/OFF of the servo amplifiers connected to the Motion module.

  • Page 104: Common Functions

    Common functions Common control using the Motion module for "Parameter initialization function" or "Execution data backup function" can be carried out. The outline of the functions executed as necessary is described below. Common functions Details Parameter initialization function This function returns the setting data stored in the buffer memory/internal memory and flash ROM/internal memory (nonvolatile) of Motion module to the default values.

  • Page 105: Combination Of Main Functions And Sub Functions

    Combination of Main Functions and Sub Functions With positioning control using the Simple Motion mode, the main functions and sub functions can be combined and used as necessary. A list of the main function and sub function combinations is given below. Combination of main functions and operation patterns : Combination possible : Combination limited...
  • Page 106 Combination of main functions and sub functions ■Functions that compensate control : Combination possible : Combination limited : Combination not possible Main functions Backlash compensation Electronic gear function Near pass function function Home Machine home position return    position control return...
  • Page 107 ■Functions that limit control : Always combine : Combination possible : Combination limited : Combination not possible Main functions Speed limit Torque limit Software stroke Hardware Forced stop function function limit function stroke limit function function Home Machine home position return ...
  • Page 108 ■Functions that change control details : Combination possible : Combination limited : Combination not possible Main functions Speed change Override Acceleration/ Torque change Target position function function deceleration function change function time change function Home Machine home position return  ...
  • Page 109 ■Other functions : Combination possible : Combination limited : Combination not possible Main functions Step function Skip function M code output Teaching Command in- function function position function Home Machine home position return      position control return Fast home position return ...
  • Page 110 : Combination possible : Combination limited : Combination not possible Main functions Acceleration Pre-reading Deceleration Stop Speed Operation /deceleration start start flag command control 10 setting for processing function function processing times incompletion function multiplier of home deceleration setting for position stop degree axis...

  • Page 111: Network Function List

    Network Function List The following table lists the functions of CC-Link IE TSN. For details on the functions, refer to "Functions" in the following manual. MELSEC iQ-R Motion Module User's Manual (Network) Cyclic transmission This function allows periodic data communications among stations on the network using link devices. : Connection available, : Connection not available Function Description...

  • Page 112: Ethernet Connection

    Transient transmission This function is used for communications at any timing and has the following three functions. : Connection available, : Connection not available Function Description Availability Standard Motion station control station Communications using a dedicated instruction Reads/writes data from the master station or local station to a remote ...
  • Page 113 RAS stands for Reliability, Availability, and Serviceability. This function improves overall usability of automated equipment. : Connection available, : Connection not available Function Description Availability Standard Motion station control station Device station disconnection Stops data link of the station where an error occurred, and continues ...
  • Page 114 Troubleshooting This function checks the status of modules and networks by executing diagnostics and operation tests using the engineering tool. : Connection available, : Connection not available Function Description Availability Standard Motion station control station CC-Link IE TSN/CC-Link IE Field diagnostics Monitors the status of CC-Link IE TSN.

  • Page 115: Procedures Before Operations

    PROCEDURES BEFORE OPERATIONS This chapter describes the procedures before operations of RD78G using Simple Motion mode. Mounting the module Mount the Motion module to the main base unit or extension base unit. For details on mounting modules, refer to the following. MELSEC iQ-R Module Configuration Manual Wiring Connect the Motion module to external devices.
  • Page 116 Auto refresh setting Configure the link refresh settings in "Basic Settings" of "Module Parameter (Network)". For details, refer to "Basic Settings" in the following manual. MELSEC iQ-R Motion Module User's Manual (Network) Configure the refresh settings for the monitor data of the control axis in "Module Parameter (Motion)". For details, refer to "Module Parameter"...
  • Page 117 Parameter settings in device stations. Set parameters of the drive unit to use. For details, refer to each drive unit manual. For MR-J5(W)-G: MR-J5-G/MR-J5W-G User's Manual (Parameters) Test mode Execute the test operation using GX Works3. For details, refer to "Test mode" in the following manual. MELSEC iQ-R Motion Module User's Manual (Application for Simple Motion Mode) Test operation Check that the program is correctly carried out as created.
  • Page 118 10.1 Communication with the Engineering Tool This section describes communication between the motion system and external devices such as GX Works3 (Simple Motion module setting function). For details of the online function, refer to the following manual. GX Works3 Operating Manual For communication for access to other module from a tool such as the engineering tool via the Motion module, refer to "Communications using the engineering tool"...

