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MELSEC iQ-R Simple Motion Module

(5/1/2017)

Simple Motion Modules

The RD77GF, RD77MS, QD77MS, LD77MS, and FX5-40SSC-S Simple Motion Modules are the easiest way to add motion control to your iQ-R, iQ, L, or FX5 Series PLC. The easy to use function block library provides a simple interface for positioning, interpolated moves, and synchronous control including camming, encoder following, and registration. Program development and troubleshooting are faster and easier than ever before with both motion and logic are implemented on the same PLC CPU.


RD77GF System Configuration

RD77GF_and_MRJ4GFRJ_Configuration_Diagram

Simple Motion Module RD77GF for iQ-R PLC Parts List

Model Number

Description

Stocked Items

RD77GF16

16 Axis Simple Motion Module for iQ-R with CC-Link IE Field

S

RD77GF8

8 Axis Simple Motion Module for iQ-R with CC-Link IE Field

S

RD77GF4

4 Axis Simple Motion Module for iQ-R with CC-Link IE Field

S


Simple Motion Module RD77GF Control Specifications

Model Number

RD77GF4

RD77GF8

RD77GF16

Number Of Control Axes

4 axes

8 axes

16 axes

Operation Cycle

0.5 ms/1.0 ms/2.0 ms/4.0 ms

Interpolation Function

2-, 3-, or 4-axis linear interpolation; 2-axis circular interpolation;
3-axis helical interpolation

Control Method

PTP (Point To Point) control, path control (linear, and arc can be set), speed control, speed-position switching control, position-speed switching control, speed-torque control

Control Unit

mm, inch, degree, pulse

Positioning Data

600 data/axis (All the data points can be set with the buffer memory.)

Execution Data Backup Function

Parameters, positioning data, and block start data can be saved on flash ROM. (battery-less backup)

Positioning

Positioning System

PTP control: Incremental system/absolute system
Speed-position switching control: Incremental system/absolute system
Position-speed switching control: Incremental system
Path control: Incremental system/absolute system

Positioning Range

In absolute system
-214748364.8 to 214748364.7 (µm); -21474.83648 to 21474.83647 (inch); 0 to 359.99999 (degree); -2147483648 to 2147483647 (pulse)

In incremental system
-214748364.8 to 214748364.7 (µm); -21474.83648 to 21474.83647 (inch); -21474.83648 to 21474.83647 (degree); -2147483648 to 2147483647 (pulse)

In speed-position switching control (INC mode)/position-speed switching control
0 to 214748364.7 (µm); 0 to 21474.83647 (inch); 0 to 21474.83647 (degree); 0 to 2147483647 (pulse)

In speed-position switching control (ABS mode) (*1)
0 to 359.99999 (degree)

Speed Command

0.01 to 20000000.00 (mm/min); 0.001 to 2000000.000 (inch/min); 0.001 to 2000000.000 (degree/min) (*2) 1 to 1000000000 (pulse/s)

Acceleration/Deceleration Process

Trapezoidal acceleration/deceleration, S-curve acceleration/deceleration

Acceleration/Deceleration Time

1 to 8388608 (ms) (Four patterns can be set for each of acceleration time and deceleration time.)

Sudden Stop Deceleration Time

1 to 8388608 (ms)

Manual Pulse Generator

Signal Input Form

Link device

1 Pulse Input Magnification

1 to 10000 times

Flash ROM Write Count

Max. 100000 times

Number of Occupied I/O points

32 points (I/O assignment: Intelligent function module 32 points)

Internal Current Consumption (5 VDC)

1.1 A

External Dimensions
(W x H x D) mm (inch)

106 x 27.8 x 110 (4.17 x 1.09 x 4.33)

Weight (kg)

0.23

Notes:
1. The speed-position switching control (ABS mode) can be used only when the control unit is “degree”.
2. When “Speed control 10 times multiplier setting for degree axis function” is valid, the setting range is 0.01 to 20000000.00 (degree/min).

