Mitsubishi Electric MELSEC iQ-R RD78G16 Manuals

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Mitsubishi Electric MELSEC iQ-R RD78G16 User Manual (628 pages)

Motion Module

Brand: Mitsubishi Electric | Category: Control Unit | Size: 7 MB

Safety Precautions
3
Compliance with Emc and Low Voltage Directives
12
Introduction
12
Table of Contents
13
Relevant Manuals
22
Terms
23
How to Read this Manual
26
Future Support Planned
31
Part 1 Basic Specifications

33
Chapter 1 Axis Setting

34
Axis

34
- Relevant Variables
  34
- Maximum Number of Controlled Axes
  34
- Required Settings for Axes
  35
- Axis Variables
  35
- Axis Variable Initialization Timing
  36
- How to Specify in a User Program
  36
- State Transition
  37
- Precautions
  38
Axis Type

39
- Relevant Variables/Fb
  39
- Real Drive Axis
  40
- Virtual Drive Axis
  41
- Virtual Linked Axis
  41
Connectable Stations

42
- Maximum Number of Stations that Can be Connected
  42
- Precaution
  42
Axis Assignment

43
- Relevant Variables
  45
- Slave Object Settings
  46
- PDO Mapping Settings
  47
- Setting Procedure
  47
- Slave Object List
  48
- Motion System Function/Command and Slave Object
  52
Axes Group

53
- Relevant Variables/Fbs
  53
- Settings Required for Axes Group
  56
- Axes Group Variables
  57
- Axes Group Variable Initialization Timing
  57
- Specify Method Using a User Program
  57
- Enabling Axes Group
  58
- Axes Group Enabled
  59
- Axes Group Disabled
  61
Axes Group Assignment

62
- Relevant Variables/Fb
  62
- Setting with Engineering Tool
  63
Chapter 2 Axis Management Functions

64
Technical Units

64
- Relevant Variables
  64
- Setting Methods
  64
- Precautions
  68
Positioning Range

69
- Relevant Variables
  69
- Set Position
  70
- Combination with Other Devices
  71
- Precautions
  71
Velocity Range

72
- Relevant Variables
  72
- Velocity Set Range
  73
Servo ON/OFF

74
- Relevant Variables/Fb
  74
- Control Details
  78
- Driver State Transition
  79
- Precautions
  79
Follow up

80
- Relevant Variables
  80
- Disabling Follow up
  81
- Precautions
  81
Absolute Position Control

82
Chapter 3 Basic Functions

92
Operation Cycle

92
Add-On Function

96
- Relevant Variables
  96
- Add-On Library Configuration
  97
- Management of Add-On Library
  98
- Loading Add-On Library
  98
System Memory Settings

99
- Relevant Variables
  99
- System Memory (RAM)
  100
- System Memory (Backup RAM)
  101
- Precautions
  101
Software Reboot

102
- Relevant Variables
  102
- Reset
  102
- Clear
  103
- Quick Clear
  103
- Precautions
  103
Motion Control 1

105
- Part 2 Motion Control
  105
Chapter 4 Start and Stop

106
Start

106
- Relevant Variables
  106
- Starting Conditions
  107
Retrigger/Continuous Update

108
Multiple Start (Buffer Mode)

109
- Relevant Variables
  111
- Multiple Start During Single Axis Operation
  112
- Multiple Start During Multiple Axes Operation
  121
- Precautions
  128
Stop

132
- Relevant Variables/Fb
  132
- Stop Cause Lists
  140
- Types of Stop Processes
  142
- Deceleration Stop
  143
- Order of Priority for Stop Process
  144
- Overrun at Stop Cause Occurrence
  145
- Stop During Single Axis Operation
  146
- Stop During Axes Group Operation
  152
Forced Stop

161
- Relevant Variables
  161
- Operation at the Forced Stop Occurrence
  163
- Operation at the Forced Stop Release
  164
- Check Method
  165
Chapter 5 Homing

166
Outline

166
- Relevant Variables/Fb
  167
- Homing Request
  168
- Driver Homing Method
  169
- Data Set Homing Method
  171
- Precautions
  171
Operation Setting for Incompletion of Homing

