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Quick Start Guide

1. 11 MODULE STARTUP 13 to 20 21 System Configuration MEET UU Uu 14 2 2 aa nantes 15 ae ME 1 lt NEN ET 16 2 4 Installation of cc ccccceecccceeeseeeeeeeeeseeeeeeeseeseeeeeseaeeceeesseeeeeeesaaegeesesaaeeeeeseseas 17 2 5 Wiring and Cable 18 3 POSITIONING CONTROL SYSTEM STARTUP sese 21 to 42 3 1 Creating attis tuii emi aid Sets 21 3 2 Sequence Program 23 3 3 Parameter Settings for Simple Motion 29 Se ONEC K E EE Tm 36 OG E 36 3 4 2 Home position return Establishment of the home position 39 34 3 VelienitemeenioMert 41 4 SYNCHRONOUS CONTROL STARTUP nennen nennen 43 to 60 System Configuratio 44 4 2 Startup Procedure for Synchronous Control 45 4 3 Parameter Creation for Synchronous Control sees 46 4 3 1 System configuration settings uoa ata cue tonos kun on
2. cae 7 p Molded case circuit Magnetic contactor Circuit protector breaker MCCB MC CP 2 M O D U L E STARTU P RD77MS Quick Start Guide 2 3 Startup Procedure The following sections explain operation details and procedures required for system startup 2 MODULE STARTUP 2 1 System configuration 2 2 Device preparation 2 3 Startup procedure 2 4 Installation of modules 1 Installing a battery 2 Inserting an extended SRAM cassette and a SD memory card 3 Installing a module 2 5 Wiring and cable connection 1 Wiring for power supply module 2 Wiring for servo amplifier power supply and servo motor power cables 3 Axis selection rotary switch of servo amplifier 4 Connection of each cable 5 Power on of the system 6 Power on of servo amplifier 3 POSITIONING CONTROL STARTUP 3 1 Creating a new project 1 Installing engineering software 2 Creating a new project 3 Connecting the PLC CPU to a personal computer 4 Initializing the PLC CPU module 5 Settings for sequence program parameters 3 2 Sequence program creation 1 New sequence programs creation 2 Multiple comments display setting 3 Registration of global labels 4 Element selection window 5 Sequence program creation with labels 6 Sequence program creation with module FB 7 Saving a project 8 Writing to PLC CPU 3 3 Parameter settings for Simple Motion module 1 Start of Simpl
3. gt Statusbar No Target Available Comment Title Color and Font Comment Comment 2 m Docking Window K gt Comment4 Zoom Z 1 2 3 Comments 4 5 Commentb Switch Display Language Multiple Comments Display Setting Cancel ey Sa 25 5 m 3 POSITIONING CONTROL STARTUP 3 Registration of global labels Labels are variable elements that allow you to put arbitrary names or data types to programs etc The use of labels allows you to create a program without worries about devices and buffer memory enabling a different model product to be used with the same program 1 Select Label Global The global label registration window appears 2 Register the global label referring to the table below ja Module Configuration Program fe FB FUN pi is Label Global Label t Structured Data Typ i Device f Parameter RD77MS Quick Start Guide tery lt Class Assan De vice Label Inma Value 2 To execute the Reservation to Regster Release for the system label reflection to the system label database requred Please execute Reflect to System Label Database Tr unnecessary to change reference side project when assigned device is changed n system label Ver 2 Only series GOT 2000 series is avalable for system label Ver 2 To execut
4. Denters time Ha ech MAP Psa dana bing Kus t be PETISE MLA Positioning data beng H zade Mi L I DWwegton cente 0 rotation speed 400 01 nmin M L04 cMaober cement value Md LOE Servo status 1 See aum Litter praes l bere warning HII iao arr BSS L Driver Operon atm Md 51 0 am Ho Od Eton shoo OF ROG stt OFF OLLE irrena JO start OFF on OFF OFF 4 Positioning operation check is completed Error deterior 1 423 4 Md j ifisi woran datecton Ras 13234 1 fri tet esce IR DORT Mio SMP one ation rode NGAI Md ation Orie crees Magi DG ACH Mg net gpm wign dokn 444 m Me me UCWG AG ta iMan girar Era 1 ORG AO B yx Dichas elf ROH eringia B ortum M tee cheng fag fo dne communicason Wa Complete of searching for drseer cn tahoe Wailing for command Ma CCK running LE Stopped Md 30 External input signal Lower limit Md 30 External input signal Upper limit Md 31 Status HPR request flag Module information Checking details PLC READY Y0 Synchronization flag X1 All axes servo ON Y1 Is the starting axis ON 4 SYNCHRONOUS CONTROL STARTUP RD77MS Quick Start Guide 4 SYN
5. Free garigo Lecered Data Memory Free B oe monas Feresred Device Label Memory File Sicrage Arsa Free 256 256kB Decreased Sor Less Mamay Gard HOKE seoipueddy MELSOFT GX Works3 o Overwrite contents of flash ROM Are you sure you want to continue APPENDICES 4 Reset of Simple Motion module simulation 1 Click Reset STOP is selected from RUN sun Simulator 53 simulator3 amp Tools SWITCH 1 1 Q00Q0 RD 77M5S4 2 Select RUN again and the P RUN is turned ON Sun Simulator z cx simulator3 o 53 1 1 0000 8077 54 SWITCH 5 Debug by simulation RD77MS Quick Start Guide Debug for the Simple Motion module be executed with GX Simulators quiequid ete Da ei ete inea ea on Som cA a d CHEST iudi Wn do ABA S TER i Axis E 0000 RD77MS4 Monitor SE Axis Monitor Monitor Type Axis Output Axis v FontSize Axis 1 Md 20 Feed current value 42095 7 um Md 21 Machine feed value 42095 7 Md 23 Axis error No Md 24 Axis warning No Md 26 Axis operating status Synchronous Control Md 28 Axis feedrate 2085 90 mm min Md 30 External input signal ON
6. LLL 016 9001 MOVP Positioning Start No i JbDuringJO RD77 1 bn RD77 1 bn 1 M81 Y 10 DX1O K1 iAxisNo bPositioni Ei D14 Meo 1 SET Positioning JOG Inchingz RW Positioni R BUSY Axis No Start Operation nz start Axis 1 16 Request flag Axis 1 16 Direct RD77 Tbn RD77 Tbn Y DX11 K2 iAxisNo 3 E D14 E 1 RW Positioni R BUSY Axis No ng start Axis 1 16 Axis 1 16 Direct 4 Home position return is completed 4 SYNCHRONOUS CONTROL STARTUP RD77MS Quick Start Guide 4 4 2 Synchronous control start Set Cd 380 synchronous control parameter for each output axis and start synchronous control Once the synchronous control starts output axes operate in synchronization with the input axis operation 1 Start and confirmation of output axis to be synchronized 1 Start synchronous control of axis 1 Double click X7D while pressing SHIFT Synchronous Axis Set 881 Synchronous Axis Set 2 Check axis 1 BUSY signal Check the axis operating status and BUSY flag When setting H1 to the buffer memory for synchronous control start U0 G36320 confirm that axis 1 BUSY signal is turned ON WI 0000 RD77MS4 Axis Monitor 1 Type x 20 current value 0 0 yr 0 0 um Md 21 Machine feed value 0 0 urn 0 0 um Md z3 Axik emor Ho a Md 24 AxE wanting No Md 26 Axis eoparating status f byn
7. error fee the merversent amount cance 3 Set Pe rmt 3 POSITIONING CONTROL STARTUP RD77MS Quick Start Guide oet Pr 82 Forced stop valid invalid selection to 1 Invalid Pr 82 Forced stop valid invalid selection is set to valid as default for safety Since the machine does not use forced stop change it to 1 Invalid 2 Set the Input type in Pr 116 FLS signal selection Pr 117 RLS signal selection Pr 118 DOG signal selection and Pr 119 STOP signal selection Select 15 Invalid since the machine does not use Data set method FLS RLS and STOP for home position return Display Filter ICompute Basic Parameters 1 Pr 116 FLS signal selection reat troc 1 Servo Amplifier L Pr 116 FL5 signal selection Input 0 Simple Motion Module stop terminal 1 5 Amplifier 2 o Pr 117 RLS signal selection Input 2 Buffer Memor Pr 24 Manualpulse Valid External Input Sianal type 15 Invalid 2 generator Incremental Sync ENC input selection 2 Valid Buffer Memory Set common basic detailed home position return expansion parameters where necessary Refer to Appendix 2 for setting examples 4 Servo parameter settings Operation procedure 1 Select Servo parameter in the menu 2 Click Basic in the menu to open Common Basic Duiuonisog Elm Anish ef Read Jf Set To Default fha
8. Caste tons nnna 46 4 3 2 Parameters and servo parameters settings 46 4 3 3 Positioning data settings 47 4 3 4 Synchronous control parameter 48 4 3 5 Cam data nna nnns nsns naar 52 4305 53 4 3 7 Writing to the Simple Motion MOUIE ccceeceeeeeceeeeeeeseeeeeeeeeeeeeeeeeeeeeeeseneaseees 53 4 4 Operation Check for Synchronous COntrOl ccccccceceseeeeeceeeeeeeeeeeeeeeeeeeeessuaeeeeeeeeeeaaas 54 4 4 1 Home position return 54 4 4 2 Synchronous control start wina 55 4 4 3 Operation check with digital 58 APPENDICE 61 to 72 Appendix 1 SIMULAN ia 61 Appendix 2 Parameter and Positioning Data 65 Appendix Sample Program cccccccsssssecccceeeeeeeecceeeeeseeeeseeeeeeeeessaeeeeeeeeeessaeaaeeeeesssuaeseess 68 RD77MS Quick Start Guide MEMO 1 OVE RVI EW RD77MS Quick Start Guide 1 OVERVIEW This document describes necessary items and operation for first time users of the Simple Motion module to make wiring perform JOG operation program operation and synchronous control with Programmable Con
9. 5b Settings for sequence program parameters Set the system parameter and each module parameter Creating a module configuration D Do you want to add the module label of the following installed S modules B Module Name RD77MS4 Start I O No 0000 Able to add module labels from Module window of element selection E Do Not Show this Dialog Again setting can be changed in the Options dialog 3 Cx Select the main base unit CPU I O and Simple Motion module to be used from the POU list and drag amp drop them to the configuration screen Select Edit Parameter Fix in the menu The window asking about module label addition appears for the selected modules Click Yes Double click on the Simple Motion module to open the Simple Motion Module Setting Function screen Set the parameters and close it when finished 3 POSITIONING CONTROL STARTUP RD77MS Quick Start Guide 3 2 Sequence Program Creation The use of label and function block FB removes the need to remember devices when programming 1 New sequence programs creation Appendix 3 provides the sequence program example 2 Multiple comments display setting Check the Enable Multiple Comments Display box and Target boxes for each language to switch the language for comments in sequence programs View Online Debug Diagnostics Tool W Multiple Comments Display Setting
10. Is the starting axis 5 Confirming the motor rotation direction Switch the motor rotation direction to forward reverse 1 Select Servo Parameter 2 Select Basic 3 Select the servo motor rotation direction according to your machine a MELSOFT Simple Motion Module Setting Function CVUSere iR ROGO TDISKDopNRETTMEA same eng god 0000 RDTTMEA Servo parameter i Propect yew Online Window ig uam cos le talc li _ QOQU RDT TIMSAT ystem ge oc RD La DWooonEADIsMSSI Senmwann M 799 1 Read To Roison dreti POLI Rotabon direction zelecbon coder au COW die during fred ris input dr during pis Servo forced stap selection Disabled The force stop ML and 2 centred Terqua centred Serve adjustments Rasic Extension Piter 1 Fiter F Piper X vibration central One Eouch tuning Gain changing cua List display Set the rotation direction according to the machine Select from CCW direction during forward pulse input CW direction during reverse pulse input or CW direction during forward pulse input CCW direction during reverse pulse input After writing servo parameters to the Simple Motion module cycle the power of both the servo amplifier and the Simple Motion mod
11. MITSUBISHI RA ELECTRIC Changes for the Better FACTORY AUTOMATION ecos for a greener tomorrow anges Mitsubishi Servo System Controllers Quick Start Guide Let s Start Quick Start Guide MELSEC iQ R Series Simple Motion Module MELSEC iC R series Applicable Model RD77MS2 RD77MS4 RD77MS8 RD77MS16 RD77MS Quick Start Guide SAFETY PRECAUTIONS Read these precautions before using this product Before using this product please read this manual and the relevant manuals carefully and pay full attention to safety to handle the product correctly The precautions given in this manual are concerned with this product only Refer to the user s manual of the CPU module to use for a description of the PLC system safety precautions In this manual the safety precautions are classified into two levels AIAWARNING and AN CAUTION N WARNING Indicates that incorrect handling may cause hazardous conditions resulting in death or severe injury CAUTION Indicates that incorrect handling may cause hazardous conditions resulting in minor or moderate injury or property damage Under some circumstances failure to observe the precautions given under A CAUTION may lead to serious consequences Observe the precautions of both levels because they are important for personal and system safety Make sure that the end users read this manual and then keep the manual in a safe place for future re
12. Pr 51 HPR acceleration time bra 0 1000 0 1000 Pr 52 HPR deceleration time cc 0 1000 0 1000 Pr 53 HP shift amount 0 0 0 0 Pr 54 HPR torque limit value 300 0 300 0 95 Pr 55 Operation setting for Positioning Control is Not Positioning Control is Not incompletion of HPR Executed Executed P xm designation during HP D HPR Speed D HPR Speed Pr 57 Dwell time during HPR retry 0 ms 0 ms Pr 86 Pulse conversion unit HPR O Turn HPR Request ON at 0 Turn Request ON at request setting Servo OFF Servo OFF Pr 87 Pulse conversion unit Waiting time after dear signal 0 ms ms output Expansion parameters Set according to the system configuration when the s Pr 91 Optional data monitor Data aa ETE type setting 1 Mo Setting Mo Setting Pr 92 Optional data monitor Data type setting 2 0 Setting 0 Setting Pr 93 Optional data monitor Data zs type setting 3 Mo Setting Mao Setting Pr 94 Optional data monitor Data Te type setting 4 0 Mo Setting 0 Mo Setting 2 Positioning data lt Axis 1 positioning data No Operation Control Axis to be Acceleration Deceleration Positioning Arc Command Dwell M pattern system interpolated time No time No address address speed time code ABS 100000 0 0 0 2000 00 1 1 CONT Imm 1 1000 1 1000 MEE Oms linear 1 ym mm min 8000 00 mm min 2 ABS 1 1000 1 1000 0 0um d Oms linear 1