CC-Link IE Field Network Performance Specifications

Model Number

RD77GF4 • RD77GF8 • RD77GF16

Maximum Number of Link Points per Network

RX

16K points (16384 points, 2K bytes)

RY

16K points (16384 points, 2K bytes)

RWr

8K points (8192 points, 16K bytes)

RWw

8K points (8192 points, 1 6K bytes)

Maximum Number of Link Points per Station

Master Station

RX

16K points (16384 points, 2K bytes)

RY

16K points (16384 points, 2K bytes)

RWr

8K points (8192 points, 16K bytes)

RWw

8K points (8192 points, 16K bytes)

Local Station (*1)

RX

2K points (2048 points, 256 bytes)

RY

2K points (2048 points, 256 bytes)

RWr

256 points (512 bytes)

RWw

256 points (512 bytes)

Inter-module Synchronization Cycle (*2)
(With Synchronization Communication)

0.50 ms/1.00 ms/2.00 ms/4.00 ms

Transient Transmission

1: N communication (such as monitor, program upload / download) Dedicated instructions from sequence programs

Transient Transmission Capacity

1920 bytes maximum

Maximum Number of Transient Transmissions per Link Scan

4

Communication Speed

1 Gbps

Network Topology

Line topology, star topology (*3)

Communication Cable

Ethernet cable which satisfies 1000BASE-T standard: Category 5e or higher, straight cable (double shielded, STP); RJ45 connector

Maximum Station-to-Station Distance

100 m (conforms to ANSI/TIA/EIA-568-B (Category 5e))

Overall Cable Distance

Single Master Configuration

Line topology: 12000 m (when 121 stations are connected)
Star topology: Depends on the system configuration.

Number of Cascade Connections

4 levels maximum

Maximum Number of Connectable Stations

Single master Configuration

121 stations (master station: 1, slave station: 120)

Maximum Number of Networks

239

Communication Method

Token passing

Notes:
1. The maximum number of points that a master station can assign to one station. A local station can receive the range assigned to other stations using the cyclic transmission function.
2. The cycle that each module performs the synchronous control via a network using the synchronous communication function.
3. A switching hub supporting synchronous communication is required for the star topology.

RD77MS System Configuration

Simple_Motion_Configuration_Diagram

Simple Motion Module RD77MS for iQ-R PLC Parts List

Model Number

Description

Stocked Items

RD77MS16

16 Axis Simple Motion Module for iQ-R with SSCNETIII/H

S

RD77MS8

8 Axis Simple Motion Module for iQ-R with SSCNETIII/H

S

RD77MS4

4 Axis Simple Motion Module for iQ-R with SSCNETIII/H

S

RD77MS2

2 Axis Simple Motion Module for iQ-R with SSCNETIII/H

S


Category

Model Number

Description

Stocked Item

Manual Pulse Generator

MR-HDP01

Manual Pulse Generator, 25PLS/rev

S

Connector for User Made Cables

A6CON1

FCN, 40 Pin, Solder Type

S

A6CON2

FCN, 40 Pin, Crimp Type

S

A6CON3

FCN, 40 Pin, IDC Type

S

A6CON4

FCN, 40 Pin, Solder Type, Low-Profile

-

Direct-Wire Cables

LCBL40P-2M

2.0m I/O Pigtail Cable, 40 Pin

S

LCBL40P-5M

5.0m I/O Pigtail Cable, 40 Pin

S

LCBL40P-10M

10m I/O Pigtail Cable, 40 Pin

S

Terminal Block Cables

FA-SCBL05FMV-M

0.5m Terminal Block Cable

S

FA-SCBL10FMV-M

1.0m Terminal Block Cable

S

FA-SCBL15FMV-M

1.5m Terminal Block Cable

-

FA-SCBL20FMV-M

2.0m Terminal Block Cable

S

Terminal Block

FA-LTB40P

Terminal Block, 40 Pin

S


Cables and Accessories

Simple Motion Module RD77MS Control Specifications

Model Number

RD77MS16

RD77MS8

RD77MS4

RD77MS2

Stocked Item

S

S

S

S

Number Of Control Axes
(Virtual Servo Amplifier Axis Included)