172
- Relevant Variables
  172
- Fbs that Can be Started When Homing Is Incompletion
  172
- Homing Request Clear
  172
- Precautions
  172
Chapter 6 Axis Control Function

173
Single Axis Positioning Control

173
- Relevant Fbs
  173
- Absolute Positioning Control
  178
- Relative Positioning Control
  187
Single Axis Speed Control

189
- Relevant FB
  189
- Control Details
  192
- Buffermode
  193
Single Axis Manual Control

194
- Relevant Variables/Fb
  194
- Types of Manual Control
  196
- JOG Operation
  196
Multiple Axes Positioning Control

201
Chapter 7 Direct Control

243
Velocity Control

244
- Relevant Variables/Fb
  244
- Control Details
  248
- Buffermode
  249
- Precautions
  254
Torque Control

255
- Relevant Variables/Fb
  255
- Control Details
  259
- Buffermode
  262
- Precautions
  271
CHAPTER 8 RELEVANT FUNCTIONS to POSITION

272
Current Position Change Function

272
- Relevant Fbs
  272
- Position Setting Range
  278
- Current Position Change
  278
- Trigger Current Position Change
  280
- Cancel
  281
Command In-Position

283
- Relevant Variables
  283
- Command In-Position Width Check
  284
Software Stroke Limit

285
- Relevant Variables
  285
- Definition of Movable Range
  285
- Specifications of the Software Stroke Limit Check
  290
- Precautions
  290
Hardware Stroke Limit

291
- Relevant Variables
  291
- Hardware Stroke Limit Check Details
  293
- Returning from Outside the Hardware Stroke Limit Range
  294
- Precautions
  294
Chapter 9 Relevant Functions to Velocity

295
Acceleration/Deceleration Processing Function

295
Speed Limit

320
Override Function

323
- Relevant Variables/Fbs
  323
- How to Change Control Data
  329
Chapter 10 Relevant Functions to Torque

333
Torque Limit

333
- Relevant Variables
  333
- Slave Object Map
  334
- Torque Limit Value Setting Range
  334
- Torque Limit Maximum Value Setting Range
  334
- Precautions
  334
Torque Limit Value Change Function

335
- Relevant Variables/Fb
  335
- How to Change Control Data
  342
Chapter 11 Control Sub Functions

343
Compensation Function

343
- Relevant Variables
  343
- Driver Unit Conversion Function
  343
Command Filter

346
- Relevant Fbs
  346
- Smoothing Filter
  349
- Precaution
  351
Input Variable Change in Execution

352
Chapter 12 Common Functions

358
External Signal Selection

358
- Relevant Variables
  358
- SIGNAL_SELECT Structure
  358
- TARGET_REF Structure
  360
12.2 Touch Probe

363
- Relevant Fbs
  363
- External Latch Valid
  366
- External Latch Invalid
  371
- Precautions
  371
Slave Emulate

372
- Relevant Variables
  372
- Setting Procedures
  372
- Operation During Emulate Function
  372
- Precaution
  372
Part 3 Motion Control2

373
Chapter 13 Operation Profile Function

374
Operation Profile Data

374
- Relevant Variables/Fb
  375
- Creating Operation Profile Data
  390
- Operation Profile Data Types
  391
- Operating Operation Profile Data
  404
- Control of Operation Profile Data
  413
- Sub Function of Operation Profile Data Control
  416
Operation Profile Data Format

422
- Operation Profile Data Details
  422
Chapter 14 Synchronous Control

428
Outline of Single Axis Synchronization Function Blocks

428
Axis Configuration

429
Master Axis Data Source Selection

429
Start and Stop Operation

430
Required Slave Object

431
Restrictions

431
Cam Operation

432
- Relevant FB
  432
- Control Details
  435
- Precautions
  442
Gear Operation

443
- Relevant FB
  443
- Control Details
  445
- Precautions
  448
Addition/Subtraction Positioning

449
- Relevant FB
  449
- Control Details
  452
Part 4 Control/Operation/Maintenance

455
Chapter 15 Logging

456
Data Logging/Real-Time Monitor

456
- Relevant Variables
  457
- Data Logging Function
  458
- Real-Time Monitor
  459
- Steps until the Collected Data Is Saved
  459
- Logging Setting
  463
- Data to be Collected (DATA)
  463
- Logging Setting (LOGGING)
  464
- Trigger Condition (TRIGGERCONDITION)
  468
- Application Function
  470
- Precautions
  472
- Folder Configuration
  474
Data Logging Format

