Concept
The MELSEC iQ-R series is provided with sophisticated dual
engines: the PLC CPU engine for machine control and the
Motion CPU engine for Motion control. The engines respectively
process different types of control based on the characteristic of
each engine while working together on data through a
high-speed system bus. CPU loads are significantly distributed
by these dual engines compared with a single engine, enabling
any equipment to maximize its performance, even for a load
change machine or multi-axis equipment.
The MELSERVO-J4 series servo amplifier is an environmentally
and user friendly product, while offering industry-leading level of
performance. Connecting the amplifiers to "SSCNETIII/H"
optical network enables high-speed and high-accuracy control
with the MR-J4 dedicated engine and high-resolution encoder.
Select the most suitable combination of CPU engines that can
reduce cost and maximize machine performance to the fullest
from our extensive product line. Efficiency in designing and
debugging is also improved.
Programming efficiency matters when it comes to productivity.
The MELSEC iQ-R series optimizes all procedures, from
designing, debugging, to startup.
Equipped with advanced dual engines that are only possible
with our cutting-edge iQ platform technology, the MELSEC iQ-R
series takes a step further to accelerate the equipment
revolution by collaborating with our partner companies. Now, a
wide variety of SSCNETIII/H compatible partner products are
available, such as stepping motors and direct drive motors.
Features
- Wide-range, sophisticated Motion controls, such as advanced synchronous control, cam control, speed-torque control
(tightening & press-fit control) can be achieved just with sequence programs including function blocks.
- All the functions of QD75MH are included in the Simple Motion module.
- From programming to servo amplifier configuration, everything is packed into an easy-to-use engineering software
(MELSOFT GX Works3).
Superb Functionality for Wide-range Applications
All-in-one Engineering Tool
Various features have been consolidated in one software (MELSOFT GX Works3), covering from programming to debugging for a
servo system consisting of Simple Motion modules and servo amplifiers.
Basic Performance
Tact time is dramatically reduced by improving basic performance of the Simple Motion module.
High-speed Synchronous Network SSCNETIII/H
Positioning Control
Positioning control is easily executed using a Motion profile table.
Basic Positioning Control
- To respond to various application needs, the Simple Motion module
offers various control methods, such as linear interpolation, 2-axis
circular interpolation, fixed-pitch feed, and continuous trajectory control.
- Automatic operation can be executed easily by setting positioning
addresses, speeds, 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.
Advanced Synchronous Control 
The advanced synchronous control can be achieved using software instead of controlling mechanically with physical gears, shafts,
clutches, speed change gears or cams etc. Additionally, a cam is easily created with the cam auto-generation function.
The synchronous control is started/ended on an axis-by-axis basis, so axes in synchronous control and in positioning control can
be used together in one project.
All axes are synchronized using a synchronous
encoder axis or a servo input axis.
Application Packing machines, printing machines,
Application diaper manufacturing machines,
Application tire molder
Only two axes are in synchronization.
The other axes are in positioning control.
Application Tandem configuration
Module configuration of synchronous control
The whole module configuration of the advanced synchronous control can be displayed in one screen, and monitoring of the
target modules can be also viewed, which enables more efficient debugging.
Cam Function
The output axis for synchronous control is operated with a cam.
The following three operations can be performed with the cam functions: Linear operation, Two-way operation, and Feed
operation; therefore any of the three can be selected to suit your application.
Simulation
The MELSOFT GX Works3 simulation enables a program operation to be checked without an actual machine even during the
debugging process and hence a shorter startup time. In addition, multiple Simple Motion modules can be simulated at the same time.
Multi-axis Adjustment Function 
The multi-axis adjustment function enables simpler servo adjustment and quicker startup for machines executing multi-axis
simultaneous operation, such as a tandem configuration.
- Multi-axis simultaneous JOG operation by specifying speed and acceleration/deceleration time
- Multi-axis simultaneous positioning
- Multi-axis simultaneous tuning by the same settings
Helical interpolation
Helical interpolation draws a helical path by a linear interpolation axis (Z-axis) following to 2-axis circular interpolation control
(X-axis and Y-axis). For applications that require the boring of deep, large holes, usually the helical interpolation of the three axes must be taken into consideration.
- Milling is done in a circle, with the X and Y axes synchronized to achieve the pre-set size.
- The depth of the hole is simultaneously
controlled along the Z axis, ensuring minimal deviation in the cutting bit position.
Control Flow
Various positioning controls such as linear interpolation can be performed just by writing positioning data to the buffer memory using a
sequence program or a function block.
Functions List
| |
Simple Motion Module |
| 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 |
Operation cycle [ms]
(Operation cycle settings) |
0.444, 0.888, 1.777, 3.555 |
| Servo amplifier connection method |
SSCNETIII/H (150Mbps) |
| Maximum distance between stations [m(ft.)] |
100(328.08) |
| Connectable servo amplifier |
MR-J5-B  , MR-J5W-B More details
MR-J4-B, MR-J4W-B
|
| Control modes |
Position control, Speed control, Torque control, Speed-torque control, Speed-position switching control, Position-speed switching control,Trajectory control (Linear, arc, and helical) |
| Positioning control |
Speed control, Linear interpolation (Up to 4 axes), Circular interpolation (2 axes), Helical interpolation (3 axes),
Fixed-pitch feed, Continuous trajectory, Speed-position switching control, Position-speed switching control,
Current value change, Current value change. Loop control |
| Acceleration/deceleration process |
Trapezoidal acceleration/deceleration, S-curve acceleration/deceleration |
| Number of positioning data |
600 data (positioning data No. 1 to 600)/axis
|
| Home position return method |
Proximity dog method, Count method 1, Count method 2, Data set method,
Scale home position signal detection method, Driver home position return method (Note-1) |
| Manual control |
JOG operation, Manual pulse generator operation, Inching operation |
| Expansion control |
Speed-torque control, Advanced synchronous control
|
| Auxiliary functions |
Forced stop function, Hardware stroke limit function, Software stroke limit function, Absolute position system,
Speed change, Torque change, M-code output function,
Digital oscilloscope function, Cam auto-generation function, Target position change function |
| Common functions |
Amplifier-less operation, Optional data monitor, Mark detection, Event history
|
| Engineering Environment |
MELSOFT GX Works3 |
| Number of I/O occupying points |
32 points (I/O allocation: Intelligent function module, 32 points) |
| 5VDC internal current consumption [A] |
1.0
|
| Mass [kg] |
0.23 |
0.22 |
(Note-1): The home position return method set in a driver (a servo amplifier) is used.