Up to 16 axes

Up to 8 axes

Up to 4 axes

Up to 2 axes

Operation Cycle (Operation Cycle Settings)

0.444ms, 0.888ms, 1.777ms, 3.555ms

Interpolation Function

Linear interpolation (Up to 4 axes), Circular interpolation (2 axes)

Control Modes

PTP (Point To Point) control, Trajectory control (both linear and arc), Speed control, Speed-position switching control,
Position-speed switching control, Speed-torque control

Acceleration/Deceleration Process

Trapezoidal acceleration/deceleration, S-curve acceleration/deceleration

Compensation Function

Backlash compensation, Electronic gear, Near pass function

Synchronous Control

Synchronous encoder input, Cam, Phase Compensation, Cam auto-generation

Control Unit

mm, inch, degree, pulse

Number Of Positioning Data

600 data (positioning data No. 1 to 600)/axis (Can be set with MELSOFT GX Works3 or a sequence program.)

Backup

Parameters, positioning data, and block start data can be saved on flash ROM (battery-less backup)

Home Position Return

Home Position Return Method

Proximity dog method, Count method 1, Count method 2, Data set method, Scale home position signal detection method

Fast Home Position Return Control

Provided

Sub Functions

Home position return retry, Home position shift

Positioning

Control

Linear Control

1-axis linear control, 2-axis linear interpolation control, 3-axis linear interpolation control, 4-axis linear interpolation control
(*1) (Composite speed, Reference axis speed)

Fixed-Pitch Feed Control

1-axis fixed-pitch feed, 2-axis fixed-pitch feed, 3-axis fixed-pitch feed, 4-axis fixed-pitch feed

2-Axis Circular Interpolation

Sub point designation, center point designation

Speed Control

1-axis speed control, 2-axis speed control, 3-axis speed control, 4-axis speed control

Speed-Position Switching Control

INC mode, ABS mode

Position-Speed Switching Control

INC mode

Current Value Change

Positioning data, Start No. for a current value changing

NOP Instruction

Provided

Jump Instruction

Unconditional JUMP, Conditional JUMP

Loop, Lend

Provided

High-Level Positioning Control

Block start, Condition start, Wait start, Simultaneous start, Repeated start

Manual Control

Jog Operation

Provided

Inching Operation

Provided

Manual Pulse Generator

Possible to connect 1 module (Incremental), Unit magnification (1 to 10000 times)

Expansion Control

Speed-Torque Control

Speed control without positioning loops, Torque control, Tightening & press-fit control

Absolute Position System

Made compatible by setting a battery to servo amplifier

Synchronous Encoder Interface

Up to 4 channels (Total of the internal interface, via PLC CPU interface, and servo amplifier interface)

Encoder Internal Interface

1 channel (Incremental)

Functions That Limit Control

Speed Limit Function

Speed limit value, JOG speed limit value

Torque Limit Function

Torque limit value_same setting, torque limit value_individual setting

Forced Stop

Valid/Invalid setting

Software Stroke Limit Function

Movable range check with current feed value, movable range check with machine feed value

Hardware Stroke Limit Function

Provided

Functions That Change

Control Details

Speed Change Function

Provided

Override Function

0 to 300 [%]

Acceleration/Deceleration Time Change Function

Provided

Torque Change Function

Provided

Target Position Change Function

Target position address and speed are changeable

Other Functions

M-Code Output Function

WITH mode/AFTER mode

Step Function

Deceleration unit step, Data No. unit step

Skip Function

Via PLC CPU, Via external command signal

Teaching Function

Provided

Parameter Initialization Function

Provided

External Input Signal Setting Function

Via internal interface, CPU, servo amplifier (FLS, RLS, DOG, and DI can be assigned with parameters.)

Event History Function

Provided

Amplifier-Less Operation Function

Provided

Mark Detection Function

Detection

Continuous Detection mode, Specified Number of Detections mode, Ring Buffer mode

Mark Detection Signal

Up to 20 points

Up to 10 points

Mark Detection Setting

16 settings

Optional Data Monitor Function

4 points/axis

Driver Communication Function

Provided

SSCNET Connect/Disconnect Function

Provided

Digital Oscilloscope Function (*2)

Bit Data

16CH

Word Data

16CH

Notes:
1. 4-axis linear interpolation control is enabled only at the reference axis speed.
2. 8CH word data and 8CH bit data can be displayed in real time.