13. RD77MS Quick Start Guide Wiring Precautions N CAUTION Individually ground the FG and LG terminals of the programmable controller with a ground resistance of 100 ohm or less Failure to do so may result in electric shock or malfunction Use applicable solderless terminals and tighten them within the specified torque range If any spade solderless terminal is used it may be disconnected when the terminal screw comes loose resulting in failure Check the rated voltage and signal layout before wiring to the module and connect the cables correctly Connecting a power supply with a different voltage rating or incorrect wiring may cause fire or failure Connectors for external devices or coaxial cables must be crimped or pressed with the tool specified by the manufacturer or must be correctly soldered Incomplete connections may cause short circuit fire or malfunction Securely connect the connector to the module Poor contact may cause malfunction Do not install the control lines or communication cables together with the main circuit lines or power cables Keep a distance of 100 mm or more between them Failure to do so may result in malfunction due to noise Place the cables in a duct or clamp them If not dangling cable may swing or inadvertently be pulled resulting in damage to the module or cables or malfunction due to poor contact Do not clamp the extension cables with the jacket stripped Check the interface type and correctly c
14. Positioning Complete Md 47 Positioning data being executed Axis to be interpolated 111 Module Information List READY YO READY XO Synchronization fiag X 1 All axes servo ON Y 1 Md 108 Servo status 1 READY ON Axis No 234 Md 108 Servo status 1 Servo ON AxsNo Nl 2 3 4 Md 50 Forced stop input U0 G4231 BUSY AxsNo 1234 Md 31 Status Error detection AxsNo 123 4 Md 31 Status Axis warning detection Axis No 112 4 Md 1 In test mode flag U0 G4000 Md 51 AMPess operation mode U0 G4232 Md 133 over flag U0 G4239 132 Set operation cycle U0XG4238 0200h 0 444 ms Md 134 Operation time U0 G4008 0 us Md 135 Maximum operation time U0 G4009 0 us 4 Home position return check is completed 0 0 um 0 0 um Md 20 Feed current value Md 21 Machine feed value Waiting 0 00 mm min Md 26 Axis operating status Md 28 Axis feedrate Md 31 Status HPR request flag Md 31 Status HPR complete flag 3 POSITIONING CONTROL STARTUP RD77MS Quick Start Guide 3 4 3 Positioning control This section explains the operation check method for positioning control which performs positioning to a specified position using address information Positioning is started by a sequence program or a function block In this example positioning control is started by a function block and synchronous control by a sequence program
15. Move the cursor to the Servo ON req X7B Servo ON req X7B is turned ON by double clicking it while pressing SHIFT key RD77 1 Yo RW PLG READY RD77 1 ROFL T AO YO DX1 Yi e I 2 RREADY RWPLC Synchro RWAN axis READY nization servo ON flag Direct Double clicking a device while pressing SHIFT key changes the status of the device from OFF to ON and vice versa 2 JOG speed settings Turn ON the JOG Forward Start req and the JOG Reverse start req after setting JOG speed 1 Double click the JOG Speed Req X60 while pressing SHIFT key bJogSpe A60 K10000 iJogSpe M 010 10000 8 DMOVP JOG Jog Speed Speed Reg data memo 3 POSITIONING CONTROL STARTUP RD77MS Quick Start Guide 3 JOG start Confirm that the workpiece moves in direction by forward command and in direction by reverse command 1 Select axis 1 X61 2 Select either the JOG Forward Start req X6E or the JOG Reverse Start req X6F Move the cursor to JOG Forward Start req or JOG Reverse Start req and double click it while pressing SHIFT key bDuringJ M81 SET JOG Inchi Operation flag bJogFor bJogRev AGF bDuringJ JE M81 JOG Inchi JOG JOG ng Forward Reverse Operation Start Req flag i amp xisNo D14 0 Axis No 9 29 4 Confirming JOG operation is Check the JOG
16. DRAT Deve recorder ay arre bugger Get ire DOO WE List display 2424 ace Vunetesn tilattiin A A 0500 5007 cci p PASS Dna Burana Cher diced t lass m Vuneten A G OOO Genvfilter aar m Tee rauf tanen thing 0000 9014 nnn m 00 3 Set Rotation direction Set rotation direction according to the machine Select from CCW direction during forward pulse input CW direction during reverse pulse input or CW direction during forward pulse input CCW direction during reverse pulse input CCW direction during forward pulse input a CW direction during reverse pulse input 3 POSITIONING CONTROL STARTUP RD77MS Quick Start Guide 4 Set the Servo forced stop selection to Disabled The Servo forced stop selection sets whether to read forced stop input signals via servo amplifiers This parameter is set to Enabled Use forced stop input EM2 or EM1 as default for safety If an error occurs on mechanical system due to crush etc establish the absolute position after adjusting the error and ensuring safety Since the machine in this section does not use forced stop change it to 1 Disabled i Operation mode Common Regenerative option REG Brake output MBR Lese Servo amplifier E Uses electromagnetic brake interlock a Ala
17. Lower limit Md 30 External input signal Upper limit Md 31 Status HPR request flag Md 31 Status HPR complete flag Md 44 Positioning data No being executed Md 47 Positioning data being executed Operation Positioning Complete pattern Md 47 Positioning data being _ executed Control method Md 47 Positioning data being executed Acceleration time 0 1000 No Md 47 Positioning data being executed Deceleration time 0 1000 No Md 47 Positioning data being executed Axis to be interpolated Md 47 Positioning data being _ executed M code Md 102 Deviation counter 0 pulse Md 103 Motor rotation speed 13 26 r min Md 104 Motor current value 0 0 96 ON OFF OFF Axis 2 41992 5 um 41992 5 um Position Control 2000 00 mm min ON ON OFF OFF 1 Positioning Complete 1 axis linear control INC 0 1000 0 1000 0 pulse 12 71 r min 0 0 96 spt Module Information List PLC READY YO Synchronization fiag X1 All axes servo ON Y1 Md 108 Servo status 1 READY ON AxsNo 4 Md 108 Servo status 1 Servo ON Axis No 3 4 Md 50 Forced stop input U0 G4231 BUSY Axis 4 IMd 31 Status Error detection Axis No 1 2 3 4 nd Stans _ AxsNo 1 2 3 4 Md 1 In test mode 00 54000 Md 51 AMP ess operation mode U0 G4232 Md 133 Operation over fiac
18. Operation example when the axis moves back to the home position PO after moving to P1 Position mm min gt P1 100 0mm PO 0 0mm lt Speed mm min gt 2000 00 8000 00 Positioning is started by setting the positioning start No and turning ON the Positioning start signal Axis 1 positioning start No 4300 Set the positioning start No Axis 1 positioning start oo 0 Y0 Start the positioning S lt O e 3 5 2 1 Setting the positioning control start No 1 Set the positioning start No Double click the Positioning Start Data X65 while pressing SHIFT K1 uwPositi i MOVP T Positioning Start No K1 uwPositi i 5 AMET Positioning Start No 9001 LI Posit MOVP ERE Positioning Start No 3 POSITIONING CONTROL STARTUP RD77MS Quick Start Guide 2 Positioning start 2 To start the positioning double click X71 while pressing SHIFT bDur 71 M81 10 0 10 K1 i amp xisNo D14 1 Axis Operati start on flag Axis zi asl K2 iAxisNo D14 1 Rw Pos R BUS itioning Y start Axisitl Axis i16 Axis No MLRD77 St MIRD Positioning start FB ixi 014 1 Axis No LIW uwe 016 HUW iju ouErrT7 1 1 0 E Positio Cd 3 Error JOG ning i Error Start code 3 Confirmation of axis 1 positi
19. uWiuStartNo Positioning 9 3 _ Start Mo Positioning start 014 Asie RD77 1 DX10 KI 014 pm Axis BUSY Axial 16 Direct RD 77 1 DX11 KZ iAxigNo 014 Axis Axis 1 1 MEM Direct _ MB o bErrB J Error Poaitioning completion Start Error suEmduwEH 012 Error code E10 Error coda uwP osrti 016 Positioning Start Mo RST 1 LOW RW Positio ning start Direct ED 7 1 Yi E RW Positio ning start amp 1 16 bPositio MB Poaitioning Start Request RD77 1 U0x G43 ROTI 1 UOX G44 1 LIOS Gd o gt o 5 APPENDICES RD77MS Quick Start Guide NA ON 7 OW RD77 1 x11 R BUSY 1 16 HOST 1 LIU GB RW anous control arti Diy 1 LIO GB EW Synchr anous control ar pres END Country Region USA Mexico Brazil Germany UK Italy Spain France Czech Republic Poland Russia Sweden Turkey UAE South Africa China Taiwan Korea Singapore Thailand Indonesia Vietnam India Australia L NA 03119 A 1509 lt 1IP gt Mitsubishi Servo System Controllers Quick Start Guide Sales office Mitsubishi Electric Automation Inc 500 Corporate
20. um lt Axis 2 positioning data No Operation Control Axis to be Acceleration Deceleration Positioning Arc Command Dwell M pattern system interpolated time No time No address address speed time code INC 157079 6 0 0 2000 00 1 Nr 1 1000 1 1000 Oms linear 1 pm mm min seoipueddy APPENDICES RD77MS Quick Start Guide Appendix 3 Sample Program NCAUTION Q The sequence program in the appendix is a program example used in this Quick Start Guide When applying the program examples provided in this document to an actual system ensure the applicability and confirm that it will not cause system control problems 1 Devices used Home Position Return Data Positioning Start Data Synchronous Positioning Start data Input module JOG Forward Start req Input Start Positioning req Synchronous axis set PLC CPU All axis servo ON Output Positioning start Axis 1 16 RD77MS Positioning start Axis 1 16 APPENDICES RD77MS Quick Start Guide 2 Sequence program example z 4 5 7 r RD77 1 RD77 le xO YO e a o o 1 0 R READ Y RW PLC READY bSarvoOM RD 77 1 RD77 ie le ROS 1 7 XB xO YOU DX1 Yi 4 2 Servo READY RW PLC R Synchra axis req READY nization servo ON flag Direct X KI0000 iJagSn M 010 8 DMOVP
21. 1000 ms Set according to the system configuration when the s 0 0 um 214748364 7 um 214748364 3 0 Set Software Stroke Limit to Feed Current Value 0 Valid 10 0 um 300 0 Ya O WITH Mode Standard Speed Switching Mode O Vector Speed O Not Update of Feed Current Value Megative Logic O Megative Logic Negative Logic Megative Logic Speed position Switching Control INC Mode 15 Invalid Q h No Setting 15 Invalid 00h Neo Setting 15 Invalid Set digital filter for each input signal Set according to the machine and applicable motor w Dmm 172985333 pulse 078422 3 um 1 x1 Times 0 00 mm min Set according to the machine and applicable motor 2000 00 mm min 1000 ms 1000 ms 0 0 um 214748364 7 214748364 8 um 0 5et Software Stroke Limit to Feed Current Value 0 Valid 10 0 um 300 0 Ya O WITH Mode Standard Speed Switching Mode O Vector Speed O Not Update of Feed Current Value Megative Logic DO Negative Logic Megative Logic Megative Logic Speed position Switching Control INC Mode 15 Invalid Q h No Setting 15 Invalid Q h Mo Setting 15 Invalid RD77MS Quick Start Guide gt o 5 APPENDICES Item Pr 118 DOG signal selection Input terminal Pr 119 5TOP signal selection Input type Pr 119 5 signal selection Input terminal E Detailed parame
22. DM Frog 0000 54 Cosplay Al X Data Seting Command Somed Automa Sub Ac Ope abon pattern Tonta nth Ans tos Acowereten Decueretion Positoning address Arc address Command speed Dw T tne No irse No E as OF CIN Leer 1 000 000 1579 PI 6 umm 2000 00 0m Post xw Comment gt 1 A Posbonns C n n Postoninc Comment gt Oper aon pattern The oper a30n pattern designates whether positioning of a certain data No to be ended with just that data or whether fe postoning for the next data No to be carried out in v e Axis 2 positioning data No Operation Control Axis to be Acceleration Deceleration Positioning Arc Command Dwell M pattern system interpolated time No time No address address speed time code INC 157079 6 0 0 2000 00 1 Im 1 1000 1 1000 BED Oms linear 1 pm mm min 4 SYNCHRONOUS CONTROL STARTUP RD77MS Quick Start Guide 4 3 4 Synchronous control parameter settings Set parameters for axis 1 which synchronizes to the input axis axis 2 feed current value in cam operation Set the servo input axis type for the main shaft Input axis parameter 4 l Set 1 Feed current value for axis 2 Axis 1 synchronous control Set the axis 1 synchronous control parameter parameter The configuration of output axes conne
23. Qus 0 us Ou Pr 303 Phase compensation time 5 10 ms 10 ms 10 10 Pr 304 Rotation direction restriction 0 Without Rotation Direction Re 0 Without Rotation Direction Re 0 Without Rotation Direction Re 0 Without Rotation Direction Res 3 Select the main shaft to open the input axis parameter Parameters related to the input axis axis 2 can be set 4 Settings for synchronous control parameters and input axis parameters are completed 4 SYNCHRONOUS CONTROL STARTUP RD77MS Quick Start Guide 4 3 5 Cam data creation 1 Creating a new cam data Right click on Cam Data and select Add New Data to open the New Data window Set the cam No Select Set by Stroke Ratio and Cam Curve in the Setting Method Click OK The cam data creation screen appears A Project Is uA A 8 1 0000 RD77MS4 m System Setting gt 0 9 e amp Setting Method tt System Configuration Mark Detection FM P iza Set by Stroke Ratio arameter g Servo Parameter a Cam Curve e Free Curve Positioning Data Axis 1 Positioning Data _ Axis 2 Positioning Data ug Setb Coordinate g g Axis 3 Positioning Da g Axis 4 Positioning Da Auto Generate m 5 Block Start Data m fit Synchronous Control Parameter 3 20000 sez ee fretre fhe car curve by sect n 5 Make a rough cam graph by dragging an end o
24. U0 G4239 Md 132 Set operation cyde U0XG4238 0200h 0 444 ms Md 134 Operation time U0 G4008 _ 0 Md 135 Maximum operation time U0 G4009 0 us Md 19 No of Flash ROM writing UO G4224 0 times Md 52 Searching flag for driver communication Complete of searching for driver Md 53 SSCNET control status U0 G4233 n APPENDICES Appendix 2 Parameter and Positioning Data 1 Parameters Item generator Incremental Sync ENC 3 96 cycle setting Pr 97 55CNET Setting Pr 150 Input terminal logic H electi E Common Parameter Pr 82 Forced stop valid invalid selection Pr 24 Manual pulse generator Incremental Sync ENC input selection Pr 89 Manual pulse input type selection Pr 151 Manual pulse generator Incremental Sync ENC input logic selection 152 Control axis number upper limit o Pr 153 External input signal OSC tti file setting Basic parameters 1 Pr 1 Unit setting Pr 2 No of pulses per rotation Pr 3 Movement amount per rotation Pr 4 Unit magnification Pr 7 Bias speed at start Basic parameters 2 Pr 8 5peed limit value i 9 time 0 10 Deceleration time 0 Detailed parameters 1 Pr 11 Backlash compensation amount Pr 12 Software stroke limit upper limit value Pr i3 Software stroke limit