475
- CSV File Data Specifications
  475
- JSON File Data Specifications
  477
Chapter 16 Ras Functions

479
Execution Time Monitor

479
- Relevant Variables
  480
- Control Details
  481
- Processing Time over Check
  484
- Precautions
  485
History Data

486
- Relevant Variables
  487
- Event History Function
  488
- Positioning Data History
  490
- Precautions
  490
Chapter 17 Motion Service Processing

491
Operation Overview

491
Processing Description

492
Chapter 18 How to Control from Cpu Module

493
Specifications of I/O Signals with CPU Modules

493
Using MCFB

494
- Relevant Variable
  494
- Control Details
  494
Chapter 19 File Control

498

Mitsubishi Electric MELSEC iQ-R RD78G16 User Manual (682 pages)

Programmable

Brand: Mitsubishi Electric | Category: Controller | Size: 10 MB

Safety Precautions
3
Compliance with Emc and Low Voltage Directives
12
Introduction
12
Table of Contents
13
Relevant Manuals
19
Terms
20
Generic Terms and Abbreviations
21
Chapter 1 Start and Stop

22
- Start
  22
- Multiple Axes Simultaneous Start
  27
- Stop
  29
- Restart
  33
Chapter 2 Home Position Return Control

35
Chapter 3 Major Positioning Control

43
Chapter 4 High-Level Positioning Control

139
Chapter 5 Manual Control

159
Chapter 6 Inter-Module Synchronization Function

188
Chapter 7 Expansion Control

193
Chapter 8 Control Sub Functions

224
- Outline of Sub Functions
  224
- Functions for Compensating the Control
  226
- Backlash Compensation Function
  226
- Electronic Gear Function
  228
- Near Pass Function
  235
- Functions to Limit the Control
  237
- Speed Limit Function
  237
- Torque Limit Function
  239
- Software Stroke Limit Function
  243
- Hardware Stroke Limit Function
  249
- Forced Stop Function
  252
- Functions to Change the Control Details
  254
- Speed Change Function
  255
- Override Function
  260
- Acceleration/Deceleration Time Change Function
  262
- Torque Change Function
  265
- Target Position Change Function
  269
- Functions Related to Start
  272
- Pre-Reading Start Function
  272
- Absolute Position System
  275
- Functions Related to Stop
  277
- Stop Command Processing for Deceleration Stop Function
  277
- Continuous Operation Interrupt Function
  279
- Step Function
  281
- Other Functions
  286
- Skip Function
  286
- M Code Output Function
  289
- Teaching Function
  293
- Command In-Position Function
  298
- Acceleration/Deceleration Processing Function
  300
- Deceleration Start Flag Function
  302
- Speed Control 10 X Multiplier Setting for Degree Axis Function
  305
- Operation Setting for Incompletion of Home Position Return Function
  307
- Servo ON/OFF
  309
- Follow-Up Function
  311
Chapter 9 Common Functions

312
- Outline of Common Functions
  312
- Parameter Initialization Function
  313
- Execution Data Backup Function
  315
- External Input Signal Select Function
  317
- History Monitor Function
  324
- Virtual Servo Amplifier Function
  327
- Mark Detection Function
  330
- Optional Data Monitor Function
  343
- Event History Function
  346
- Servo Transient Transmission Function
  350
- Test Mode
  353
- Software Installation to the Own Module
  357
- Installation of the Motion System Software
  357
- File Configuration of the Motion System Software
  358
- Installation Method of the Motion System Software
  359
Chapter 10 Parameter Setting

362
- Parameter Setting Procedure
  362
- Module Parameter
  363
- Refresh Settings
  363
- Simple Motion Module Setting
  368
Chapter 11 Specifications of I/O Signals with Cpu Modules