  • Page 119: System Configuration

    SYSTEM CONFIGURATION CC-Link IE TSN is configured using Ethernet cables. (Page 152 Ethernet cable) For specifications on connectable devices, refer to the manual of each device. (1) Motion module (2) Drive unit (3) Inverter device (4) Remote I/O module (5) Ethernet device List of system configurations The following table is a list of different system configurations.
  • Page 120 CC-Link IE TSN 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. Connected device System configuration Supported information standard CC-Link IE TSN Class B Select this if the system is to be configured without connecting the CC-Link IE TSN Class A device.

  • Page 121: Structure Of Cc-Link Ie Tsn Class B Devices Only

    11.1 Structure of CC-Link IE TSN Class B Devices Only The following shows the system configuration when "Connection Device Information" under "Basic Settings" is set to "CC-Link IE TSN Class B Only" in the engineering tool. When "Connection Device Information" under "Basic Settings" of the master station is set to "CC-Link IE TSN Class B Only", up to 121 stations (one master station and 120 device stations) can be connected.

  • Page 122: Availability Of Connection With Devices (When Using Unicast Mode)

    Availability of connection with devices (when using unicast mode) The following shows the case when "Communication Mode" under "Application Settings" is set to "Unicast". When the communication speed for the master station is set to 1Gbps The following table lists the availability of connection with a network configuration device when the "Communication Speed" for the master station is set to "1Gbps".
  • Page 123 When the communication speed for the master station is set to 100Mbps The following table lists the availability of connection with a network configuration device when the "Communication Speed" for the master station is set to "100Mbps". : Connection available, : Connection not available : Connection available only when the device on the end side is a standard station.

  • Page 124: Availability Of Connection With Devices (When Using Multicast Mode)

    Availability of connection with devices (when using multicast mode) The following shows the case when "Communication Mode" under "Application Settings" is set to "Multicast". When the communication speed for the master station is set to 1Gbps The following table lists the availability of connection with a network configuration device when the "Communication Speed" for the master station is set to "1Gbps".
  • Page 125 When the communication speed for the master station is set to 100Mbps The following table lists the availability of connection with a network configuration device when the "Communication Speed" for the master station is set to "100Mbps". : Connection available, ●: Connection available via a switching hub, : Connection not available : Connection available only when the device on the end side is a standard station.

  • Page 126: Structure Of Modules On Cc-Link Ie Tsn Only

    Structure of modules on CC-Link IE TSN only Connection with modules on CC-Link IE TSN only ■Line topology Modules are connected in a line topology. A TSN hub is not required. When an error occurs in a device station, the stations connected after the faulty station will be disconnected. No.0 No.1 No.2...
  • Page 127 Connection with modules on CC-Link IE TSN with a communication speed of 100Mbps This section describes the network topology when "Communication Speed" under "Application Settings" is set to "100Mbps". ■Line topology Modules are connected in a line topology. • Adjust the communication speed of each module. •...
  • Page 128 • When "Communication Mode" is set to "Multicast" and "Communication Speed" of the master station is set to "1Gbps", communication may not be possible depending on the type of the device if device stations with different communication speeds of 1Gbps and 100Mbps coexist on the end side via the switching hub. The communication will be enabled by configuring settings with the TSN hub so that the multicast frame (with multicast MAC address 09:00:70:00:10:02 and 09:00:70:00:10:05) will not be transferred to the device station with 100Mbps.

  • Page 129: Structure Of Modules On Cc-Link Ie Tsn And Ethernet Devices

    Structure of modules on CC-Link IE TSN and Ethernet devices Connection with modules on CC-Link IE TSN and Ethernet devices ■Line topology The network with modules and devices is configured in a line topology. A TSN hub is not required. Connect Ethernet devices to the end of the network.