25. according to the machine 5 2 3 Set the details of servo amplifiers 4 Click OK then the set servo amplifier is colored Amplifier Setting Axis 1 mx Servo Amplifier Series Amplifier Operation Mode Standard X Use as Virtual Servo Amplifier 3 External Synchronous Encoder Input Only MR J4 B RJ which is compatible with scale measurement mode can be used Servo Parameter MR Configurator2 parameter setting screen Servo Parameter is started and servo parameter can be set Setting Set up the servo parameter directly by the servo driver made by Nikki Denso Co Ltd i i gt OM M 4 AR D 3 POSITIONING CONTROL STARTUP RD77MS Quick Start Guide 3 Parameter settings Equipment specifications Machine configuration Horizontal ball screw Unit setting 0 mm Ball screw pitch 10000 0 um Reduction ratio NL NM 1 2 Load side NL Motor side NM The load side ball screw is made to rotate once by rotating the motor twice Encoder resolution 4194304 pulse rev Servo amplifier MR J4 10B Servo motor HG KR series Operation procedure 1 Select Parameter in the Menu 2 Click Compute Basic Parameters 1 to open the electronic gear calculation screen 3 Set the parameters according to the machine specification After the setting click Compute Basic Parameters 1 to calculate the electronic gear 4 Click OK to w
26. d Md 333 524 oper aton cycie 09542287 R M 47 Postonng data beng U pp t queued Deceleration tme 0 100 10 No Md 134cOperaton timed 4008 4 op M 47 Postxnng cata berg executed Axs to be 115 94amum aper aon tme 0CWG 40009 rterpolurted on M42 47 Post onng dats beng Md 19 0 of Flash ROM weir JOWG4224 executed M et M _1L02Devetion counter 0 pube 0 puse 52 5 chio Mag For dre communcabon 144 titarar raraton ehe 11256 dme 12 71 cime 103 Moter rotation speed 13 26 v 12 71 v c for d _ 54 Md 3 5SCWET convo 4221 4 SYNCHRONOUS CONTROL STARTUP RD77MS Quick Start Guide 4 4 3 Operation check with digital oscilloscope The section explains how to check the cam operation with the assistant function of digital oscilloscope 1 Start of digital oscilloscope 1 Select Digital Oscilloscope in the menu Navigation project MU T Gi 0000 RD77MS4 System Setting 9 Parameter g Servo Parameter LE Positioning Data 5 Block Start Data m Synchronous Control Parameter Cam Data m Simple Motion Monitor Bii Servo Amplifier Operation Gi Digital oscilloscope 2 Selecting probe 1 Click Assistant Screen to open the Assistant window 2 Click Select the probe item to be sampled to open the Assistant Probe Selection 3 Select Cam operation in the List by specified purpose
27. directive operation in the system Do not remove the SSCNETIII cable while turning on the control circuit power supply of Multiple CPU system and servo amplifier Do not see directly the light generated from SSCNETIII connector of the module or servo amplifier and the end of SSCNETIII cable When the light gets into eyes you may feel something wrong with eyes The light source of SSCNETIII complies with class1 defined in JISC6802 or IEC60825 1 RD77MS Quick Start Guide Design Precautions N CAUTION Do not install the control lines or communication cables together with the main circuit lines or power cables Keep a distance of 100 mm or more between them Failure to do so may result in malfunction due to noise Q During control of an inductive load such as a lamp heater or solenoid valve a large current approximately ten times greater than normal may flow when the output is turned from off to on Therefore use a module that has a sufficient current rating Q After the CPU module is powered on or is reset the time taken to enter the RUN status varies depending on the system configuration parameter settings and or program size Design circuits so that the entire system will always operate safely regardless of the time Do not power off the programmable controller do not reset the CPU module during the setting registration Doing so will make the data in the flash ROM undefined The data need to be set in the buffer me
28. oa beng Acpswewhoee Dra na A7 Pastonrg fata beng mmie Descslerstbon tere Dog Na face Deng queued i tp bee t d BELO Fasten aca Peng Hois D H Meter 20 52 imn Met cament wal DO sere cote 1 Servo warming ML fiber aet d nose ior cda TT PLC READY YO READY Synchronization flag X1 All axes servo ON Y1 Bii chers patus ABD OF Aon EXERCI EXERCI Md 5 35 rrir deiectum Nac I 2 Md 21 Machine feed value Md 26 Axis operating status Md 28 Axis federate Ab ori ion rete Md 20 Feed current value Bil Lee Ma Bii Ein dept mode fac LT 3 Cpu s cece rer Pid LL Det arr abor cei ID TTL OgOG CD AERA mrs Baj itc Te UR cd Md 108 Servo status 1 Servo ON Te BUSY Bj iiini tg Ue r kamua ears eee Por driver bii LIN debeam pm puer LORCA Bid Dhu of DM wing Wc Md 108 Servo status 1 READY ae Checking details JOG operation 100 00 mm min ON Is Axis1 ON oneri ea LATER Watling hist amare accep Cd 181 Forward JOG start Cd 182 Reverse JOG start Eri ibis mni DEF OC EN CE Jir Rarer rat
29. reflects the calculation result Cancel 4 SYNCHRONOUS CONTROL STARTUP RD77MS Quick Start Guide 4 Trigger condition settings No need to change Set the trigger condition where necessary The default values are normally used 1 Select Edit Sampling settings to open the Sampling Setting screen 2 Select the Trigger Mode from Bit OR Bit AND Word OR or NONE 3 Select pattern Leading edge trailing edge change Digital Oscilloscope C XUsewiskacess Sampling Setting File Edit view Action Online Tool Initial Satting T 2 Probe Seeting 4 his BIT Next Paga Previous s Rate DU duis 1 Joel AC Care 1 current value 42812 p p mise m 1484 A00 Cars feed cureent value 428 95 D p mee EET 0 m hu 1 Ml 1D Mator currens yaki i Is 5 FII wl E LIB g 5 Start sampling RUN Start sampling STOP Stop sampling FREEZE Sampling pauses File Edit View Action Onli Ax 1 Md 407 Cam 1 cur 6 Checking cam data Check that the waveform of the created cam data matches that of axis 1 feed current value in digital oscilloscope Teoria Ces preme ampel Qu Pesce eS ST Deco FO EL Wie es fos ose rie etry ETE LEN 7 Operation check is completed 4 SYNCHRONOUS CONTROL STA
30. the wiring and cable connection example for the Simple Motion module and servo amplifiers The system below uses the cables for MR J4 10B If the capacity of the servo amplifier is different refer to SERVO AMPLIFIER INSTRUCTION MANUAL for each model 1 Wiring for power supply module The following shows an example when a power wire and a grounding wire are connected to the power supply module Connect an isolation transformer when noise often enters in the power supply system Applicable wire size Tightening torque 0 75 to 2mm AWG18 to AWG14 1 02 to 1 38N m 0 75 to 2mm AWG18 to AWG14 1 02 to 1 38Nem 2 Wiring for servo amplifier power supply and servo motor power cables Wire the control circuit power supply L11 L21 and the main circuit power supply L1 L2 L3 of the servo amplifier and the servo motor power cable Man ereat power soppy 3 12 13 mw NS _ RD77MS4 Output module RY42NT2P Input module RX42C4 ROACPU Molded case aol circuit breaker MCCB feo grum DTE 1 ala b a in Magnetic MR J4 10B s contactor amp mM SSCNET III cable Servo motor power cable au Servo motor Encoder cable 2 MODULE STARTUP RD77MS Quick Start Guide 3 Axis selection rotary switch of servo amplifier to of the axis selection rotary switch correspond to d01 t
31. 00 gt LLLI LN m m veal tote 2 cmo Item sene dant audis Pr X00 Senvo input iis type E Detail setting Input axis parameter axis 2 Servo input axis type 1 Feed current value MWA Detail advance time setti j Ing Phase compensation time 10ms constant Rotation direction restriction 0 Without rotation direction restriction Note Items without red frames remain as default values 4 SYNCHRONOUS CONTROL STARTUP RD77MS Quick Start Guide 3 Transition of synchronous control parameter window 1 Select Axis 1 Synchronous Parameter in the menu Then the axis 1 synchronous parameter can be changed 2 Click Synchronous Control Image to open the image screen Synchronous parameter Synchronous control image a MELSOFT Sample Motor Motus Setting Furetur C es Bieten omit abd ai case my ged 10006 ROT 0S an Parametar Poet Ent Hier Bor fier 7 Input axis parameter Display Filter Servo Input Axis Parameter Synchronous Parameter Setting Synchronous Control Image 1 2 3 4 T Servo input axis Pr 300 Servo input axis type O Invalid 1 Feed Current Value AERE iv O Invalid O Invalid Detail setting Pr 301 Input smoothing time constant 0 ms Oms Oms Oms compensation advance Qus
32. 00 Consantspeed _ 6 135160 22200000 98100000 Constant speed 22 00000 22600000 09 8000000 Constant speed _ 22500000 22800000 999500000 Constant speed 3 Cam data creation is completed 4 3 6 Saving a project Refer to Section 3 3 6 Saving a project 4 3 7 Writing to the Simple Motion module Refer to Section 3 3 7 Writing to the Simple Motion module 4 SYNCHRONOUS CONTROL STARTUP RD77MS Quick Start Guide 4 4 Operation Check for Synchronous Control Refer to Chapter 3 for details of JOG operation home position return and positioning control This section explains operation check for synchronous control Follow the procedure below so that the axis 1 synchronizes to the feed current value of axis 2 with cam operation 4 4 1 Home position return Perform home position return for axis 1 and 2 This section explains operation check method for axis 2 home position return Refer to Chapter 3 for details of the axis 1 home position return operation check 1 Select axis 2 Double click X62 while pressing SHIFT 2 Set the Positioning start No 9001 Double click X63 while pressing SHIFT 3 Start the positioning Double click X71 while pressing SHIFT Axis 2 is selected bAxis1 x61 K1 iAxisNo eS 014 MOVP Axis No K2 i amp xisNo TENE EN CE IET Mg D14 MOVP Axis No Axis 2 home position return start K9001 uwPositio i
33. 2 iAxisNo K D14 D16 UO G4400 1 9001 MOVP Positioning Axis No Positioning RW Positioni Start Start Mo ng start Mo Request Direct RD77 1bn Y11 RW Positioni ng start Axist1 16 4 SYNCHRONOUS CONTROL STARTUP RD77MS Quick Start Guide 3 Operation check for main shaft input axis Check that the servo motors for axis 1 and 2 start operation Wi 0090 amp 077W54 Axis Monitor tem as Axis Monitor Mover Axisi Output Aus fot See get Module Information List mea 1 Md 20 Feed current value ar tans ad ae m ern Md 21 Machine feed value On Md 26 Axis operating status Synchronous Positioning control control 26 Axi operating status Synchronous Contro 28 Axss feedrate Md 28 Axis federate 2000 00 m 4 mm min OFF OFF ME 31 Status HPR aquest Y n complete fag 31 550506 Gro detecten 44 Postionng data No r aw 1234 1 1 eng execute Md 30 E t p t 9 M 47 Postoning data beng 31 50066 Ads warning detector X Si na executed Ope sten Postionns Complete Postionng Complete Aust 313 2 3 4 me L limit M4 47 Posting data beng 1 25 near contre Md 1 10 test mode 49000904000 ower Imi executed Control method Wed Co 44 51 AMP een operation model 108542171 d 1 9 1000 90 1000 Md 133 Operabon over Ragtu0eo4299 Md 30 Exte rnal input signal
34. 4 Select the axis No Assistant Select the work item Select the probe item to be sampled 2 Communicate with the ample motion module the data Skeet een ieee bere crt Selec oe ad prace chee Lat by specfed purpose Probe ter Pet contr ee Md Agz Cam 1 cce curent vade Prutton control eperabon dunng the xq Ax feed camere value Senedd canine gaaon dong me pos Md HiHat apeeed Spred coniro poerabon d carent value Gare control operabern d 3 wana 1 Gre accuracy of 2 des Md 31 Status Error detection 3 Sampling condition settings No need to change Change the sampling condition where necessary In this example the default values are used Assistant Sampling Condition mm Set the sampling condition Set the input item and press the Calculation button Sampling Condition Calculates the sampling condition and performs the setting automatically Sampling Rate ms Input o 888 X 1 1 5000 Set from the sampling rate E Ue Set from the total sampling time Recommend it when being two dimensional trajectory display Actual total sampling time ms 14563 6 Total Sampling Time s 14 5 0 1 599999 9 FUITE Rate of Sampling Time after Trigger Sampling Size point 14746 Trigger Balance Yo 90 00 0 01 100 00 p conditions after the calculation Pressing the OK button
35. 4 10B Servo motor HG KR series Operation pattern 1 The workpiece travels from home position to P1 back and forth 1 It moves at 2000 00mm min from home position 0 mm to P1 2 It moves at 8000 00mm min from P1 to the home position 2 Continuous positioning of 1 through 2 is performed Position gt P1 100 0mm 0 0 0 Time Speed mm min 2000 00 Time 8000 00 2 MODULE STARTUP RD77MS Quick Start Guide 2 1 System Configuration The following shows a system example using the Simple Motion module MR J4 10B and a servo motor m RD77MS4 GX Works3 Output module RY42NT2P _ Input module RX42C4 Molded case circuit breaker MCCB Magnetic t contactor MC MR J4 10B SSCNET III cable Servo motor power cable Encoder cable Servo motor 2 MODULE STARTUP RD77MS Quick Start Guide 2 2 Device Preparation Prepare the following devices cables and software Simple Motion module Engineering Software RD77MS4 MELSOFT GX Works3 Engineering environment Programmable Controller Engineering Software MELSOFT GX Works3 Servo motor HG KR13 E Lm c c Power supply module PLC CPU module Input output module oe RO4CPU RX42C4 he puni EA n p u t RY42NT2P Output MEISEG v Encoder cable Servo motor power cable SSCNET III cable USB cable MR J3BUS_M B
36. CHRONOUS CONTROL STARTUP This chapter describes synchronous control mainly about the synchronous control parameter positioning data for synchronous control and operation check for synchronous control Axis 1 operation is the same as that described in Chapter 2 Refer to Chapter 2 to 3 for details of the parameters and servo parameters Flying Cutter Without stopping the conveyor axis axis 2 cutter axis axis 1 synchronizes to the movement of the conveyor belt and cuts the work piece evenly in half After the cut the cutter axis returns to the wait position Synchronous control with electronic cam operation is used for the cutter axis Cutter y aar way Belt conveyor axis Axis 2 Specification A one time belt conveyor rotation generates the conveyor movement for one work piece 1 Cutter axis cam control axis specification Ball screw lead PB 10 mm Gear ratio of the external reducer 1 2 Cam stroke amount 100 0000 mm 2 Belt conveyor axis specification Roller diameter 50 mm Roller circumference 50mm x rr 157079 6 Gear ratio of the external reducer 1 1 Directly connect the servo motor to the roller Machine operation pattern The cutter axis axis 1 moves for certain distance while synchronizing to the belt conveyor movement The cutter goes down in synchronization with the conveyor by sequence control and the cutter returns to the original position after the synchronization The belt co