Simple Motion Module RD77MS16/RD77MS8/RD77MS4/RD77MS2

Model Number

RD77MS16

RD77MS8

RD77MS4

RD77MS2

Number Of Control Axes
(Virtual Servo Amplifier Axis Included)

Up to 16 axes

Up to 8 axes

Up to 4 axes

Up to 2 axes

Servo Amplifier Connection Method

SSCNET III/H

Maximum Overall Cable Distance m (ft.)

1600 (5249.34)

Maximum Distance Between Stations m (ft.)

100 (328.08)

Peripheral I/F

Via CPU module (USB, Ethernet)

Manual Pulse Generator Operation Function

Possible to connect 1 module

Synchronous Encoder Operation Function

Possible to connect 4 modules (Total of the internal interface, via PLC CPU interface, and servo amplifier interface)

Input Signals (SIN)

Number Of Input Points

20 points

10 points

Input Method

Positive common/Negative common shared (Photocoupler isolation)

Rated Input Voltage/Current

24 VDC/ Approx. 5 mA

Operating Voltage Range

19.2 to 26.4 VDC (24 VDC +10%/-20%, ripple ratio 5% or less)

On Voltage/Current

17.5 VDC or more/ 3.5 mA or more

Off Voltage/Current

7 VDC or less/ 1.0 mA or less

Input Resistance

Approx. 6.8 kΩ

Response Time

1 ms or less (OFF—ON, ON—OFF)

Recommended Wire Size

AWG24 (0.2 mm²)

Forced Stop Input Signal (EMI)

Number Of Input Points

1 point

Input Method

Positive common/Negative common shared (Photocoupler isolation)

Rated Input Voltage/Current

24 VDC/ Approx. 5 mA

Operating Voltage Range

19.2 to 26.4 VDC (24 VDC +10%/-20%, ripple ratio 5% or less)

On Voltage/Current

17.5 VDC or more/ 3.5 mA or more

Off Voltage/Current

7 VDC or less/ 1.0 mA or less

Input Resistance

Approx. 6.8 kΩ

Response Time

1 ms or less (OFF–ON, ON–OFF)

Recommended Wire Size

AWG24 (0.2 mm²)

Manual Pulse Generator/ Incremental Synchronous Encoder Signal

Differential Output Type (26Ls31 Or Equivalent)

Input Pulse Frequency

Up to 1 Mpulse/s (After magnification by 4, up to 4 Mpulse/s)

Pulse Width

1μs or more

Leading Edge/Trailing Edge Time

0.25μs or less

Phase Difference

0.25μs or more

Rated Input Voltage

5.5 VDC or less

High/Low-Voltage

2.0 to 5.25 VDC/0 to 0.8 VDC

Differential Voltage

±0.2V

Cable Length

Up to 30m (98.43ft.)

Voltage Output/ Open Collector Type (5VDC)

Input Pulse Frequency

Up to 200 kpulse/s (After magnification by 4, up to 800 kpulse/s)

Pulse Width

5μs or more

Leading Edge/Trailing Edge Time

1.2μs or less

Phase Difference

1.2μs or more

Rated Input Voltage

5.5 VDC or less

High/Low-Voltage

3.0 to 5.25 VDC/2 mA or less, 0 to 1.0 VDC/5 mA or more

Cable Length

Up to 10m (32.81ft.)

Number Of I/O Occupying Points

32 points (I/O allocation: Intelligent function module, 32 points)

Number Of Module Occupied Slots

1

5VDC Internal Current Consumption (A)

1.0

Weight (Kg)

0.23

0.22

Exterior Dimensions mm (inch) (H x W x D)

106.0 x 27.8 x 110.0 (4.17 x 1.09 x 4.33)

PLC CPU

R04CPU, R08CPU, R16CPU, R32CPU, R120CPU