Mitsubishi Electric MELSEC iQ-R RD78G16 Manuals

Manuals and User Guides for Mitsubishi Electric MELSEC iQ-R RD78G16. We have 3 Mitsubishi Electric MELSEC iQ-R RD78G16 manuals available for free PDF download: User Manual

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

Motion Module

Brand: Mitsubishi Electric | Category: Control Unit | Size: 7.02 MB

SAFETY PRECAUTIONS 3

INTRODUCTION 12

COMPLIANCE WITH EMC AND LOW VOLTAGE DIRECTIVES 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

Set Position 70

Combination With Other Devices 71

Velocity Range 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

Absolute Position Control 82

Current Position Restoration 84

Absolute Position Data Backup 87

Current Position Restoration For Each Axis Type 89

Precautions 91

CHAPTER 3 BASIC FUNCTIONS 92

Operation Cycle 92

Relevant Variables 92

System Basic Cycle 92

Operation Cycle Assignment 93

Send/Receive Data Refresh Of Network Connected Devices 93

Motion Synchronization Station Link Device Auto Refresh 95

Buffer Memory Refresh 95

Add-on Function 96

Add-on Library Configuration 97

Management Of Add-on Library 98

Loading Add-on Library 98

System Memory Settings 99

System Memory (RAM) 100

System Memory (backup RAM) 101

Software Reboot 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

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

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

Relevant Variables/FBs 201

Operation In Multiple Axes Positioning Control 211

Positioning Speed In Multiple Axes Positioning Control 212

Command Unit In The Multiple Axes Positioning Control 220

Acceleration/deceleration Processing 222

State Transition In The Multiple Axes Positioning Control 222

Linear Interpolation Control 223

Circular Interpolation Control 232

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

Definition Of Movable Range 285

Specifications Of The Software Stroke Limit Check 290

Precautions 290

Hardware Stroke Limit 291

Hardware Stroke Limit Check Details 293

Returning From Outside The Hardware Stroke Limit Range 294

CHAPTER 9 RELEVANT FUNCTIONS TO VELOCITY 295

Acceleration/deceleration Processing Function 295

Relevant Variables 297

Acceleration/deceleration Method 301

Acceleration/deceleration Waveform Adjustment When Specifying Jerk 308

Operation When Specifying Acceleration/deceleration 0 310

Acceleration Limit Value/deceleration Limit Value 311

Jerk Limit Value 311

Limit Of Acceleration Time/deceleration Time 312

Automatic Deceleration 313

Changing Control Of Jerk Acceleration/deceleration 314

Multiple Start Of The Jerk Acceleration/deceleration 319

Speed Limit 320

Relevant Variables 320

How To Set The Speed Limit Function 320

Operation When The Speed Limit Value Is Exceeded 321

Operation Setting When The Speed Limit Value Is Exceeded 322

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

Driver Unit Conversion Function 343

Command Filter 346

Relevant FBs 346

Smoothing Filter 349

Precaution 351

Input Variable Change In Execution 352

Relevant Variables 352

Target Position/movement Distance Change 353

Set Velocity Change 356

Acceleration/deceleration And Acceleration/deceleration Time Change 357

CHAPTER 12 COMMON FUNCTIONS 358

External Signal Selection 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

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

Addition/Subtraction Positioning 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