37. DICES RD77MS Quick Start Guide 3 Starting Simple Motion module simulator 1 After closing the Online Data Operation window on the previous page the message window about the Simple Motion module appears 2 Click Online Write to PLC to open the Online Data Operation screen 3 Select Simple Motion Module Settings 4 Click Execute 5 Click Yes 1 2 execute the Cooperative Simulation please reset the GX Simulator3 after writing the Simple Motion Module Setting data from Online Data Operation window Online Debug Diagnostics Tool Wind Specify Connection Destination Read from PLC AUD E Nm CP Built m Memor Bl SD Memory Cord d Furion Maule Select Favontes Select All Open Close AMT Deselect ABIN Module Hama 2 Mn 807754 campio ene Parameter p Parameter GPL Parame 1015 06 25 11 3442 Hot Calculgtisn Medule Parameter J0IE 05 26 114235 Hot Bh Senge Motion Module Siting 2015 05 28 153643 Mot Caleutstisn Memory Cand 2015 05 25 123259 Hot 2015 05 25 1232598 Caleta bum Remote 345 Global Label WBS Global Label Saring zo Global Label Initial Value GLEUNF kf Loeal Label Initial Vator 2015 06 28 114622 Hat Calculate A0IE OR 25 TRS Hat Calculate 0000 0 0 Memory Capacity Memory Capacity Sha Program
38. Jog Speed JOG data EM BD LL Mo xO KID bDuring _ __ _ _ _ _ _ _ _ M81 JOG Inchi R READ R BUSY Eng Axis amp t1 Operation 16 ol bJogFor bJogfe ABE AGF bDuring MBI R amp T JOG Inchi JOG Ing Reverse Operation Start lug K1 Ascetic 014 MOVP Axis Mo i AxigMo 014 MOVP Axis M RD77 JOG ODE 1 MARO JOG inching FB bDuring bJogEND gt Maz Bi a J 5 j Execution JOG End a comman status Flag B o bJogOK RD77 1 M S 7 E DUTi_stMo a d 2 Module Module label Normal JOG OK label completion fag bJogE RR iAxisMo M84 4 014 UW uA is o Axis No Target axis Error JOG Error completion flag APPENDICES RD77MS Quick Start Guide z a 5 e 7 um LORD AGE uwE rrid M BibFdog auErmiduWb 012 JOG Forward run Error code Error Forward JOG code Start reg command MOF _ Bi bRJog JOG Reverse run Reverse JOG Start Reg command Logo DIO F uniudleg dog Speed Cd 17 JOG data speed Aenea KO F UWiiulnching Gd 18 Inching movement
39. M87 Positioning Start Error E 25 5 3 POSITIONING CONTROL STARTUP RD77MS Quick Start Guide 7 Saving a project Save a created project 1 Select Project Save as and click Save after entering the file name Project Edit Find Replace Convert New Ctrl N E gt Open Ctrl O Close A Save Ctri S Delete Project Verify Project Revision Change Module Type Data Operation E Intelligent Function Module E Open Other Format File Library Operation Security U Printer Setup Page Setup Print Preview amp Print Ctrl P Recent Projects G Start GX Works2 Exit Q Saving data Parameters and sequence programs of the PLC CPU i i5 Save as Saveim MELSEC iQ R D Name r gt gt SEJRDT7MSA samplel gx3 Recent Places 54 start 9 3 Desktop Libraries Computer Network File name RD 7MS4 sample aad Q 2 Hiv Date modified 7 9 2015 2 31 7 9 2015 2 31 4M Yv Type GX3 File GX3 File 1 Save as type GX Works3 Project 3 Title A Other Format Save as a Workspace Format Project Please change the windows with this button to use workspace format project LJ MELSOFT Navigator supports this Format Positioning data and parameters of the Simple Motion module Parameters of servo amp
40. Myr e EC97J1113 MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE TOKYO BUILDING 2 7 3 MARUNOUCHI CHIYODA KU TOKYO 100 8310 JAPAN NAGOYA WORKS 1 14 YADA MINAMI 5 HIGASHI KU NAGOYA JAPAN UKAS MANAGEMENT SYSTEMS New publication effective September 2015 Specifications are subject to change without notice
41. Points Check Hg Module Start DO No Reistesi Area Watch 1 Wetch 2 Watch Intelligent Function Module Montori i T Lo drea the Configuration Oetaded d E 5 Sequence program creation with module labels 1 Select Module Label 2 Select a label from the module label list 3 Drag amp drop the module label 4 Change the contact to an arbitrary contact or coil by double clicking it 5 Click OK to create a circuit ns 6 Select Convert Convert in the menu Ae O Write 1 Find POU 84 by tt N ar z QODU RDZ IMSA 3 RD77 1 i RD 1 Versi n O A amp 1 0 No di ful past sind B Input signal de n P Axisg73 p j Axisz4 x ji Direct Parameter x Axis monitor data Axis m anilor dala 2 pj System monitor data i Axis conlrol data 1 p System control data x Axis control data 2 x Servo input axis Synchronous encoder axls Synchir ncars p Cam function bPLC Ready AW BLE READY 3 POSITIONING CONTROL STARTUP RD77MS Quick Start Guide 6 Sequence program creation with module FB 1 Drag amp drop a necessary module FB 2 FB Instance Name window appears Select whether the instance is registered as a global label or a local label and input an instance name 3 Doub
42. RTUP RD77MS Quick Start Guide MEMO APPENDICES RD77MS Quick Start Guide APPENDICES Appendix 1 Simulation The MELSOFT GX Works3 can simulate the program on a personal computer without an actual machine during the debugging process shortening the startup time 1 Simulation environment settings 1 Select Debug Simulation Simulation Environment Setting to open the Simulation Environment Setting window Add the Simple Motion module registered in the Module configuration screen Online Debug Diagnostics Tool Window Help Simulation gt Bh Start Simulation SB EP Modify Value Shift Enter BL Stop Simulation de Change History of Current Value Simulation Environmental Setting y iii Ye COMMENT Device Comme Simulation Environmental Setting xa Select the simple motion module to execute Cooperative Debug then click OK Please assign other PLC to the slot used by GPU Model Name RO4GPUCHost RD 7MS2 RD77M38 RD 7MS18 RGPU Other PLC seoipueddy APPENDICES RD77MS Quick Start Guide 2 Starting MELSOFT GX Works3 simulator 1 Click Debug Simulation Star Simulation to open the Online Data Operation screen 2 Check the boxes for data to be written Click Execute Debug Diagnostics Tool Window Help M d 9 A Simulation gt S
43. SEC iQ R Module Configuration Manual For Ethernet cables to be used in the system select the ones that meet the specifications in the MELSEC iQ R Ethernet CC Link IE User s Manual Startup If not normal data transmission is not guaranteed RD77MS Quick Start Guide Startup and Maintenance Precautions N WARNING Do not touch any terminal while power is on Doing so will cause electric shock or malfunction Q Correctly connect the battery connector Do not charge disassemble heat short circuit solder or throw the battery into the fire Also do not expose it to liquid or strong shock Doing so may cause the battery to generate heat explode ignite or leak resulting in injury or fire Q Shut off the external power supply all phases used in the system before cleaning the module or retightening the terminal screws connector screws or module fixing screws Failure to do so may result in electric shock or cause the module to fail or malfunction Startup and Maintenance Precautions N CAUTION When connecting an external device with a CPU module or intelligent function module to modify data of a running programmable controller configure an interlock circuit in the program to ensure that the entire system will always operate safely For other forms of control such as program modification parameter change forced output or operating status change of a running programmable controller read the relevant manuals carefully and
44. Target torque at continuous operation to torque control mode Md 47 Positioning data being executed Q 7 Cd 151 Torque time constant at continuous operation to torque contr Md 47 Positioning data being executed 0 Md 47 Positioning data being executed Ro I du mobs radi mur int d 3 4 s i 1p raras eoe enel bot 1 2 3 Delete Jitiri 1 marcan Aum 1 2 3 4 D exin ail E I rdi de eh ER 9 ye mom DRCACOH Md Lad coer non rrn 441 Ld Md 47 Positioning data being executed cor Md 47 Positioning data being executed A Md 47 Positioning data being executed Md 102 Deviation counter Tot Md 103 Motor rotation speed Cd 183 Execution prohibition flag Md 104 Motor current value Cd 400 Main shaft dutch command Md 108 Servo status 1 Servo alarm Cd 401 Main shaft dutch control invalid command Md 108 Servo status 1 Servo warning nm Cd 402 Main shaft dutch forced OFF command Md 114 Servo alarm Cd 403 Auxiliary shaft dutch command Md 500 Servo status 7 Driver operation alarm 3 POSITIONING CONTROL STARTUP RD77MS Quick Start Guide Check each status on the Axis Monitor window during JOG operation Axis monitor enue Foren pg patrem kiz 4 PosEeer berg seuted Coamo method 47 Poutonrq
45. Woods Parkway Vernon Hills IL 60061 U S A Mitsubishi Electric Automation Inc Mexico Branch Mariano Escobedo 69 Col Zona Industrial Tlalnepantla Edo Mexico C P 54030 Mitsubishi Electric do Brasil Comercio e Servicos Ltda Rua Jussara 1750 Bloco B Anexo Jardim Santa Cecilia CEP 06465 070 Barueri SP Brasil Mitsubishi Electric Europe B V German Branch Gothaer Strasse 8 40880 Ratingen Germany Mitsubishi Electric Europe B V UK Branch Travellers Lane UK Hatfield Hertfordshire AL10 8XB U K Mitsubishi Electric Europe B V Italian Branch Centro Direzionale Colleoni Palazzo Sirio Viale Colleoni 7 20864 Agrate Brianza Milano Italy Mitsubishi Electric Europe B V Spanish Branch Carretera de Rubi 76 80 Apdo 420 08190 Sant Cugat del Valles Barcelona Spain Mitsubishi Electric Europe B V French Branch 25 Boulevard des Bouvets 92741 Nanterre Cedex France Mitsubishi Electric Europe B V Czech Branch Avenir Business Park Radlicka 751 113e 158 00 Praha 5 Czech Republic Mitsubishi Electric Europe B V Polish Branch ul Krakowska 50 32 083 Balice Poland Mitsubishi Electric Russia LLC St Petersburg Branch Piskarevsky pr 2 bld 2 lit Sch BC Benua office 720 195027 St Petersburg Russia Mitsubishi Electric Europe B V Scandinavia Fjelievagen 8 SE 22736 Lund Sweden Mitsubishi Electric Turkey A S Umraniye Branch Serifali Mahallesi Nutuk Sokak No 5 TR 34775 Umraniye Istanbul Tu
46. amount K1 uwPositi 016 MOVP Positioning EN K1 uwPositi 016 MOVP Positioning EN 9001 uwPositi 016 MOVP Positioning r Start bStartp i RD77 1 i le XTI MBI 10 Dx10 i amp xisNo bPoaitia Di4 MBO 412 Axis Positioning JOG Inchi FCHUSY EEUU Lotart Positioning ing ning start Axisffl Request Operation Axis l 16 flag 16 Direct RD77 1 RD77 12 Y11 DX11 K2 i amp xisMo Jdi T 014 Axis No RW Posrtio BUSY ning start 1 Axisil 416 16 Direct M RD77 StartPositionin 430 Positioning start FB 07 O O O O O O O O OoOo bStartEND MEO iAxisMo Mas 014 o bENQO B E Positioning Axis No Execution Execution Positioning Start command Status Start Request Operation bStartOk RD77 1 T Dur stMo o bOK B Module Module label Normal Positioning label completion Start OK APPENDICES RD77MS Quick Start Guide i a a s 5 iud _ edi ET DE bPaositio i RD 77 1 77 MEO L Positioning Start Request RD 77 1 10024 RD f 1 UOGA I RD77 1 UO G25 RD77 1 bStopS XIF x10 864 Stop R BUSY 1 16 KZ i AxieMo i amp xigMo Di4 uWiuAxis Axis Target axis uwP os 016
47. ay result in an accident due to an incorrect output or malfunction 1 Machine home position return is controlled by two kinds of data a home position return direction and a home position return speed Deceleration starts when the near point dog signal turns on If an incorrect home position return direction is set motion control may continue without deceleration To prevent machine damage caused by this configure an interlock circuit external to the programmable controller 2 When the module detects an error the motion slows down and stops or the motion suddenly stops depending on the stop group setting in parameter Set the parameter to meet the specifications of a positioning control system In addition set the home position return parameter and positioning data within the specified setting range 3 Outputs may remain on or off or become undefined due to a failure of a component such as an insulation element and transistor in an output circuit where the module cannot detect any error In a system that the incorrect output could cause a serious accident configure an external circuit for monitoring output signals if safety standards ex robot safety rules etc apply to the system using the module servo amplifier and servomotor make sure that the safety standards are satisfied Q Construct a safety circuit externally of the module or servo amplifier if the abnormal operation of the module or servo amplifier differs from the safety
48. chrenpus Cantral Md 8 Axes fondati Md 30 Exteral syma gt Lower Md 30 Extemal input signal Upper dri Md 31 Status request fag Md 31 St3tus HPR complete flag Md dd Pasticning data seing executed Md 47 PosEiening data being execubed Ooeratian pattern Md Az Pastinng data being _ execubed Control method Md 47 Foskioning data being Acogeratien rne 021000 Ha Md A7 Pastioning data being executed Deceleratin time D 1000 H Md 4A7 Paostioning data beng executed Axs to be riterpalted Md 47 PosEiening data being executed M code Md i02 Dewution counter pube Md 103 Mokbor rotation speed 0 00 rimin Mitona current value 0 0 1 AXE Fu Pasening Compete Complete Sot Information List me a agn ewes servo Char 1 Md 1D amp 5eren states READY OIN Axes GR Md 108 5erem status 1 Servo ws soc Forced step inputU0YG4231 mx 2 13 4 Md 305tatus i Diner detection Axsho 1 2 3 4 Mi AE watanz Citt 1 2 1 4 171n test mede Fay n oi SAP ess opaan mode Lz Md 113 0peraten quer Md 1312 58 aper aon cede IO 42 19 f250h 2 444 nm Md Gree 0 135 4200mum opersiton 005 ut Md af Fasi ROI wer
49. compliant respectively Exceeding the limit of 50 times may cause malfunction After the first use of the product do not insert remove the SD memory card to from the CPU module more than 500 times Exceeding the limit may cause malfunction Do not touch the metal terminals on the back side of the SD memory card Doing so may cause malfunction or failure Do not touch the integrated circuits on the circuit board of an extended SRAM cassette Doing so may cause malfunction or failure Do not drop or apply shock to the battery to be installed in the module Doing so may damage the battery causing the battery fluid to leak inside the battery If the battery is dropped or any shock is applied to it dispose of it without using RD77MS Quick Start Guide Startup and maintenance of a control panel must be performed by qualified maintenance personnel with knowledge of protection against electric shock Lock the control panel so that only qualified maintenance personnel can operate it Before handling the module touch a conducting object such as a grounded metal to discharge the static electricity from the human body Failure to do so may cause the module to fail or malfunction Before testing the operation set a low speed value for the speed limit parameter so that the operation can be stopped immediately upon occurrence of a hazardous condition Confirm and adjust the program and each parameter before operation Unpredictable movements ma