369
Chapter 12 Data Used for Positioning Control

373
- Types of Data
  373
- Parameters and Data Required for Control
  373
- Setting Items for Servo Network Composition Parameters
  376
- Setting Items for Common Parameters
  377
- Setting Items for Positioning Parameters
  377
- Setting Items for Home Position Return Parameters
  387
- Setting Items for Extended Parameters
  388
- Setting Items for Positioning Data
  389
- Setting Items for Block Start Data
  392
- Setting Items for Condition Data
  392
- Types and Roles of Monitor Data
  393
- Types and Roles of Control Data
  396
- List of Buffer Memory Addresses
  399
- Basic Setting
  413
- Servo Network Composition Parameters
  413
- Common Parameters
  415
- Basic Parameters 1
  418
- Basic Parameters 2
  423
- Detailed Parameters 1
  424
- Detailed Parameters 2
  433
- Home Position Return Basic Parameters
  446
- Home Position Return Detailed Parameters
  449
- Extended Parameters
  451
- Servo Object Specification Area
  453
- Positioning Data
  454
- Block Start Data
  471
- Condition Data
  474
- Monitor Data
  481
- System Monitor Data
  481
- Axis Monitor Data
  488
- Monitor Data for Slave Device Operation
  513
- Control Data
  514
- System Control Data
  514
- Axis Control Data
  521
- Control Data for Slave Device Operation
  550
- Memory Configuration and Data Process
  551
- Configuration and Roles
  551
- Buffer Memory Area Configuration
  553
- Data Transmission Timing
  555
- Data Transmission Process
  556
Chapter 13 Programming

562
- Precautions for Creating Program
  562
- List of Labels Used
  563
- Creating a Program
  566
- General Configuration of Program
  566
- Positioning Program Examples
  567

Mitsubishi Electric MELSEC iQ-R RD78G16 User Manual (310 pages)

Brand: Mitsubishi Electric | Category: Controller | Size: 48 MB

Safety Precautions
3
WHEN USING a SWITCHING HUB with CC-Link IE TSN
3
Compliance with Emc and Low Voltage Directives
12
Introduction
12
Table of Contents
13
Relevant Manuals
16
Terms
17
Generic Terms and Abbreviations
19
Chapter 1 Functions

21
- Cyclic Transmission
  21
- Communications Using RX, RY, Rwr, and Rww
  22
- Communications Using LB and LW
  29
- Communications Using RX, RY, Rwr, Rww, LB, and LW
  31
- Link Refresh
  33
- Direct Access to Link Devices
  35
- Direct Access from Motion Built-In Program to Link Devices
  38
- Cyclic Data Assurance
  40
- Communication Cycles Coexistence
  47
- Interlink Transmission
  48
- I/O Maintenance Settings
  49
- Remote Device Test
  55
- Canopen Communication
  57
- Transient Transmission
  61
- Communications Using a Dedicated Instruction
  61
- Communications Using the SLMP
  62
- Communications Using the Engineering Tool
  63
- Ethernet Connection
  64
- Connection with MELSOFT Products and a GOT
  64
- Connecting SLMP-Compatible Devices
  67
- Security
  68
- IP Filter
  68
- Remote Password
  70
- Ras
  74
- Device Station Disconnection
  74
- Automatic Return
  74
- Master Station Duplication Detection
  75
- IP Address Duplication Detection
  76
- Time Synchronization
  77
- CC-Link IE TSN Network Synchronous Communication Function
  78
- Safety Communications
  88
- Others
  92
- Reserved Station Setting
  92
- Error Invalid Station Setting
  92
- Device Station Parameter Automatic Setting
  93
- Data Collection Using the CC-Link IE TSN Communication Software
  95
- Co-Recording Function
  96
Chapter 2 Parameter Settings

98
- Setting Parameters
  98
- Required Settings
  99
- Station Type
  99
- Network no
  99
- Station No./Ip Address Settings
  100
- Basic Settings
  101
- Refresh Settings
  102
- Network Topology
  104
- Communication Period Setting
  104
- Connection Device Information
  105
- Device Station Setting
  106
- Safety Communication Setting
  106
- Application Settings
  110
- Communication Speed Setting
  111
- Supplementary Cyclic Settings
  111
- Transient Transmission Group No. Setting
  111
- Communication Mode
  111
- Parameter Name
  112
- Dynamic Routing
  112
- Event Reception from Other Stations
  112
- Module Operation Mode
  112
- Security
  113
- Interlink Transmission Settings
  113
- CC-Link IE TSN Configuration" Window
  114
- Parameter Setting of a Device Station
  114
- Connected/Disconnected Module Detection
  119
- Parameter Processing of a Device Station
  122
- Command Execution to Device Stations
  125
- PDO Mapping Setting
  127
- Module Change
  129
- Device No. Reassignment
  130
- Object Name Display
  131
Chapter 3 Programming

