Mitsubishi Electric MELSEC iQ-R RD78GHW Manuals

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Mitsubishi Electric MELSEC iQ-R RD78GHW 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
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
- Relevant Variables
  507
- Access Control Setting
  508
- Functions of File Transfer
  508
- Command Format
  508
- Log File
  510
- Drive Operation
  510
- Precautions
  510
SD Memory Card

511
- Relevant Variables
  511
- SD Memory Card Handling
  511
- Specifications of SD Memory Card
  511
- Installation and Removal of SD Memory Card
  511
- Precautions
  512
Chapter 20 Security

513
Chapter 21 Module Software Installation

514
Motion System Software Installation

514
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
- Relevant Variables
  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 RD78GHW 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
Appendix 5 Dedicated Instruction

267
- Link Dedicated Instructions
  267
- Remote Instructions
  268
- SLMP Communication Instruction
  268
Appendix 6 Processing Time

269
Appendix 7 Port no

300
Appendix 8 SLMP Command for Accessing the CAN Application Object

301
Appendix 9 Added and Enhanced Functions

303
- Index
  304
- Revisions
  306
- Warranty
  307
- Trademarks
  308

Mitsubishi Electric MELSEC iQ-R RD78GHW User Manual (184 pages)

Motion Module

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

Safety Precautions
3
WHEN USING a SWITCHING HUB with CC-Link IE TSN
3
Additional Measures
13
Compliance with Emc and Low Voltage Directives
13
Introduction
13
Table of Contents
14
Relevant Manuals
17
Terms
19
Generic Terms and Abbreviations
21
Mode Selection
22
Supported Mode
22
Component
23
PART 1 Plcopen MOTION CONTROL FB MODE
25
Chapter 1 Part Names

26
Chapter 2 Specifications

28
Chapter 3 Function List

34
- Control Functions
  34
- Basic Specifications
  34
- Motion Control
  35
- Control/Operation/Maintenance
  36
- List of Network Function
  37
- Cyclic Transmission
  37
- Transient Transmission
  38
- Ethernet Connection
  38
- Troubleshooting
  40
Chapter 4 Procedures before Operations

41
- Communication with the Engineering Tool
  43
- Accessible Path
  43
- SLMP Communication
  43
- Precautions
  45
- Relevant Add-Ons, Versions
  45
- System Memory Capacity
  45
Chapter 5 System Configuration

46
Chapter 12 Installation and Wiring

82
Chapter 6 Installation and Wiring

152
- SD Memory Card
  152
- Installation and Removal of SD Memory Card
  152
- Wiring
  154
- Switching Hub
  155
- Appendices
  156
Appendix 1 System Configuration with CC-Link IE TSN Class B/A Devices (Protocol Version 2.0/1.0)

156
- Device Time Synchronization Method and Connection Specifications
  157
Appendix 2 System Configuration with CC-Link IE TSN Class B/A Devices (Protocol Version 1.0 Only)

158
Chapter 11 System Configuration

159
Appendix 3 Component List

172
Appendix 4 External Dimensions

173
- Motion Module
  173
Appendix 5 Open Source Software

177
- Index
  179
- Revisions
  180
- Warranty
  181
- Information and Services
  182
- Trademarks
  182

Mitsubishi Electric MELSEC iQ-R RD78GHW 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
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 RD78GHW 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 RD78GHW Manuals

Mitsubishi Electric MELSEC iQ-R RD78GHW 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