Event History Function 488

Positioning Data History 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

Memory And File 498

Relevant Variables 498

Drive 499

Path Setting 501

Operation That Can Be Executed 503

Storage Files 504

Module Extended Parameters 505

Precautions 506

File Transfer Function 507

Access Control Setting 508

Functions Of File Transfer 508

Command Format 508

Log File 510

Drive Operation 510

SD Memory Card 511

Relevant Variables 511

SD Memory Card Handling 511

Specifications Of SD Memory Card 511

CHAPTER 20 SECURITY 513

CHAPTER 21 MODULE SOFTWARE INSTALLATION 514

Motion System Software Installation 514

Software File Configuration Of Motion System 515

Motion Software Package File Configuration Details 515

Checking Software Version 516

Basic System Software Update Function 517

Software Management 517

Boot Software Update Function 520

CHAPTER 22 TROUBLESHOOTING 523

LED Control 523

Checking Errors And Warnings 524

Relevant Variables 525

Control Details 525

Filter Setting 525

Error And Warning Reset 526

System Error Reset 527

Axis Error Reset 528

Axes Group Error Reset 529

List Of Warning Codes 530

List Of Error Codes 536

List Of Event Codes 567

PART 5 LISTS 569

CHAPTER 23 List Of Variables 570

CHAPTER 24 List Of FBs 593

APPENDICES 594

Appendix 1 Restrictions By The Version 594

Appendix 2 Motion Module Programs 595

Relevant Variables/function Blocks (FB) 597

Execution Of Programs 597

Label Initialization Function 602

Program Creation Procedure For The Motion Module 602

System Settings 609

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

Motion Module

Brand: Mitsubishi Electric | Category: Control Unit | Size: 9.05 MB

WHEN USING A HUB WITH CC-Link IE TSN 3

SAFETY PRECAUTIONS 3

INTRODUCTION 12

COMPLIANCE WITH EMC AND LOW VOLTAGE DIRECTIVES 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

Slave Station Disconnection 31

Master Station Duplication Detection 31

IP Address Duplication Error 32

Time Synchronization 33

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

Parameter Setting Of A Slave Station 44

Connected/Disconnected Module Detection 46

Parameter Processing Of A Slave Station 48

Command Execution To Slave Stations 50

CHAPTER 3 TROUBLESHOOTING 51

Checking With LED 51

Checking The Module Status 54

Module Diagnostics 54

Checking The Network Status 56

CC-Link IE TSN/CC-Link IE Field Diagnostics 56

Communication Test 64

Remote Operation 65

Troubleshooting By Symptom 66

List Of Error Codes 71

List Of Parameter Nos 84

Event List 86

APPENDICES 89

Appendix 1 Buffer Memory 89

List Of Buffer Memory Addresses 89

Details Of Buffer Memory Addresses 91

Appendix 2 List Of Link Special Relay (SB) 94

Appendix 3 List Of Link Special Register (SW) 96

Appendix 4 Port No 99

INDEX 100

REVISIONS 102

WARRANTY 103

TRADEMARKS 104

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

Motion Module

Brand: Mitsubishi Electric | Category: Controller | Size: 7.12 MB

WHEN USING A HUB WITH CC-Link IE TSN 3

SAFETY PRECAUTIONS 3

INTRODUCTION 12

COMPLIANCE WITH EMC AND LOW VOLTAGE DIRECTIVES 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

Performance Specifications 21

Specifications Of Interfaces With External Devices 22

External Circuit Design 23

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

Structure Of Authentication Class B Devices And Ethernet Devices 32

Structure Of Authentication Class B/A Devices And Ethernet Devices 35

Precautions For System Configuration 37

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

Mitsubishi Electric Categories

Air Conditioner

Projector Controller Inverter

Monitor

More Mitsubishi Electric Manuals...

Mitsubishi Electric MELSEC iQ-R RD78G16 Manuals

Manuals and User Guides for Mitsubishi Electric MELSEC iQ-R RD78G16. We have 3 Mitsubishi Electric MELSEC iQ-R RD78G16 manuals available for free PDF download: User Manual

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

Table of contents

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

Table of contents

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

Table of contents

Related Products

Mitsubishi Electric Categories

Mitsubishi Electric MELSEC iQ-R RD78G16 Manuals

Manuals and User Guides for Mitsubishi Electric MELSEC iQ-R RD78G16. We have 3 Mitsubishi Electric MELSEC iQ-R RD78G16 manuals available for free PDF download: User Manual

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

Table of contents

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

Table of contents

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

Table of contents

Share and save

Related Products

Mitsubishi Electric Categories