132
- Precautions for Programming
  132
- Communication Example of Safety Communication
  133
- System Configuration Example
  133
- Setting in the Master Station
  134
- Checking the Network Status
  141
Chapter 4 Troubleshooting

142
- Checking with LED
  142
- Checking the Module Status
  146
- Module Diagnostics
  146
- Checking the Network Status
  148
- CC-Link IE TSN/CC-Link IE Field Diagnostics
  148
- Communication Test
  156
- Station Information List
  157
- Remote Operation
  158
- Troubleshooting by Symptom
  159
- List of Error Codes
  176
- List of Parameter Nos
  200
- Event List
  203
- Response Code (SDO Abort Code)
  206
- Appendices
  207
Appendix 1 Buffer Memory (When Using the Plcopen Motion Control FB Mode)

207
- List of Buffer Memory Addresses
  207
- Details of Buffer Memory Addresses
  216
Appendix 2 Buffer Memory (When Using the Simple Motion Mode)

231
- List of Buffer Memory Addresses
  231
- Details of Buffer Memory Addresses
  237
Appendix 3 List of Link Special Relay (SB)

251
Appendix 4 List of Link Special Register (SW)

256

Mitsubishi Electric MELSEC iQ-R RD78G16 User Manual (184 pages)

Motion Module

Brand: Mitsubishi Electric | Category: Controller | Size: 73 MB

Mitsubishi Electric MELSEC iQ-R RD78G16 User Manual (188 pages)

Brand: Mitsubishi Electric | Category: Controller | Size: 2 MB

Safety Precautions
3
Compliance with Emc and Low Voltage Directives
12
Introduction
12
Table of Contents
13
Relevant Manuals
15
Generic Terms and Abbreviations
16
Terms
16
Chapter 1 Outline of Advanced Synchronous Control

17
Chapter 2 Input Axis Module

30
Chapter 3 Cam Function

77
Chapter 4 Advanced Synchronous Control

93
- Main Shaft Module
  93
- Overview of Main Shaft Module
  93
- Main Shaft Parameters
  94
- Main Shaft Clutch Parameters
  96
- Main Shaft Clutch Control Data
  101
- Auxiliary Shaft Module
  102
- Overview of Auxiliary Shaft Module
  102
- Auxiliary Shaft Parameters
  102
- Auxiliary Shaft Clutch Parameters
  104
- Auxiliary Shaft Clutch Control Data
  109
- Clutch
  110
- Overview of Clutch
  110
- Control Method for Clutch
  110
- Smoothing Method for Clutch
  115
- Use Example of Clutch
  121
- Speed Change Gear Module
  122
- Overview of Speed Change Gear Module
  122
- Speed Change Gear Parameters
  123
- Output Axis Module
  124
- Overview of Output Axis Module
  124
- Output Axis Parameters
  126
- Synchronous Control Change Function
  130
- Overview of Synchronous Control Change Function
  130
- Synchronous Control Change Control Data
  130
- Synchronous Control Monitor Data
  134
- Phase Compensation Function
  138
- Output Axis Sub Functions
  140
Chapter 5 Advanced Synchronous Control Initial Position

141

Mitsubishi Electric MELSEC iQ-R RD78G16 User Manual (106 pages)

Motion Module

Brand: Mitsubishi Electric | Category: Control Unit | Size: 9 MB

Safety Precautions
3
WHEN USING a HUB with CC-Link IE TSN
3
Compliance with Emc and Low Voltage Directives
12
Introduction
12
Table of Contents
13
Relevant Manuals
15
Terms
16
Future Support Planned
18
Chapter 1 Functions

19
Cyclic Transmission

19
- Communications Using Slave Labels
  19
Transient Transmission

20
- Communications Using the SLMP
  20
Ethernet Connection

21
- Connection with MELSOFT Products and a GOT
  21
- Connecting SLMP-Compatible Devices
  24
Security