  • Page 130: Structure Of Cc-Link Ie Tsn Class B/A Devices

    11.2 Structure of CC-Link IE TSN Class B/A Devices This section describes the system configuration in the following cases. • Motion module supports the protocol version 2.0 • The CC-Link IE TSN module supports the protocol version 2.0 only • Set "Connection Device Information" under "Basic settings" of the engineering tool to "Mixture of CC-Link IE TSN Class B/ A or CC-Link IE TSN Class A only"...
  • Page 131 • When "Network Topology" under "Basic Settings" is set to "Ring", "Network parameter error (error code: 2221H)" will occur in the Motion module. • "Network parameter error (error code: 2221H)" will occur in the Motion module if the following settings are made when the add-on baseSystem version is "1.22"...

  • Page 132: Availability Of Connection With Devices (When Using Unicast Mode)

    Availability of connection with devices (when using unicast mode) The following shows the case when "Communication Mode" under "Application Settings" is set to "Unicast". When the communication speed for the master station is set to 1Gbps The following table lists the availability of connection with a network configuration device when the "Communication Speed" for the master station is set to "1Gbps".
  • Page 133 When the communication speed for the master station is set to 100Mbps The following table lists the availability of connection with a network configuration device when the "Communication Speed" for the master station is set to "100Mbps". : Connection available, : Connection not available : Connection available only when the device on the end side is a standard station.

  • Page 134: Availability Of Connection With Devices (When Using Multicast Mode)

    Availability of connection with devices (when using multicast mode) The following shows the case when "Communication Mode" under "Application Settings" is set to "Multicast". When the communication speed for the master station is set to 1Gbps The following table lists the availability of connection with a network configuration device when the "Communication Speed" for the master station is set to "1Gbps".
  • Page 135 When the communication speed for the master station is set to 100Mbps The following table lists the availability of connection with a network configuration device when the "Communication Speed" for the master station is set to "100Mbps". : Connection available, : Connection not available : Connection available only when the device on the end side is a standard station.

  • Page 136: Structure Of Modules On Cc-Link Ie Tsn Only

    Structure of modules on CC-Link IE TSN only Connection with modules on CC-Link IE TSN only ■Line topology Modules are connected in a line topology. • Connect the CC-Link IE TSN Class A device to the end of the CC-Link IE TSN Class B device. No.0 No.1 No.2...
  • Page 137 • When the "Communication Mode" is "Multicast", communication may not be possible depending on the communication device if a local station is connected with a CC-Link IE TSN Class A remote station as a mixture on the end side via a switching hub.
  • Page 138 • In a CC-Link IE TSN Class B/A mixed structure, when connecting a CC-Link IE TSN Class B device in a star topology, connect the CC-Link IE TSN Class A device via a TSN hub. No.0 No.1 Class B Class B No.3 No.4 TSN HUB...
  • Page 139 • In a CC-Link IE TSN Class B/A mixed structure, when connecting a CC-Link IE TSN Class B device in a line topology, connect the CC-Link IE TSN Class A device directly or via a general-purpose hub. General- No.0 No.1 purpose hub Class B Class B...
  • Page 140 Precautions In a CC-Link IE TSN Class B/A mixed structure, set whether to use a TSN hub in the "TSN HUB Setting" of "Connection Device Information" under "Basic settings". If the "TSN hub setting" and the system structure differ in whether a TSN hub is present, the CC-Link IE TSN Class A device may not perform a data link.
  • Page 141 Connection with modules on CC-Link IE TSN with a communication speed of 100Mbps This section describes the network topology when "Communication Speed" under "Application Settings" is set to "100Mbps". ■Line topology Modules are connected in a line topology. • Adjust the communication speed of the module. •...
  • Page 142 • When "Communication Mode" is set to "Multicast" and the communication speed of the master station is 1Gbps, communication may not be possible depending on the type of the device if device stations with different communication speeds of 1Gbps and 100Mbps coexist on the end side via the switching hub. The communication will be enabled by configuring settings with the switching hub so that the multicast frame (with multicast MAC address 09:00:70:00:10:02 and 09:00:70:00:10:05) will not be transferred to the port of the device station with 100Mbps.
  • Page 143 ■Coexistence of line and star topologies Line and star topologies can be mixed in the same network configuration. • When the master station with a communication speed of 1Gbps and a device station with a communication speed of 100Mbps exist in the structure, set "Communication Period Setting" to "Low-Speed" for the device station with a communication speed of 100Mbps.