50. cted to the main shaft is displayed Synchronous control image l l l The configuration of input output axes can be checked at a glance 1 Synchronous parameter settings The following explains the settings that synchronize the axis 1 to the axis 2 feed current value 1 Select Main shaft Main and then the Type for the Main input axis is selected 2 Set Pr 400 Type to 1 Servo Input Axis and Pr 400 Axis No to 2 32 0000 RD77MS4 Axis 1 Synchronous Control Image Item Setting value Synchronous control module setting Set each module parameter Main shaft Main input axis Pr 400 Axis No 2 Sub input axis Pr 401 Type O Invalid 2 Pr 401 Axis No 0 Main shaft composite gear Pr 402 Main 1 Input Pr 402 Sub 0 No Input Main shaft gear Pr 403 Numerator 1 Pr 404 Denominator 1 Main shaft clutch Main shaft clutch control setting Pr 405 ON control mode mirer Direct Coupled Pr 405 OFF control mode 0 OFF Control Invalid Pr 405 High speed input request 0 signal Pr 406 Main shaft dutch reference 0 Value after Main Shaft address setting Composite Gear Pr 407 Main shaft clutch ON address 0 0000 mm Pr 408 Movement amount before main shaft dutch ON 409 shaft dutch OFF address 0 0000 mm Pr 410 Movement amount before main shaft dutch OFF Pr 411 Main shaft clutch smoothing system Pr 412 Main shaft clutch smoothing time constant Pr 413 Slippage at ma
51. dule Setting 2 Y Detail 2015 06 25 179449 Not Calculation 2 B Memory Cord Porometer 2019 08 26 173299 Not Calculation ye Remote Password 2015 06 25 179259 Not Calculation Global Label Ghbal Label Setting a 2015 06 25 174622 Not Calculation O amp Global Label Initial Valse a MELSOFT GX Works3 E e V5 Local Label Initial Value o ee o9 Display Memory Uagechr o Overwrite contents of flash ROM Are you sure you want to continue D 5 Memory Capacity A a m Pr ry Spe C tien oran Memor c legend Date Memory incresced Device Label Memory File Storage Ares Decreased X cr Less SD Memory Card Free Writing data to the Simple Motion module Parameters and servo parameters Positioning data and block start data Synchronous control parameters and cam data 3 POSITIONING CONTROL STARTUP RD77MS Quick Start Guide 3 4 Operation Check The sequence program used in this section is an example using RO4CPU and RD77MS4 When another different module is used the signal assignment differs Refer to MELSEC iQ R Simple Motion Module User s Manual Application for details of each signal 3 4 1 JOG operation 1 Servo ON Servo amplifiers become servo ON status by turning ON All axis servo ON Y1 1 Move the PLC CPU switch RESET RUN STOP to RUN side 2 Servo ON by a sequence program Select Online Monitor Start Monitoring to switch to the monitoring status
52. e Motion module setting function 2 System settings 3 Parameter settings 4 Servo parameter settings gt lt gt 5 Positioning data setting 6 Saving a project 7 Writing to the Simple Motion module 3 4 Operation check 3 4 1 JOG operation 3 4 2 Home position return Establishment of the home position 3 4 3 Positioning control 2 MODULE STARTUP RD77MS Quick Start Guide 2 4 Installation of Modules Install the modules 1 Installing a battery The connector plug of the Q6BAT is disconnected from the jack of the CPU module before shipment To use the battery connect the connector following the procedure below Lm c c 1 Open the battery cover located on the bottom of the CPU module 2 Check that the QGBAT 1 is correctly installed 3 Check the direction and securely insert the connector plug of the Q6BAT 2 to the jack 3 of the CPU module 4 Close the battery cover 2 Inserting an extended SRAM cassette and a SD memory card Since the example system does not use an extended SRAM cassette and a SD memory card the insertion removal procedures are omitted in this document Refer to MELSEC iQ R CPU Module User s Manual Startup for details 3 Installing a module Install each module to the main base unit Refer to MELSEC iQ R Module Configuration Manual for details 2 MODULE STARTUP RD77MS Quick Start Guide 2 5 Wiring and Cable Connection The following shows
53. e Onine Program Change execute Onine Program Change and save Global label setting examples bDuringJOGInchingOperation bJogEND bJogOK bJogERR bStartEND bStartOK bStartERR bPositioningStartReq iAxisNo uwPositioningStartNo i JogSpeedData uwErrld bJogSpeedReq bAxis1 bAxis2 bHomePositionData bPositioningStartData bSyncPosiStartData bJogForwardReq bJogReverseReq bStartpositioning bServoON bErrorReset bStopSwitch bSynchronous Bit VAR_GLOBAL X66 Note 1 The labels above are for the synchronous control system in Chapter 4 Settee Check Extended Display Automatic Japan se F3 18 Axis Enghsh Display Tweet System bibel 5 reserved to be registered System bbel amp reserved to be released L The system bbel amp already regstered to the system bbe database 5 0 Not Reflected 0 Totat 0 2 Note 1 Home Position return Data Positioning Start Data Synchronous Positioning Start data 3 POSITIONING CONTROL STARTUP RD77MS Quick Start Guide 4 Element selection window 1 Select View Docking Window Element Selection 2 Select Module tab in the Element Selection window and Module Label and Module FB are displayed ya Deine Debug Dagnostis Tool tstupar Wires Switch Display Language Multiple Comments Display Setting Result of Power Suppi Cagacty and D
54. e partner axis 2nd 3rd or 4th axis may exceed the speed limit value Do not go near the machine during test operations or during operations such as teaching Doing so may lead to injuries Operating Precautions N CAUTION When disposing of this product treat it as industrial waste When disposing of batteries separate them from other wastes according to the local regulations For details on battery regulations in EU member states refer to the MELSEC iQ R Module Configuration Manual RD77MS Quick Start Guide Transportation Precautions N CAUTION When transporting lithium batteries follow the transportation regulations For details on the regulated models refer to the MELSEC iQ R Module Configuration Manual Q The halogens such as fluorine chlorine bromine and iodine which are contained in a fumigant used for disinfection and pest control of wood packaging materials may cause failure of the product Prevent the entry of fumigant residues into the product or consider other methods such as heat treatment instead of fumigation The disinfection and pest control measures must be applied to unprocessed raw wood RD77MS Quick Start Guide CONTENTS SAFETY PRECAUTIONS m 1 CONTENT erarnan E 9 LOYE RVE W 1 to 12 1 1 Simple Motion Module Features ccccccccseesccceceeeseeeeeeeeeeeeeeeseeeeeeeseeeeeeeessaeeeeeesseaees 11 Ve Relva Manual
55. ensure that the operation is safe before proceeding Improper operation may damage machines or cause accidents Q Especially when a remote programmable controller is controlled by an external device immediate action cannot be taken if a problem occurs in the programmable controller due to a communication failure To prevent this configure an interlock circuit in the program and determine corrective actions to be taken between the external device and CPU module in case of a communication failure Q Do not disassemble or modify the modules Doing so may cause failure malfunction injury or a fire Q Use any radio communication device such as a cellular phone or PHS Personal Handyphone System more than 25 cm away in all directions from the programmable controller Failure to do so may cause malfunction Q Shut off the external power supply all phases used in the system before mounting or removing the module Failure to do so may cause the module to fail or malfunction Q Tighten the screws within the specified torque range Undertightening can cause drop of the component or wire short circuit or malfunction Overtightening can damage the screw and or module resulting in drop short circuit or malfunction Q After the first use of the product do not mount remove the module to from the base unit and the terminal block to from the module and do not insert remove the extended SRAM cassette to from the CPU module more than 50 times IEC 61131 2
56. f the cam waveform 6 Based on the rough cam data modify the end point and stroke and finish the cam data 4 SYNCHRONOUS CONTROL STARTUP RD77MS Quick Start Guide 2 Cam curve creation A cam data graph can be generated by inputting the end point and the stroke Return to Basic Setting Setting Method Stroke Ratio Cam Curve gt Resolution 256 Stroke Setting Range 100 0000000 to 100 0000000 94 Cam Graph Display Graph Display Magnification Point Data El Stroke speed F Acceleration F Jerk Width 100 Height 100 WH100 Saeen view 100 0000000 0 0000000 ZI Pe 100 0000000 0 0 0000 90 00000 180 00000 270 00000 360 00000 degree Stroke Setting lt Fine tune the cam curve by section Section Start degree End degree Stroke 9 Cam Curve 5 8 00000 113 59160 50 0000000 Constant Speed 6 113 59160 222 00000 98 1000000 Constant Speed 7 222 00000 224 00000 98 9000000 Constant Speed 8 224 00000 226 00000 99 6000000 Constant Speed 9 226 00000 228 00000 99 9500000 Constant Speed 10 228 00000 229 18320 100 0000000 Constant Speed 11 229 18320 0 00000 0 0000000 Dist Const Speed Cam data NO degree degree 96 000000 20000 0050000 Consanspsd _ 2 20000 40000 05000000 Consansped _ aoo 600000 1 100000 Consantspeed _ 4 6 00000 800000 1900000 Consantspeed _ 800000 11559160 5000000
57. ference Design Precautions N WARNING Q Configure safety circuits external to the programmable controller to ensure that the entire system operates safely even when a fault occurs in the external power supply or the programmable controller Failure to do so may result in an accident due to an incorrect output or malfunction 1 Configure external safety circuits such as an emergency stop circuit protection circuit and protective interlock circuit for forward reverse operation or upper lower limit positioning 2 The programmable controller stops its operation upon detection of the following status and the output status of the system will be as shown below Turned off if the overcurrent or overvoltage protection of the power supply module is activated Held or turned off according to the parameter setting if the self diagnostic function of the CPU module detects an error such as a watchdog timer error 3 Also all outputs may be turned on if an error occurs in a part such as control part where the CPU module cannot detect any error To ensure safety operation in such a case provide a safety mechanism or a fail safe circuit external to the programmable controller For a fail safe circuit example refer to the user s manual of the CPU module to use 4 Outputs may remain on or off due to a failure of a component such as a relay and transistor in an output circuit Configure an external circuit for monitoring output signals t
58. ftware Install MELSOFT iQ Works or MELSOFT GX Works3 following the Installation Instruction provided with the software package FA Engineering Software System Management Software MELSOFT Navigator Programmable Controller Engineering Software MELSOFT GX Works3 SW2DND iQWK E Motion Controller Engineering Software MELSOFT MT Works2 Screen Design Software MELSOFT GT Works3 Robot Total Engineering Support Software MELSOFT RT ToolBox2 mini Inverter Setup Software MELSOFT FR Configurator2 MELSOFT iQ Works MELSOFT SW1DND GXW3 E Simple Motion module parameter settings sequence program creation GX Works3 Note The screen windows in this document may differ from the ones you use The system uses MELSOFT GX Works3 Version 1 007H 2 Creating a new project Start MELSOFT GX Works3 and create a new project 5 E Series Project New m R04 Z Series RCPU mnie Model R04 specify the CPU to be used Program language Ladder MELSOFT GX Works3 o Do you want to add the module label of the following installed i modules Module Name RO4CPU Start No 3E00 The window asking about module label addition appears Able to add module labels from Module window of Click Yes element selection E Do Not Show this Dialog Again This setting can be changed in the Options dialog 3 Connecting t
59. hat could cause a serious accident in an output circuit when a load current exceeding the rated current or an overcurrent caused by a load short circuit flows for a long time it may cause smoke and fire To prevent this configure an external safety circuit such as a fuse Configure a circuit so that the programmable controller is turned on first and then the external power supply If the external power supply is turned on first an accident may occur due to an incorrect output or malfunction Q For the operating status of each station after a communication failure refer to manuals relevant to the network Incorrect output or malfunction due to a communication failure may result in an accident RD77MS Quick Start Guide N WARNING When connecting an external device with a CPU module or intelligent function module to modify data of a running programmable controller configure an interlock circuit in the program to ensure that the entire system will always operate safely For other forms of control such as program modification parameter change forced output or operating status change of a running programmable controller read the relevant manuals carefully and ensure that the operation is safe before proceeding Improper operation may damage machines or cause accidents Q Especially when a remote programmable controller is controlled by an external device immediate action cannot be taken if a problem occurs in the programmable co
