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MELSEC iQ-R Series

Simple Motion Mode

Features of Simple Motion Mode
  • Executes positioning control with the motion profile table and advanced synchronous control with parameter settings.
  • Connects remote devices via CC-Link IE TSN. The PLC CPU reads/writes the data of the remote devices.
  • Supports the digital oscilloscope that collects data synchronized with the motion operation cycle and displays the waveforms data,
       helping users check the operations.
  • Reusing the existing projects helps reduce the program development time.

[An example of programming in Simple Motion mode]

[An example of programming in Simple Motion mode]

Utilization of Existing Programs

The existing MELSEC iQ-R/MELSEC-Q series devices and programs are reusable in a new system of RD78G Motion module that supports the Simple Motion mode.

Utilization of Existing Programs

LineupSimple Motion


MELSEC iQ-R series

  • Maximum number of control axes: 16 axes/module (RD78G16)
  • Minimum operation cycle *1: 250 [μs]
  • Compatible servo amplifiers

*1. The operation cycle varies by the number of control axes and the models.


Improved Performance

Minimum operation cycle

The minimum operation cycle of RD78G in Simple Motion mode is approximately 1.7 to 3.5 times faster than that of the previous models. The data from the servo amplifiers and input/output signals can be received at high speeds, which reduces the cycle time.

Reuse of Existing Projects

The existing projects of a Simple Motion module can be reused. This enables reduction in program development time.


Select [Change Module] in the navigation menu of GX Works3 to convert the Simple Motion module project to a Motion module project.
After the conversion, set the network parameters, servo amplifier parameters, and other parameters.

Reuse of Existing Projects


Select [Import Simple Motion Module Data] in the navigation menu of GX Works3 to import the parameters of QD77MS.
After the import, set the network parameters, servo amplifier parameters, and other parameters.

Reuse of Existing Projects

Firmware of RD78G Motion Module

The Simple Motion mode is supported by RD78G with firmware version 16 or later.
To obtain the firmware update files, contact your local sales office.

Firmware of RD78G Motion Module

Positioning ControlSimple Motion

Positioning control is easily executed using a motion profile table.

Positioning Control

  • To meet various application needs, the Motion module offers various types of positioning control, such as linear interpolation, 2-axis circular interpolation, fixed-pitch feed, and continuous path control.
  • An automatic operation can be executed easily by setting the positioning address, the speed, and other setting items in a sequence program.
  • Powerful sub-functions, such as M-code output, skip, speed change, and target position change functions, are available.


The Motion module easily executes positioning operation with the instruction in a sequence program that starts a positioning data of the motion profile table. To meet various application needs, the Motion module offers various types of control, such as linear interpolation, two-axis circular interpolation, fixed-pitch feed, and continuous path control.


Advanced Synchronous ControlSimple Motion

Synchronous control can be achieved using software instead of controlling mechanically with gear, shaft, clutch, speed change gear or cam, etc.

  • Synchronous control can be flexibly started/ended for each axis, enabling the synchronous control axis and positioning control axis to be used within the same program.
  • Command generation axis, servo input axis, or synchronous encoder axis *1 can be set as the input axis.
  • The output axis is operated with a cam. The following three operations can be performed with the cam functions: linear operation, two-way operation, and feed operation.
  • An incremental synchronous encoder *2 can be connected via MR-J5-G(-RJ)/MR-J5W2-G servo amplifier.

Synchronous Control

*1. Supported by MELSERVO-J5 series.
*2. When configuring an absolute position system, use an encoder of HK series servo motors.

[Command generation axis]
Command generation axis is the axis that performs only the command generation.
It is controlled independently of other axes connected to servo amplifiers. (not counted as a control axis)

Parameter Settings

Parameter Settings

Synchronous control is executed by setting parameters of the input axis, output axis, gear, and clutch for synchronous control and turning on the synchronous control start signal.

Parameter Settings

The cam graph can be flexibly and easily created through drag & drop. The waveform is changed according to the pointer's movement.

Continuous Operation to Torque ControlSimple Motion

When using this control, you can switch from position control to torque control continuously without stopping the servo motor.

  • The current positions are always tracked even in torque control, and therefore positioning is executed smoothly in position control after switched from the torque control.
  • Position control is smoothly switched to torque control without stopping the servo motor.

Continuous Operation to Torque Control

Auxiliary FunctionsSimple Motion

Inter-Module Synchronization NEW

The inter-module synchronization function can synchronize the control timings among multiple Motion modules on the same base unit.
A CPU and each I/O module are synchronized, and thus the I/O signals from different machines can be synchronized.

An example of synchronized operation between
machines using inter-module synchronization

Virtual Servo Amplifier

The virtual servo amplifier function enables operations of a virtual servo amplifier as if an actual unit is connected. When the virtual servo amplifier is set as a servo input axis of synchronous control, the Motion module executes synchronous control with virtually generated input commands. In addition, this function is used to simulate an axis without an actual connection.