  • Page 144: Structure Of Modules On Cc-Link Ie Tsn And Ethernet Devices

    Structure of modules on CC-Link IE TSN and Ethernet devices Connection with modules on CC-Link IE TSN and Ethernet devices ■Line topology The network with modules and devices is configured in a line topology. A general-purpose hub is not required. Connect Ethernet devices to the end of the network.
  • Page 145 ■Coexistence of line and star topologies Line and star topologies can be mixed by following these connection requirements. • Connect Ethernet devices at the end of a line topology. • When connecting the Ethernet device in a star topology, connect the Ethernet device to a switching hub. No.0 No.1 Class B...

  • Page 146: Structure Of A Cc-Link Ie Tsn And Cc-Link Ie Field Network

    11.3 Structure of a CC-Link IE TSN and CC-Link IE Field Network Set the Motion module and CC-Link IE Field compatible network modules to different network numbers, and mount the master station of each network to the same base unit. Connect Ethernet devices to the end of the network.

  • Page 147: 11.4 Structure When Cc-Link Ie Tsn Communication Software Is Used

    11.4 Structure when CC-Link IE TSN Communication Software is Used Connection specifications CC-Link IE TSN Communication Software can be connected to a port of the CC-Link IE TSN Class B device (supporting CC- Link IE TSN) or a TSN hub. Up to two CC-Link IE TSN Communication Software can be connected.

  • Page 148: Precautions For System Configuration

    11.5 Precautions for System Configuration Local station connection and multicast setting limitations Local station connection and multicast setting have the following version restrictions. GX Works3 version Motion module Add-on baseSystem version "1.19" or earlier "1.20" to "1.22" "1.24" or later "1.082L"...
  • Page 149 ■Link device setting procedure On the "CC-Link IE TSN Configuration" window, set the following points to the motion control station RWr and RWw settings. Servo amplifier RWr setting RWw setting Single axis servo amplifier 40 points 40 points Multi-axis servo amplifier 28 points 24 points When the RWr and RWw points of the motion control station are less than or equal to the values set in step 1,...
  • Page 150 When reallocating device numbers, if the station number of the standard station is included in the setting range, the device setting of the standard station will be overwritten. If a standard station is set, set the station number of the standard station to outside of the setting range, or manually set the motion control station link device start/end.
  • Page 151 CC-Link IE TSN/CC-Link IE Field diagnostics If the following operations are performed, the actual network configuration and the network map of the CC-Link IE TSN/CC- Link IE Field diagnostics may be a mismatch. Network configuration Operation Star topology • Powering off and on a device station or switching hub •...

  • Page 152: Chapter 6 Installation And Wiring

    INSTALLATION AND WIRING 12.1 SD Memory Card SD memory card handling • Format an SD memory card which is used with the motion system from the CPU module. If formatting an SD memory card  using the function such as the format function of Windows , an SD memory card may not be able to be used with the motion system.
  • Page 153 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. Press the SD memory card access control switch for longer than 1 second to stop access of the SD memory card. During the process of stopping access to the SD memory card, the CARD READY LED flickers, then turns OFF when the process is complete.

  • Page 154: Wiring

    12.2 Wiring This section describes wiring for when CC-Link IE TSN is used. This section describes the wiring method and wiring products for Ethernet cables and switching hubs. Ethernet cable The Motion module is connected with an Ethernet cable. Wiring methods The following describes connection and disconnection of the Ethernet cable.

  • Page 155: Switching Hub

    • IEEE 802.3 (100BASE-TX) • ANSI/TIA/EIA-568-B (Category 5) Cables for CC-Link IE TSN are available from Mitsubishi Electric System & Service Co., Ltd. (Catalogs for these cables are also available.) In addition, the connector processing of cable length is available for your preference. Please consult your local Mitsubishi representative.