60. he PLC CPU to a personal computer Confirm the connection between a personal computer and the PLC CPU 2 i USB 1 Connect the CPU module to a personal E computer E 2 Select Online Specify Connection EN _ I Destination to open the Specify gt 3X EE i C tion Destination Connection E is 7 x E fA ribe to FLE Li uz window m Os 3 Select CPU Module Direct Coupled wir iugum Ru aor E m Setting EXER gy cmm To umm 4 Select the connection method with CPU ie X module ets 11 3 POSITIONING CONTROL STARTUP RD77MS Quick Start Guide nire Debug Qisgnostcs ind Specity Connection Destination Bm Bead from PLC SA Wine to PLC With PLC Remote Operation PU Memory Operation Delete PLC Data user Dats E Set Clock Monitor s Watch T 4 Initializing the PLC CPU module Initialize a memory of the PLC CPU Click Initialization on the Memory Management window MELSOFT Works3 MP Initialize the selected memory M June you Suri you want to continu Each memory will ba in amp statue s following after initialization Program Mernory Data Memory Delete all the f olders Tiles Execute the initialization and delete the event history when the devient history exists in the initialized target destination
61. icking X63 while pressing SHIFT 2 To start the positioning double click Start Positioning req K9001 M MET 9001 Positioning Start No er RDT Tq Re cen 61 v 1O DX10O it RW Positio R BUSY ning start Axisit1 Axisitl 16 1 Direct RDZ 715 RD77 1 7 Yi DX11 RW Positio R BUSY ning start Axis 1 Axist 1 16 16 Direct i amp xisNo D14 1 bPositio Mao SET Positioning Start Request Axis No i amp xisNo D14 1 Axis No 3 POSITIONING CONTROL STARTUP RD77MS Quick Start Guide 3 Confirming the home position return 1 Check the following monitor values and status on the Axis Monitor window 0000 RD77MS4 Axis Monitor Axis Monitor Monitor Type Axis Output Axis Axis 1 Md 20 Feed current value Md 21 Machine feed value Md 23 Axis error No Md 24 Axis warning No Md 26 Axis operating status Md 28 Axis feedrate 0 0 um 0 0 um Waiting 0 00 mm min ON Lower limit Md 30 External input signal ON Upper limit Md 31 Status HPR complete flag Md 44 Positioning da being executed Md 47 Positioning data being executed Operation pattern Md 47 Positioning data being executed Control method Md 47 Positioning data being executed Acceleration time 0 1000 No Md 47 Positioning data being executed Deceleration time 0 1000 No
62. in shaft clutch ON 0 0000 mm 0 0000 mm 0 Direct Oms 0 0000 mm 0 0000 mm Pr 414 Slippage at main shaft clutch OFF ch 4 SYNCHRONOUS CONTROL STARTUP RD77MS Quick Start Guide 3 Change the items with red frames as follows lt Synchronous parameter axis 1 gt Pr 400 Type 1 Servo input axis Main input axis No Main shaft A 401 0 Invalid Sub input axis No Composite Pr 402 Main 1 Input main shaft Main shaft Pr 403 Numerator Main shaft Main shaft clutch OFF control invalid clutch control setting Pr 405 High speed input reguest signal Cam azis cycle unit Pr 438 Unit setting Pr 438 Number of decimal places Pr 442 Cam axis length per cycle change setting 0 Invalid Output Pr 439 Can axis length per cycle 1 157 0796mm Pr 438 Unit setting selection 0 Use units of main input axis Note Items without red frames remain as default values 4 SYNCHRONOUS CONTROL STARTUP RD77MS Quick Start Guide 2 Input axis parameter settings The following explains the settings that synchronize the axis 1 to the axis 2 feed current value 1 Select Input Axis Parameter 2 Select 1 Feed Current Value for Pr 300 servo input axis type for axis 2 C MELSOFT Simple Motion Module Setting Function C WLsersRRIHAM DesktopiRDT7M54 sample eng g 0000 8D77MSA Input Axis Parameter project yew Toots Widow 1
63. iting UD 4224 So Searching flag for communicason Complete al searching lor driver coring seats ead MOVP Item Md 26 Axis operating status BUSY Hi RD771st U0 G36320 RW Synchro nous control start Direct HO RD771st RiW Synchro nous control start Direct Synchronous control Axis 1 ON 4 SYNCHRONOUS CONTROL STARTUP RD77MS Quick Start Guide 2 Start and confirmation of the main shaft input axis 1 Set the axis No for the main shaft input axis Double click X62 while pressing SHIFT iAxisNo D14 Axis No b Axis ADZ iAxisNo D14 Axis No 2 Set the program No for axis 2 Double click X66 while pressing SHIFT 3 Start the main shaft input axis Double click X71 while pressing SHIFT Output axes move synchronizing to the main shaft movement x66 L KT NENNEN NNI 22 5 D16 1 MOVP CE Synchronous Positioning Positioning Start No Start data er K9001 uwPositio 016 1 MOVP 5 Positioning Start No i Y DuringzJO RD77 Tbn 1 bn 71 M81 Y10 DX1O _ K1 iAxisNo bPositioni D14 SET Positioning Axis No Start ng start Axis 1 16 Request Axis 1 16 Direct ROTZ Ibr RD77 1 bn Yi DX11 K2 i amp xisNo D14 1 Axis No RW Positioni R BUSY ng start 1 16 Axis 1 16 Direct bPositioni Mao uwPositio RD77 1 56 K
64. le click on where a circuit addition is made 4 Select a circuit symbol and enter variables 5 Click OK and the Input Comment window appears 6 After inputting comments click OK 7 Move the cursor to where the circuit is added and double click there 8 Click OK and the circuit is created FB Instance Name UROTI 5 Faria eno FE Element Selection ax Find POU 85 e Ls ix ui 3 Module Label z Module FB jj RO4CPU J RD77MS4 E M RD77_Se Positioning data set 3 M RD77_St Positioning start FB 7 M RD77 JC JOG inching operati 3 M RD77 MI Manual pulse gener M RD77_Ct Speed change FB bP Ex hpo anin Da bPositioningStartReq NH na ibicanin tart FE Input Comment Device Label English Preview OK bPositioningStartRe Positioning Start Request Positioning Se 6 Start Cancel Request Moereal corno bestias 25 Character 1024 Character Input Limit Horizontal Lira Execution Execution command status DUT i_stModule bOKB Module label Normal completion U W i uAxis bErr B Target axis Error completion UW i uStartNo o Error code 3 POSITIONING CONTROL STARTUP RD77MS Quick Start Guide 9 Drag amp drop RD77 1 in the Module Label The module label is wri
65. ler is turned off while the power supply of servo amplifier is on Initial setting for communication specifications Initializing has completed and then the servo amplifier has been synchronized with the servo system controller Initializi During communication with the servo system nitializin controller for initial parameter setting During communication with the servo system Initializing controller for the servo motor encoder information 7 Normal m During communication with servo system Initializing MOM controller for initial signal data E The process for initial data communication with Initializing completion the servo system controller is completed The ready off command from the servo system Ready off controller was received The servo off command from the servo system Servo off controller was received The servo on command from the servo system Servo on controller was received C Forced stop warning Fomedsopwaming Fomedsopwaming warning Controller forced sto Controller forced stop warning warning Actions When parameters are not written to the Simple Motion module the LED displays AA or Ab but no immediate error is occurring In this case write parameters If the LED turns OFF check the wiring for control power supply 3 POSITIONING CONTROL STARTUP RD77MS Quick Start Guide 3 POSITIONING CONTROL STARTUP 3 1 Creating a New Project 1 Installing engineering so
66. lifiers 8 Writing to PLC CPU Write set parameters and created programs to the PLC CPU Cancel 1 Select Online Write to PLC CPU to open the Online Data Operation window 2 Check the boxes of System parameter CPU parameter Module parameter and Program 3 Click Execute to start writing the selected items to the PLC CPU 4 Click Close after completion of the writing Online Debug Diagnostics Tool Specify Connection Destination Write to PLC Verify With PLC Remote Operation S CPU Memory Operation Delete PLC Data User Data E Set Clock Monitor M Watch T Dapur Kaaba Functions Bom now mom EB gears V Gisial Label di hal Label AP Label Vale hy OL ELE lacal Vals 3 POSITIONING CONTROL STARTUP RD77MS Quick Start Guide 3 3 Parameter Settings for Simple Motion Module 1 Start of Simple Motion module setting function 1 Double click Simple Motion Module Setting in the menu of MELSOFT GX Works3 to open the Simple Motion Module Setting Function window GX Works3 Menu Simple Motion Module Setting Function nsn XE EE Se nee n e m m e m Bu M MM M inrer 1 ag 2 System settings o o 1 Select the System Configuration Set the servo amplifiers
67. lower limit value Pr 14 amp Software stroke limit selection Pr 15 Software stroke limit valid invalid setting Pr 16 Command in position width 17 limit setting value Pr 18 M code ON signal output timi Pr 19 5peed switching mode Pr 2 Interpolation speed designation method Pr 21 Feed current value during speed control Pr 22 Input signal logic selection Lower limit Pr 22 Input signal logic selection Upper limit Pr 22 Input signal logic selection Stop signal Pr 22 Input signal logic selection Proximity dog signal Pr 81 5peed position function selection _ Pr 116 FL5 signal selection Input type Pr 115 FLS5 signal selection Input terminal _ Pr 117 RL5 signal selection Input type _ Pr 117 RLS signal selection Input terminal Pr 118 DOG signal selection Input type Axis 2 The parameter does not rely on axis and relate to the 1 Invalid 0 A phase B phase Mode 4 Multiply 1 Voltage Qutput Open Collector Type FFFFh Automatic Setting 1 55 Set the logic of external input signal proximity dog external command switching from the external devi O Megative Logic 0 mm 172985333 pulse 6478422 3 um 1 41 Times 0 00 mm min 8000 00 mm min 1000 ms
68. mory and to be written to the flash ROM again Doing so may cause malfunction or failure of the module Q Reset the CPU module after changing the parameters Failure to do so may cause malfunction because the previous parameter settings remain in the module When changing the operating status of the CPU module from external devices such as remote RUN STOP select Do Not Open by Program for Opening Method in the module parameters If Open by Program is selected an execution of remote STOP causes the communication line to close Consequently the CPU module cannot reopen the communication line and external devices cannot execute the remote RUN Installation Precautions N WARNING Q Shut off the external power supply all phases used in the system before mounting or removing the module Failure to do so may result in electric shock or cause the module to fail or malfunction RD77MS Quick Start Guide Installation Precautions N CAUTION Use the programmable controller in an environment that meets the general specifications in the manual Safety Guidelines included in the base unit Failure to do so may result in electric shock fire malfunction or damage to or deterioration of the product To mount a module place the concave part s located at the bottom onto the guide s of the base unit and push in the module until the hook s located at the top snaps into place Incorrect mounting may cause malfunction failure or drop
69. ntroller due to a communication failure To prevent this configure an interlock circuit in the program and determine corrective actions to be taken between the external device and CPU module in case of a communication failure Do not write any data to the system area and write protect area of the buffer memory in the module Also do not use any use prohibited signals as an output signal from the CPU module to each module Doing so may cause malfunction of the programmable controller system For the system area write protect area and the use prohibited signals refer to the user s manual for the module used if a communication cable is disconnected the network may be unstable resulting in a communication failure of multiple stations Configure an interlock circuit in the program to ensure that the entire system will always operate safely even if communications fail Failure to do so may result in an accident due to an incorrect output or malfunction Q To maintain the safety of the programmable controller system against unauthorized access from external devices via the network take appropriate measures To maintain the safety against unauthorized access via the Internet take measures such as installing a firewall Q Configure safety circuits external to the programmable controller to ensure that the entire system operates safely even when a fault occurs in the external power supply or the programmable controller Failure to do so m
70. nveyor moves at a constant speed Speed mm min 2000 00 Time Speed mm min 2000 00 Time Belt conveyor axis 4 SYNCHRONOUS CONTROL STARTUP RD77MS Quick Start Guide 4 1 System Configuration The following shows a system example consisting of the RD77MS MR J4 10B and servo motors pu J GX Works3 077 54 ama Output module RYA2NT2P RO4CPU Input module RX42C4 Molded case R circuit breaker MCCB CP Magnetic contactor MC MR J4 10B Servo motor power cable Encoder cable Servo motor Servo motor 4 SYNCHRONOUS CONTROL STARTUP RD77MS Quick Start Guide 4 2 Startup Procedure for Synchronous Control 4 SYNCHRONOUS CONTROL STARTUP 4 1 System configuration 4 2 Startup procedure for synchronous control 4 3 Parameter creation for synchronous control 4 3 1 System configuration settings 4 3 2 Parameters and servo parameters settings 4 3 3 Positioning data settings 1 Positioning data selection 4 3 4 Synchronous control parameter settings 1 Synchronous parameter settings 2 Input axis parameter settings 3 Transition of synchronous control parameter window 4 Settings for synchronous control parameters and input axis parameters are completed 4 3 5 Cam data creation 1 Creating a new cam data 2 Cam curve creation 4 3 6 Saving a project 4 3 7 Writing to the Simple Motion module 4 4 Operation check for synchronous control 4 4 1 Home posi
71. o d16 The following table shows the correspondence between SSCNET configuration and the switch No Set the switch correctly checking the correspondence Servo amplifier MR J4 10B Axis selection rotary switch lt rr c c lt SSCNET Setting SSCNET III H SSCNET configuration 4 Connection of each cable Connect the SSCNET III cable the encoder cable and the servo motor power cable For between the personal computer and PLC CPU connect a USB cable 5 Power on of the system 1 Check the wiring for the power supply module 2 Confirm that the PLC CPU is in STOP status 3 Turn ON the power of PLC CPU EC 4 ERROR LED flickers a Power supply module LED green light turns ON b CPU module READY LED green light turns ON When parameters and programs are not written to the CPU module the ERROR LED red light of the PLC CPU flickers but no immediate error is occurring After writing parameters and programs and turning the power OFF to ON the ERROR LED will be OFF 2 MODULE STARTUP RD77MS Quick Start Guide 6 Power on of servo amplifier Turn the power ON after checking the following items 1 Check the wiring for servo amplifier 2 Turn the servo amplifier ON The communication status with the Simple Motion module can be checked on the display LED Wiring Servo amplifier Status Description display result The power supply of servo system control