25
- IP Filter
  25
- Remote Password
  27
Ras

31
Others

34
- Slave Station Parameter Automatic Setting
  34
Chapter 2 Parameter Settings

36
Setting Parameters

36
Required Settings

37
- Station Type
  37
- Network no
  38
- Station No./Ip Address Settings
  38
Basic Settings

39
- Network Topology
  40
- Communication Period Setting
  40
- Connection Device Information
  41
- Slave Station Setting
  41
Application Settings

42
- Event Reception from Other Stations
  42
- Module Operation Mode
  43
- Security
  43
CC-Link IE TSN Configuration" Window

44
Chapter 3 Troubleshooting

51
Checking with LED

51
Checking the Module Status

54
- Module Diagnostics
  54
Checking the Network Status

56
Troubleshooting by Symptom

66
List of Error Codes

71
List of Parameter Nos

84
Event List

86
Appendices

89

Mitsubishi Electric MELSEC iQ-R RD78G16 User Manual (56 pages)

Motion Module

Brand: Mitsubishi Electric | Category: Controller | Size: 7 MB

Safety Precautions
3
WHEN USING a HUB with CC-Link IE TSN
3
Compliance with Emc and Low Voltage Directives
12
Introduction
12
Table of Contents
13
Relevant Manuals
14
Terms
15
Future Support Planned
17
Chapter 1 Part Names

19
- LED Display Specifications
  20
Chapter 2 Specifications

21
Chapter 3 Function List

25
- Control Functions
  25
  - Basic Specifications
    25
  - Motion Control 1
    26
  - Motion Control 2
    27
  - Control/Operation/Maintenance
    27
- List of Network Function
  28
Chapter 4 Procedures before Operations

29
Chapter 5 System Configuration

31
Chapter 6 Installation and Wiring

39
- Installation and Removal of SD Memory Card
  39
- Wiring
  41
- Appendices
  43
Appendix 1 Component List

43
Appendix 2 External Dimensions

44
Appendix 3 Open Source Software

48
- Index
  50
- Revisions
  52
- Warranty
  53
- Trademarks
  54

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Mitsubishi Electric MELSEC iQ-R RD78G16 User Manual (628 pages)

Table of Contents

Part 1 Basic Specifications

Chapter 1 Axis Setting

Axis

Axis Type

Connectable Stations

Axis Assignment

Axes Group

Axes Group Assignment

Chapter 2 Axis Management Functions

Technical Units

Positioning Range

Velocity Range

Servo ON/OFF

Follow up

Absolute Position Control

Chapter 3 Basic Functions

Operation Cycle

Add-On Function

System Memory Settings

Software Reboot

Motion Control 1

Chapter 4 Start and Stop

Start

Retrigger/Continuous Update

Multiple Start (Buffer Mode)

Stop

Forced Stop

Chapter 5 Homing

Outline

Operation Setting for Incompletion of Homing

Chapter 6 Axis Control Function

Single Axis Positioning Control

Single Axis Speed Control

Single Axis Manual Control

Multiple Axes Positioning Control

Chapter 7 Direct Control

Velocity Control

Torque Control

CHAPTER 8 RELEVANT FUNCTIONS to POSITION

Current Position Change Function

Command In-Position

Software Stroke Limit

Hardware Stroke Limit

Chapter 9 Relevant Functions to Velocity

Acceleration/Deceleration Processing Function

Speed Limit

Override Function

Chapter 10 Relevant Functions to Torque

Torque Limit

Torque Limit Value Change Function

Chapter 11 Control Sub Functions

Compensation Function

Command Filter

Input Variable Change in Execution

Chapter 12 Common Functions

External Signal Selection

12.2 Touch Probe

Slave Emulate

Part 3 Motion Control2

Chapter 13 Operation Profile Function

Operation Profile Data

Operation Profile Data Format

Chapter 14 Synchronous Control

Outline of Single Axis Synchronization Function Blocks

Axis Configuration

Master Axis Data Source Selection

Start and Stop Operation

Required Slave Object

Restrictions

Cam Operation

Gear Operation

Addition/Subtraction Positioning

Part 4 Control/Operation/Maintenance

Chapter 15 Logging

Data Logging/Real-Time Monitor

Data Logging Format

Chapter 16 Ras Functions