  • Page 156: Appendices

    APPENDICES Appendix 1 System configuration with CC-Link IE TSN Class B/A Devices (Protocol Version 2.0/1.0) This section shows the system configuration in the following cases. • Motion module supporting protocol version 2.0 • The modules on CC-Link IE TSN support the protocol version 1.0/2.0 mixed •...

  • Page 157: Device Time Synchronization Method And Connection Specifications

    Device time synchronization method and connection specifications The following describes the time synchronization method and connection specification references according to the protocol version 2.0 compatible conditions of the network configuration device. With protocol version 1.0: Includes devices which support the protocol version 1.0 Protocol version 2.0 only: Devices which support protocol version 2.0 only None: Works without time synchronization.

  • Page 158: Appendix 2 System Configuration With Cc-Link Ie Tsn Class B/A Devices (Protocol Version 1.0 Only)

    Appendix 2 System configuration with CC-Link IE TSN Class B/A Devices (Protocol Version 1.0 only) This section describes the system configuration in the following cases. • Motion module supports protocol version 1.0 • The CC-Link IE TSN module supports the protocol version 1.0 only •...

  • Page 159: Chapter 11 System Configuration

    Availability of connection with devices (when using unicast mode) The following shows the case when "Communication Mode" under "Application Settings" is set to "Unicast". When the communication speed for the master station is set to 1Gbps The following table lists the availability of connection with a network configuration device when the "Communication Speed" for the master station is set to "1Gbps".
  • Page 160 When the communication speed for the master station is set to 100Mbps The following table lists the availability of connection with a network configuration device when the "Communication Speed" for the master station is set to "100Mbps". : Connection available, : Connection not available : Connection available only when the device on the end side is a standard station.

  • Page 161: Availability Of Connection With Devices (When Using Unicast Mode)

    Availability of connection with devices (when using multicast mode) The following shows the case when "Communication Mode" under "Application Settings" is set to "Multicast". When the communication speed for the master station is set to 1Gbps The following table lists the availability of connection with a network configuration device when the "Communication Speed" for the master station is set to "1Gbps".
  • Page 162 When the communication speed for the master station is set to 100Mbps The following table lists the availability of connection with a network configuration device when the "Communication Speed" for the master station is set to "100Mbps". : Connection available, : Connection not available : Connection available only when the device on the end side is a standard station.

  • Page 163: Structure Of Modules On Cc-Link Ie Tsn Only

    Structure of modules on CC-Link IE TSN only Connection with modules on CC-Link IE TSN only ■Line topology Modules are connected in a line topology. • Up to eight CC-Link IE TSN Class B stations can be connected. • When using RD78GH, up to eight CC-Link IE TSN Class B stations can be connected to P1 or P2 of the master station. No.0 Class B Class B...
  • Page 164 • When the device stations are CC-Link IE TSN Class A devices only, up to 120 device stations can be connected. No.0 No.1 No.2 No.3 No.4 Class B Class A Class A Class A Class A No.0: Master station No.1 to No.4: Remote station Class A: CC-Link IE TSN Class A device Class B: CC-Link IE TSN Class B device (1) Total of the device stations: Up to 120...
  • Page 165 • When "Communication Mode" is set to "Multicast" and the local station is used with a CC-Link IE TSN Class A remote station on the end side via a switching hub, some communication devices may not communicate. The communication will be enabled by configuring settings with the switching hub so that the multicast frame (with multicast MAC address 09:00:70:00:10:02 and 09:00:70:00:10:05) will not be transferred to the ports of CC-Link IE TSN Class A remote station.
  • Page 166 • A connection cannot be made if the total cyclic data size of all device stations on the CC-Link IE TSN Class A device side at the boundary between CC-Link IE TSN Class B and CC-Link IE TSN Class A exceeds 2K bytes. Ò...
  • Page 167 Connection with modules on CC-Link IE TSN with a communication speed of 100Mbps This section describes the network topology when "Communication Speed" under "Application Settings" is set to "100Mbps". ■Line topology Modules are connected in a line topology. • Up to eight CC-Link IE TSN Class B devices can be connected. •...
  • Page 168 • When "Communication Mode" is set to "Multicast" and the communication speed of the master station is 1Gbps, communication may not be possible depending on the type of the device if device stations with different communication speeds of 1Gbps and 100Mbps coexist on the end side via the switching hub. The communication will be enabled by configuring settings with the switching hub so that the multicast frame (with multicast MAC address 09:00:70:00:10:02 and 09:00:70:00:10:05) will not be transferred to the port of the device station with 100Mbps.
  • Page 169 ■Coexistence of line and star topologies Line and star topologies can be mixed in the same network configuration. • Up to eight CC-Link IE TSN Class B device stations (including the TSN hub) can be connected from the master station to each end.