72. of a certain data No is to be ended with just that data or whether the positioning for the next data No is to be carried out in Succession Create the positioning data in the same manner for the axis moving back to the home position from P1 Operation Control Axis to be Acceleration Deceleration Positioning Arc Command Dwell M pattern system interpolated time No time No address address speed time code 1 1 CONT Mcd 0 1000 0 1000 ee Oms Linear 1 mm min 2 0 END HAR 0 1000 0 1000 n Piin Oms Linear 1 mm min 5 Positioning data creation is completed 6 Saving a project Save a created project 1 Select Project Save As Input a file name and click Save P UILLJWVWI 1 WA VVU Mv TII OTANI IT FLT CORNY TIN i Proj it Fi i i Sae MELSEC gt 8 Project Edit Find Replace Convert View Onlin OLI tem s Hanne Date modified i New Ctrl N IER FD TTMEA sampled T 8 2015 231 AM ecem Places start up 1 5 2015 2 31 p Open Ctri O 3 FA 5 ocd vu j 5 4 e d Close Alk UTE sFS af af rogPou PR Delete Project Verify Project Revision m Change Module Type Data Operation E gt Intelligent Function Module F v RDF 1 YU Open Other Format File b 4 Save 46 5 Work opace Foment Meare charge Dres veker vath Uer bolbon io use veorkspace bonne
73. of the module When using the programmable controller in an environment of frequent vibrations fix the module with a screw Tighten the screws within the specified torque range Undertightening can cause drop of the screw short circuit or malfunction Overtightening can damage the screw and or module resulting in drop short circuit or malfunction When using an extension cable connect it to the extension cable connector of the base unit securely Check the connection for looseness Poor contact may cause incorrect input or output When using an SD memory card fully insert it into the memory card slot Check that it is inserted completely Poor contact may cause malfunction Securely insert an extended SRAM cassette into the cassette connector of a CPU module After insertion close the cassette cover and check that the cassette is inserted completely Poor contact may cause malfunction Do not directly touch any conductive parts and electronic components of the module SD memory card extended SRAM cassette or connector Doing so may cause malfunction or failure of the module Wiring Precautions N WARNING Shut off the external power supply all phases used in the system before installation and wiring Failure to do so may result in electric shock or damage to the product Q After installation and wiring attach the included terminal cover to the module before turning it on for operation Failure to do so may result in electric shock
74. oning control ESS Mesa SET Positio ning Start Regu Positio ning Start Oper bSta Positio ning Start OK bSta Ma Positio ninz Start Error Check that the axis 1 moves for 100 0 mm and goes back to 0 0 mm through the Feed current value for axis 1 on the Axis Monitor window Check that the Axis feedrate for axis 1 is equal to the command speed Check each monitor value and status through the Axis monitor DART 20 Fam Avis Monitor Mee Fic Raper eo Ui Spechrongstion Aegi i 1 SIGAN operating status M E READ ON LIB POOR DP Ln Md 28 Axis fepinte MONS 4 Md 30 Extermal input signal Md 1 Server OH ev F Lirene nit Wla Meg tema neut en Upsi Mi stop input 064211 ML Sahu D AST TN gt 31 5tatus HP ue Hos Md 20 Feed current value Md 21 Machine feed value Position control 2000 00 mm min Md 26 Axis operating status Md 28 Axis feedrate complete fag HAH Preni dhah bang executed Continuous Pasibioninig executed Operation ont pattern Tur Md A7 Pastioning data beng Dam linear control Cantrol matted 85 Md 47 Fostening data beng cathe Ore Hd data beng
75. onnect the cable Incorrect wiring connecting the cable to an incorrect interface may cause failure of the module and external device Tighten the terminal screws or connector screws within the specified torque range Undertightening can cause drop of the screw short circuit fire or malfunction Overtightening can damage the screw and or module resulting in drop short circuit fire or malfunction When disconnecting the cable from the module do not pull the cable by the cable part For the cable with connector hold the connector part of the cable For the cable connected to the terminal block loosen the terminal screw Pulling the cable connected to the module may result in malfunction or damage to the module or cable Prevent foreign matter such as dust or wire chips from entering the module Such foreign matter can cause a fire failure or malfunction A protective film is attached to the top of the module to prevent foreign matter such as wire chips from entering the module during wiring Do not remove the film during wiring Remove it for heat dissipation before system operation Mitsubishi programmable controllers must be installed in control panels Connect the main power supply to the power supply module in the control panel through a relay terminal block Wiring and replacement of a power supply module must be performed by qualified maintenance personnel with knowledge of protection against electric shock For wiring refer to the MEL
76. operation on the Axis Monitor window ae O Signals such as Forward JOG start and Reverse JOG start can be added from the Selectable Items on the Axis Monitor window 1 Click Select Monitor Item on the Axis Monitor window 2 Select items to be added from the Selectable Item list 3 Select Cd 181 Forward JOG start and click Add 4 Click OK to go back to the Monitor window jc Md 20 Feed current value Md 21 Machine feed value Md 23 Axis error No Md 24 Axis warning No j serons Vua 1 READY Aux is 34 Mid Hcmersm coe Dc Gere Oe am gt Set the monitor item and the display order gonna mazi Selectable Item Monitor Item and the Display Order Cd 143 Command torque at torque control mode Add Md 20 Feed current value Cd 144 Torque time constant at torque control mode Forward directi Md 21 Machine feed value 145 Torque time constant at torque control mode Reverse directi 3 Md 23 Axis error No Cd 146 Speed limit value at torque control mode Md 24 Axis warning No Cd 147 Speed limit value at continuous operation to torque control m Md 26 Axis operating status Cd 148 Acceleration time at continuous operation to torque control m Reset to Default 28 4 feedrate Cd 149 Deceleration time at continuous operation to torque control m Md 44 Positioning data No being execute Cd 150
77. play Al Offjne Simulator Command Speed Cake Automatic Sub Cac fi 0000 RD77MS4 g System Setting No Operaton pattem Conto meth 2 iere Posto sac ess Act address Command speed tt System Configuration 1 Mark Detection 9 Parameter 2 esitioning Comment g Servo Parameter LE Positionina Data GM Axis 1 Positioning Data 3 CPeahonng Comment gt Lj Positioning Comment gt Positioning Comment gt gs cA re ryu my vara Axis 3 Positioning Data Axis 4 Positioning Data Oper aton patiren 8s Block Start Data pattern designates whether positioning of a certam data No is to be ended mith just fal data or whether the posisoning for the next data No i to be carried o Synchronous Control Parameter Cam Data Simple Motion Monitor iii Servo Amplifier Operation W Digital Oscilloscope 2 Select Data Setting Assistant 3 Select the positioning control method and input each item Data Setting Assistant 3 Set the Posiboning Data aboning control method Setting Value Reference aus 1000000 0 um 18x ines contol ABS Tas intar contol INC toes fwed feed Positioning control method 1 axis linear Av 81 to be interpolated control ABS 1 amp x speed control FWO Axis 83 to be interpolated 1 speed conga Speed poston control FWO Speed poston control RVS Poston speed s
78. rite the electronic gear data to the parameters oj RL CPT pa UU EU STET Wa ETUR RE RESTITIT ETT NT T LIE poet Mee fee qe ot amy a pere Compute Paramekers Axis 1 Select the machine components and enter the machine data tp set doe bacc parameters urst seing Na of pulses Ger mereereent aessunt per rota bet and urit megs bon Bahn Corpse Soer Horizonzai T tan trug mw af Serien Howo 1 Lar Set LESCMET Gear Fase el ihri mal kg ur Hen kegi od sages rot dae safer E i ETT z i 15 piia generan eru PPS c eiat ico neducton ratio by teeth or diameters me haba Sant Y rad Pi Lac etr ma ee upper Encoder 423434 Mew ee mech gt 1 s s M Basic Paremetens 1 nm SE Puleas per 2154 EH pada Mercere pus 1000 0 ue ger Pul Lirit Magnificsson an _ dew Temes Ad Brest ef ne emor qocurs in se ever Apehyng the calculation result abave 4 you mant to perform is about D
79. rkey Mitsubishi Electric Europe B V Dubai Branch Dubai Silicon Oasis P O BOX 341241 Dubai U A E ADROIT TECHNOLOGIES 20 Waterford Office Park 189 Witkoppen Road Fourways South Africa Mitsubishi Electric Automation China Ltd Mitsubishi Electric Automation Center No 1386 Hongqiao Road Shanghai China SETSUYO ENTERPRISE CO LTD 6F No 105 Wugong 3rd Road Wugu District New Taipei City 24889 Taiwan Mitsubishi Electric Automation Korea Co Ltd 7F 9F Gangseo Hangang Xi tower A 401 Yangcheon ro Gangseo Gu Seoul 07528 Korea Mitsubishi Electric Asia Pte Ltd 307 Alexandra Road Mitsubishi Electric Building Singapore 159943 Mitsubishi Electric Factory Automation Thailand Co Ltd 12th Floor SV City Building Office Tower 1 No 896 19 and 20 Rama 3 Road Kwaeng Bangpongpang Khet Yannawa Bangkok 10120 Thailand PT Mitsubishi Electric Indonesia Gedung Jaya 11th Floor JL MH Thamrin No 12 Jakarta Pusat 10340 Indonesia Mitsubishi Electric Vietnam Company Limited Unit 01 04 10th Floor Vincom Center 72 Le Thanh Ton Street District 1 Ho Chi Minh City Vietnam Mitsubishi Electric India Pvt Ltd Pune Branch Emerald House EL 3 J Block M I D C Bhosari Pune 411026 Maharashtra India Mitsubishi Electric Australia Pty Ltd 348 Victoria Road P O Box 11 Rydalmere N S W 2116 Australia Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fa
80. rm setting d 0 ms 0 1000 Tough drive 5 Drive recorder 3 6 Position contro z Torque control B Servo adjustments Extension Filter 1 ma m Battery ABS COP4 Absolute pos detection system sel Encoder cable COP 1 Encoder cable communication method sel 5 Select Component parts to open the Component parts window 6 Absolute position detection system Incremental system selection Select Disabled Used in incremental system for absolute position detection system selection 7 For home position setting condition select 1 Not need to pass servo motor Z phase after power on When 1 Not need to pass servo motor Z phase after power on is selected the home position return can be executed without waiting for the motor to rotate one time or more Set servo parameters where necessary 3 POSITIONING CONTROL STARTUP RD77MS Quick Start Guide 5 Positioning data setting The following explains how to set positioning data through a program example in which the axis travels from the home position PO to P1 back and forth Operation example when the axis moves back to the home position PO after moving to P1 Position mm min gt P1 100 0mm PO 0 0mm Time Speed mm min 2000 00 Time 8000 00 Operation procedure 3 1 Select Axis 1 Positioning Data in the menu 7 S aud 5 Owplay Fiter Dis
81. s before operation and SH 081263 procedures for troubleshooting MELSEC iQ R CPU Module User s Manual Application This manual explains the basic knowledge required for program design CPU module SH 081264 functions devices labels parameters etc MELSEC iQ R Module Configuration Manual This manual explains the specifications of the power supply modules base units SD memory SH 081262 cards etc and the mounting environment and mounting position 1 OVE RVI EW RD77MS Quick Start Guide 3 Servo amplifier MR J4 B RJ Servo amplifier Instruction Manual This manual explains the I O signals parts names parameters start up procedure and others SH 030106 for MR J4 _B RJ MR J4 _B4 RJ MR J4 _B1 RJ Servo amplifier MR J4W2 _B MR J4W3 _B MR J4W2 0303B6 Servo amplifier Instruction Manual This manual explains the I O signals parts names parameters start up procedure and others SH 030105 for Multi axis AC Servo MR J4W2 _B MR J4W3_B MR J4W2 0303B6 Servo amplifier 2 MODULE STARTUP RD77MS Quick Start Guide 2 MODULE STARTUP A 1 axis system with ball screw is used as an example in Chapter 2 to 3 Machine Specifications Ball screw lead PB 10000 0 210mm Reduction ratio NL NM 1 2 Load side NL Motor side NM The load side ball screw is made to rotate once by rotating the Lm c c motor twice Encoder resolution 4194304 pulse rev Servo amplifier MR J
82. se A B rest ef collation some error occurs in Bhs movement amount the calalaton rest above Movement Amount per Rotation 6478422 3 um sten INI INST MN TN MUI Unit Magnification 1 x1 times Chek OK tn reflect to the basic parameters 1 When the electronic gear value cannot be divided due to circumference ratio rr it will be automatically calculated to the value with less difference 4 SYNCHRONOUS CONTROL STARTUP RD77MS Quick Start Guide 4 3 3 Positioning data settings Create a program in which the belt conveyor axis 2 moves from the home position to P1 For axis 1 operated with cam control create cam data in which the axis 1 synchronizes to the belt conveyor Data example in which the axis moves from the home position to P1 Belt conveyor axis 2 position When the roller with 50 mm diameter rotates one time the belt conveyor moves for 157 0796 mm 157 0796mm 22s 0 0mm Time Speed mm min 2000 00 j Time Cutter axis axis 1 position Axis 1 is in cam control synchronizing to the belt 100 0mm conveyor movement 0 0mm Time 1 Positioning data selection Select the Axis 2 positioning data in the menu MELSOFT Simple Motion Module Setting Function M e t 20054 gr e xd 0000 RD77MSA Axie 2 Positioning i Project yew Online Tools window Hep 196