Virtual Servo Amplifier

Automatic Return

When remote stations are back to normal status after disconnected due to a data link error, this function automatically returns the disconnected stations to the network and restarts data link.
When defective components need to be replaced in one of the machines in a production line or one of the units in a machine, only the machine or the unit can be partly turned off without powering off the whole system.

Automatic Return

Read/Write Operation of Standard Stations

  • The PLC CPU sends/receives link devices to/from standard stations (remote stations other than the motion control stations) through a Motion module.
  • One-to-one communication is possible between the master and remote stations.
  • The PLC CPU can be programmed using the signals of the remote stations.
Read/Write Operation of Standard Stations

Mark Detection

This function latches data responding to a trigger signal input to a servo amplifier.
The compensation amount is calculated based on the latched data, and the error is compensated using a compensation axis.
A high-accuracy mark detection at 1 μs is available. upgraded

Mark Detection

CC-Link IE TSN Safety Communication Function *1Simple Motion

CC-Link IE TSN enables control of safety and non-safety communications realizing a flexible system whereby safety communications can be easily incorporated into the main control network.
In the following system which integrates safety and non-safety communications, the safety CPU checks the safety signals received via the safety remote I/O module and outputs the safety signals (STO, etc.) to the servo amplifiers. Outputting safety signals via the network eliminates the need for wiring of safety signals to a safety controller and a servo amplifier.

CC-Link IE TSN Safety Communication Function

*1.Supported by MELSERVO-J5 series.

Optional Data MonitorSimple Motion

Servo operation is monitored with extensive servo data acquired via CC-Link IE TSN. The acquired data can be transferred to IT system or transferred and displayed on any user-created GOT screen in the network. The target data for monitoring can be flexibly changed during operation.

Optional Data Monitor

Driver Communication *1 NEW Simple Motion

The driver communication function of the servo amplifiers enables the master axis to transmit its torque data to the following axes, and the servo motors of the following axes are driven on the basis of the transmitted torque data.

Driver Communication

*1.Supported by MELSERVO-J5 series.

Engineering EnvironmentSimple Motion


MELSOFT GX Works3 has a variety of features which help users create projects and conduct maintenance more flexibly and easily.
Our variety of engineering software (GX Works3, drive system sizing software, and FA Integrated Selection Tool, etc.) fully covers all stages of development processes from parameter settings to maintenance of Motion module, servo amplifier, and servo motors.


System DesignSystem Design

System Design

  • Module configuration
  • Network configuration
  • Data settings for servo amplifiers
  • Settings for remote I/O

Programming (Positioning)Programming

Programming (Positioning)

  • Programming with Ladder, SFC, FBD/LD
  • Positioning data settings
  • Offline simulation, automatic calculation of command speed

Programming (Advanced Synchronous Control)Programming

Programming (Synchronous Control)

  • Synchronous control parameter
  • Cam data creation, cam data list



  • Event history
  • Current value history, start history, axis monitor
  • Servo monitor
  • Digital oscilloscope

Functions ListSimple Motion

  Motion Module
RD78G16 RD78G8 RD78G4
Maximum number of control axes 16 8 4
Minimum operation cycle [μs] *1 250
Servo amplifier connection method CC-Link IE TSN (Communications speed: 1 Gbps/100 Mbps)
Connectable servo amplifier MR-J5-G, MR-J5W-G, MR-J5D-G4     More details
MR-JET-G     More details
Maximum distance between stations [m(ft.)] 100 (328.08)
Control modes Position control, Speed control, Torque control, Synchronous control, Cam control
Positioning control Position control, Linear interpolation (Up to 4 axes),
Circular interpolation (2 axes), Helical interpolation
Acceleration/deceleration process Trapezoidal acceleration/deceleration, S-curve acceleration/deceleration
Positioning control method Motion profile table
Home position return Driver home position return*2
Manual control JOG operation, Manual pulse generator operation, Inching operation
Auxiliary functions Forced stop, Hardware stroke limit, Software stroke limit, Absolute position system,
Digital oscilloscope function, Acceleration/deceleration time change,
Inter-Module Synchronization NEW, Target position change, Torque limit value change,
Speed change, Override, CC-Link IE TSN safety communication function*3
Common functions Driver Communication NEW, Mark detection, Virtual servo amplifier, Event history,
Optional data monitor
Engineering environment MELSOFT GX Works3
Number of I/O occupying points 32
5VDC internal current consumption [A] 1.93
Mass [kg] 0.26
  • *1. The minimum operation cycle varies depending on the number of control axes and the model.
  • *2. The home position return method set in a driver (a servo amplifier) is used.
  • *3. Supported by MELSERVO-J5 series.