  • Page 170: Structure Of Modules On Cc-Link Ie Tsn And Ethernet Devices

    Structure of modules on CC-Link IE TSN and Ethernet devices Connection with modules on CC-Link IE TSN and Ethernet devices ■Line topology The network with modules and devices is configured in a line topology. A general-purpose hub is not required. •...
  • Page 171 ■Coexistence of line and star topologies Line and star topologies can be mixed according to the connection requirements described below. • Up to eight CC-Link IE TSN Class B device stations (including the TSN hub) can be connected from the master station to each end.

  • Page 172: Manual Pulse Generator

    Appendix 3 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) RD78GHV H: High performance...

  • Page 173: Appendix 4 External Dimensions

    Appendix 4 External Dimensions Motion module ■RD78G4 [Unit: mm (inch)] 110 (4.33) 27.8 (1.09) ■RD78G8 [Unit: mm (inch)] 110 (4.33) 27.8 (1.09) APPX Appendix 4 External Dimensions...
  • Page 174 ■RD78G16 [Unit: mm (inch)] 110 (4.33) 27.8 (1.09) ■RD78G32 [Unit: mm (inch)] 110 (4.33) 27.8 (1.09) APPX Appendix 4 External Dimensions...
  • Page 175 ■RD78G64 [Unit: mm (inch)] 110 (4.33) 27.8 (1.09) ■RD78GHV [Unit: mm (inch)] 110 (4.33) 56 (2.20) APPX Appendix 4 External Dimensions...
  • Page 176 ■RD78GHW [Unit: mm (inch)] 110 (4.33) 56 (2.20) Manual pulse generator ■MR-HDP01 (manufactured by Mitsubishi Electric Corporation) [Unit: mm (inch)] r0.5 3.6 (0.14) 27.0 3 u Studs (M4 u 10) (1.06) PCD72, equi-spaced +5to M3 u 6 8.89 Packing t = 2.0 3-I4.8 (0.19)

  • Page 177: Appendix 5 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. The source code of any software which Mitsubishi Electric Corporation or a third party hold copyright to is not subject to distribution.
  • Page 178 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.

  • Page 179: Index

    INDEX ....24,88 ....29,80,94 CARD ACCESS LED SD memory card .

  • Page 180: Revisions

    Japanese manual number: IB-0300405-M 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.

  • Page 181: 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 182: Information And Services

    INFORMATION AND SERVICES For further information and services, please contact your local Mitsubishi Electric sales office or representative. Visit our website to find our locations worldwide. MITSUBISHI ELECTRIC Factory Automation Global Website Locations Worldwide www.MitsubishiElectric.com/fa/about-us/overseas/ TRADEMARKS  CANopen is registered Community Trademarks of CAN in Automation e.V.
  • Page 184 IB(NA)-0300406ENG-K(2409)MEE MODEL: RD78-U-S-E MODEL CODE: 1XB038 HEAD OFFICE: TOKYO BLDG., 2-7-3, MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN NAGOYA WORKS: 1-14, YADA-MINAMI 5-CHOME, HIGASHI-KU, NAGOYA 461-8670, 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.

This manual is also suitable for:

Melsec iq-r rd78g8Melsec iq-r rd78g16Melsec iq-r rd78g32Melsec iq-r rd78g64Melsec iq-r rd78ghvMelsec iq-r rd78ghw

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