83. t HELHET supports ches Format Saving data Parameters and sequence programs of the PLC CPU Positioning data and parameters of the Simple Motion module Parameters of servo amplifiers 3 POSITIONING CONTROL STARTUP RD77MS Quick Start Guide 7 Writing to the Simple Motion module 1 Select Online Write to PLC to open the Online Data Operation window on MELSOFT GX Works3 2 Select the Simple module setting 3 Click Execute Then the parameters and data are written to the Simple Motion module via the PLC CPU 4 The confirmation message window for flash ROM overwriting appears Click Yes 5 Click Close to complete the writing to the Simple Motion module Project Edit Find Replace Convert View Online Debug Diagnostics Tool Window Hi BAS o 126 GAG Specify Connection Destination i ur ir 1 Read from PLC UH III X F5 sF5 F6 sF6 F F8 FS sF9 CFS Bi ProgPou PRG Local Label r ex Display Setting Related Functions B OH Bmw mou Select Eavortes Select Legend Open Qose AKT Deselect AK CPU Built in Memory SD Memory Card Function Module Module Name Data Name Parameter System Parameter 2015 06 25 123442 Not Calculation 3 Module Parameter 2018 06 26 174238 Not Calculation Motion Mo
84. tart Simulation Em Modify Value Shift Enter Change History of Current Value G I ation Environmental Setting PRG Memory Dump 6 ng COMN ENT Device Comme Display getting Related Functions ACE gt mam eo mom Select Logue Deselect OPU Built in Memory 50 Memory Cord 8 Intelligent Function Module Module Nsme Data Name Detail Title LAS RDI IMS4_ sample eng Parameter System Parameter Parame 3 Module Parameter Simple Motion M B Card Pa 2 yee Remote Global Label Global Label Setting Global Label Initial Value GLBLINF Gy Local Label Initial Value Last Change 2015 06 56 1722442 2015 06 25 174225 2015 06 25 13443 7015 06 25 173354 2015 06 25 172259 2015 06 25 174622 2015 06 25 174622 Display Memory Capacity Memory Capacity X Calculation Memory Legend Memory B us Frereased Device Labe Memory Storage Area Decreased 5X ox Less SD Memory Card Byte Not Caleulstion No Calculation Not Calculation Not Calculation Not Caleulstion Not Calculation Not Calculation 160 160KB 2036 2048K amp 00KB free Free Free 266 55K B Free APPEN
85. ters 2 Pr 25 Acceleration time 1 26 time 2 Pr 27 Acceleration time 3 Pr 28 Deceleration time 1 Pr 29 Deceleration time 2 Pr 30 Deceleration time 3 Pr 31 JOG speed limit value Pr 32 JOG operation acceleration time selection Pr 33 JOG operation deceleration time selection 34 Acceleration deceleration process selection Pr 35 5 curve ratio Pr 36 Rapid stop deceleration time Pr 37 Stop group 1 rapid stop selection Pr 38 5top group 2 rapid stop selection Pr 38 5top group rapid stop ion Pr 40 Positioning complete signal output time Pr 41 Allowable circular interpolation error width Pr 42 External command function selection Pr 83 5peed control 10x multiplier setting for degree axis Pr 84 Restart permissible value range when servo OFF to ON 90 setting for SPD TRQ Cont mode Torque initial value selection 90 setting for SPD TRQ Cont mode Speed initial value selection 90 setting for SPD TRQ Cont mode Condition selection at mode switching Pr 95 External command signal selection 122 Manual pulse generator speed limit mode 123 Manual pulse generator speed limit value HPR basic parameters Pr 5 Setting for the movement amount after proximity dog ON m Fu oe Axis Q h No Setting 15 Invalid O0h No Setting RD77MS Quick Start Guide Q h No Setting 15 Invalid Q h No Se
86. tion return 4 4 2 Synchronous control start 1 Start and confirmation of output axis to be synchronized 2 Start and confirmation of the main shaft input axis 3 Operation check for main shaft input axis 4 4 3 Operation check with digital oscilloscope 1 Start of digital oscilloscope 2 Selecting probe 3 Sampling condition settings No need to change 4 Trigger condition settings No need to change 5 Start sampling 6 Checking cam data 4 SYNCHRONOUS CONTROL STARTUP RD77MS Quick Start Guide 4 3 Parameter Creation for Synchronous Control 4 3 1 System configuration settings Configure a 2 axis system SSCNET Setting SSCNET 4 3 2 Parameters and servo parameters settings Set parameters and servo parameters for axis 1 and axis 2 The following shows the setting details of the electronic gear setting for the belt conveyor Compute Basic Parameters 1 Axis 1 Input mper Lr Lee Machine Components Conveyor Unt Om uter diameter ofa DA dl Outer diameter of Roll 50000 0 um Beducten Gear hate NM hb Reduction Gear Ratio NL NM 3 p a ai Load side NL 1 Calculate reduction ratio by teetior diameters p Encader Resolution mom NL NN Motor side N 7 1 Seting Range Encoder resolution 4194304 Unit Setting 0 mm Calculation Result Unit Setting 0 mm Number of Pulses per Rotation 172985333 pul
87. troller Engineering Software MELSOFT GX Works3 Refer to related manuals where necessary to fully utilize capability of each module 1 1 Simple Motion Module Features 1 A wide range of controls such as positioning advanced synchronous cam speed torque controls are available 2 Advanced extensive controls can be achieved just with function blocks FB and sequence programs 3 Programming Servo adjustment operation and maintenance can be all covered by MELSOFT GX Works3 only 4 The Simple Motion module can be connected to SSCNET compatible high performance servo amplifiers 1 2 Relevant Manuals 1 Simple Motion module MELSEC iQ R Simple Motion Module User s Manual Startup This manual explains specifications procedures before operation system configuration IB 0300245 wiring and operation examples of the Simple Motion module MELSEC iQ R Simple Motion Module User s Manual Application This manual explains functions input output signals buffer memories parameter settings IB 0300247 programming and troubleshooting of the Simple Motion module MELSEC iQ R Simple Motion Module User s Manual Advanced Synchronous Control This manual explains functions and programming for the synchronous control of the Simple IB 0300249 Motion module 2 MELSEC iQ R series PLC MELSEC CPU Module User s Manual Startup This manual explains the specifications of the CPU module procedure
88. tten 10 Create another circuit in the same manner and select F4 convert The circuits are converted 19 10 41 di it 24 M FOI Sxantczitioc AD PPasitiening start FE comp letik obiri Target i Cd 3 Periit erii tart Ha StartPositio M RD Positioning start FB B i bEN o Execution Execution command status RD77 1 T DUT i o bOK B Module label Normal label completion iAxisNo 4 014 PUW uAxis obEmB Axis No Target axis Error completion uwPosi uwErrld 016 HUWiustartNo 012 Positioning 9 3 Error code JOG Error Start No Positioning start No FEND xd te a A Module Label i jg GO RDF 7854 j Rn 7 1 psionz LO N p Input Output signal 3 jp Parameter a j y Axis 2 y j Axisa j Axis jp Axis monitor data jk Axis monitor data 2 System monitor data Axis control data 1 a Jj System control data amp jk Axis control data 2 amp Serro input axis di Syncheoneus encader gxis E je Symechroncus control 5 j Cam function amp j Mark detection B js Common parameter B je Servo network configuration p js Starting history 3 Module x bStartEND M85 Positioning Start Operation flag bStartOK M86 Positioning Start OK bStartERR
89. tting 1000 ms 1000 ms 1000 ms 1000 ms 1000 ms 1000 ms 200 00 mm min 0 1000 0 1000 Trapezoidal Acceleration Deceleration Process 100 95 1000 ms 0 Deceleration Stop 0 Deceleration Stop 0 Deceleration Stop 300 ms 10 0 um External Positioning Start O Invalid 0 pulse Command Torque Command Speed O Switching Conditions Valid at Mode Switching O Not Used 0 Do Not Execute Speed Limit 200 00 mm min 1000 ms 1000 ms 1000 ms 1000 ms 1000 ms 1000 ms 200 00 mm min 0 1000 0 1000 Trapezoidal Acceleration Deceleration Process 100 95 1000 ms 0 Deceleration Stop 0 Deceleration Stop 0 Deceleration Stop 300 ms 10 0 um 0 External Positioning Start D Invalid 0 pulse 0 Command Torque Command Speed 0 Switching Conditions Valid at Mode Switching O Not Used 0 Do Not Execute Speed Limit 200 00 mm min Set the values required for carrying out HPR control 6 Data Set Method Forward Direction Address Increase Direction 0 0 um 1000 00 mm min 0 01 mm min 0 Do Not Retry HPR with Limit Switch 6 Data Set Method Forward Direction Address Increase Direction 0 0 um 1000 00 mm min 0 01 mm min D Do Not Retry HPR with Limit Switch Set the values required for carrying out HPR control 0 0 0 0 APPENDICES RD77MS Quick Start Guide
90. ule CCW direction during forward pulse input CW direction during forward pulse input 6 JOG operation check is completed 3 POSITIONING CONTROL STARTUP RD77MS Quick Start Guide 3 4 2 Home position return Establishment of the home position There are two types of home position return control Machine home position return which does not use address information to establish the home position Fast home position return which performs positioning by using the coordinate defined by machine home position This document explains the method of performing the machine home position return using Data set method After setting 9001 as the positioning start No the home position return is started by turning ON the Positioning start signal 2 Set the positioning start No Set 9001 Axis 1 positioning start No 4300 l for machine home position return o Execute the home position return and Axis 1 positioning start Y10 MD positioning start After setting 9001 as the positioning start No the machine home position return is started by turning ON the Positioning start dnyejs oJjuo2 Duiuonisog 1 Setting the home position return No 1 Select the Axis 1 Double click it while pressing SHIFT bAxis1 x61 i amp xisNo D14 1 Axis No i amp xisNo D14 i Axis No 2 Starting the home position return 1 Set the Positioning start No 9001 to the buffer memory by double cl
91. very 35 roots m ees i Common Basic E fi 0000 RD77MS4 Function JE elected items ma m gt System Setting l caes Ab ane Units Seth Rotation direction POL 3 ge z HY tt System Configuration Rotation direction selection Mark Detection Extension ABS Abante pasibon debecton system Extension pu o CCW dir during fwd pls input CW dir during rev pls input amp Parameter laren see For manufacturer setting CM For manufacturer setting SER ys Positioning Data itu mn e f Forced stop AOP 1 ES H Component AD Paska kufia cs as Block Start Data Position contr PAD range pulse Servo ced stop selection PAL Fir actores selling m f Synchronous Control Para Torque contre pars For manaka chana setting 5 rg Cam Data 3 Serve adjustr an ur maana seine feo Basic BALA UR Mha kua direc tont scies boe m Simple Motion Monitor Sip E PAIS tre paar jure E 2 Pais trend 0 m Servo Amplifier Operation Filter 1 ir Fa setting M Digital Oscilloscope filter 2 ATT For Filter 3 Pa mx nce Max Tough dese it ng 0060 1128 0000 Vibration aoe Pune bani spas hari e 0060 5001 on1 QOne toud e3 Paban cork dl eror Funk bsec Bee 0 30 38 can changing fg
92. witching control wD Axis 21 to be interpolated Positioning data No 1 Positioning address 100000 0 um Command speed 2000 00 mm min Poston pred switching contol 22 to be interpolated 2 035 irea inter polabon ABS Axes 23 to be interpolated 2 2 Imey interpolation INC Arc address 2 86 fwed feed contol Reference axis Cradar interpolation control wif auxiar y pont ABS Interpolalion axis 81 Operation pattern Acoeleration deceleration time Operation pattern 1 CONT Acceleration time No 0 1000 Deceleration time No 0 1000 Dwell time 0 0 ms M code 0 Seiu Range 0 01 3000 00 mm mm 1f 1 6 set for the command speed the current speed speed set for previous positioning data No wil be used for positioning control E 3 POSITIONING CONTROL STARTUP RD77MS Quick Start Guide 4 Click Set The Data Setting Assistant window closes and the positioning data window appears Display Filter Display All Data Setting Assistant Simulation Automatic Command Speed Automatic Sub Arc Calc No Operation pattern Control method nd jr eee Positioning address Arc address Command speed Dwell time M code z O1h ABS Linear 1 E 0 1000 0 1000 100000 0 E 2000 00 mm min 0 ms Positioning Comment Positioning Comment 4 Operation pattern The operation pattern designates whether positioning
93. x Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel Fax 1 847 478 2100 1 847 478 2253 52 55 3067 7500 55 11 4689 3000 55 11 4689 3016 49 2102 486 0 49 2102 486 1120 44 1707 28 8780 44 1707 27 8695 39 039 60531 39 039 6053 312 34 935 65 3131 34 935 89 1579 33 1 55 68 55 68 33 1 55 68 57 57 420 251 551 470 420 251 551 471 48 12 347 65 00 48 12 630 47 01 7 812 633 3497 7 812 633 3499 46 8 625 10 00 46 46 39 70 18 90 216 526 3990 90 216 526 3995 971 4 3724716 971 4 3724721 27 11 658 8100 27 11 658 8101 86 21 2322 3030 86 21 2322 3000 886 2 2299 2499 886 2 2299 2509 82 2 3660 9510 82 2 3664 8372 8335 65 6473 2308 65 6476 7439 66 2682 6522 to 6531 66 2682 6020 62 21 3192 6461 62 21 3192 3942 84 8 3910 5945 84 8 3910 5947 91 20 2710 2000 91 20 2710 2100 61 2 9684 7777 61 2 9684 7245 Mitsubishi Electric Corporation Nagoya Works is a factory certified for ISO 14001 standards for environmental management systems and ISO 9001 standards for quality assurance management systems 14001 UKAS SYSTEMS geh NATI ISO 2 2 Y ISO 9001 BUREAU VERITAS Certification
94. y occur depending on the machine When using the absolute position system function on starting up and when the module or absolute value motor has been replaced always perform a home position return Before starting the operation confirm the brake function Do not perform a megger test insulation resistance measurement during inspection After maintenance and inspections are completed confirm that the position detection of the absolute position detection function is correct Lock the control panel and prevent access to those who are not certified to handle or install electric equipment Operating Precautions N CAUTION When changing data and operating status and modifying program of the running programmable controller from an external device such as a personal computer connected to an intelligent function module read relevant manuals carefully and ensure the safety before operation Incorrect change or modification may cause system malfunction damage to the machines or accidents Do not power off the programmable controller or reset the CPU module while the setting values in the buffer memory are being written to the flash ROM in the module Doing so will make the data in the flash ROM undefined The values need to be set in the buffer memory and written to the flash ROM again Doing so also can cause malfunction or failure of the module Note that when the reference axis speed is specified for interpolation operation the speed of th

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