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RD77MS16
Mitsubishi Electric RD77MS16 User Manual
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MELSEC iQ-R Simple Motion Module
User's Manual (Application)
RD77MS2
RD77MS4
RD77MS8
RD77MS16
2
Table of Contents
Default Chapter
3
Safety Precautions
3
Conditions of Use for the Product
11
Introduction
11
Compliance with Emc and Low Voltage Directives
12
Table of Contents
13
Relevant Manuals
19
Terms
20
Chapter 1 Start and Stop
21
Start
21
Multiple Axes Simultaneous Start
25
Stop
27
Restart
31
Chapter 2 Home Position Return Control
33
Outline of Home Position Return Control
33
Two Types of Home Position Return Control
33
Machine Home Position Return
35
Outline of the Machine Home Position Return Operation
35
Machine Home Position Return Method
36
Near-Point Dog Method
37
Count Method1
39
Count Method2
41
Data Set Method
43
Scale Origin Signal Detection Method
44
Fast Home Position Return
47
Outline of the Fast Home Position Return Operation
47
Selection of the Home Position Return Setting Condition
49
Outline of the Home Position Return Setting Condition
49
Chapter 3 Major Positioning Control
50
Outline of Major Positioning Controls
50
Data Required for Major Positioning Control
52
Operation Patterns of Major Positioning Controls
53
Designating the Positioning Address
60
Confirming the Current Value
61
Control Unit "Degree" Handling
63
Interpolation Control
66
Setting the Positioning Data
70
Relation between each Control and Positioning Data
70
1-Axis Linear Control
73
2-Axis Linear Interpolation Control
75
3-Axis Linear Interpolation Control
79
4-Axis Linear Interpolation Control
83
Fixed-Feed Control
85
2-Axis Circular Interpolation Control with Sub Point Designation
88
2-Axis Circular Interpolation Control with Center Point Designation
92
3-Axis Helical Interpolation Control with Sub Point Designation
97
3-Axis Helical Interpolation Control with Center Point Designation
103
Speed Control
110
Speed-Position Switching Control (INC Mode)
114
Speed-Position Switching Control (ABS Mode)
121
Position-Speed Switching Control
128
Current Value Changing
135
NOP Instruction
140
JUMP Instruction
141
Loop
143
Lend
144
Chapter 4 High-Level Positioning Control
145
Outline of High-Level Positioning Control
145
Data Required for High-Level Positioning Control
146
Block Start Data" and "Condition Data" Configuration
147
High-Level Positioning Control Execution Procedure
148
Setting the Block Start Data
149
Relation between Various Controls and Block Start Data
149
Block Start
150
Condition Start
152
Wait Start
153
Simultaneous Start
154
Repeated Start (for Loop)
155
Repeated Start (for Condition)
156
Restrictions When Using the NEXT Start
157
Setting the Condition Data
158
Relation between Various Controls and the Condition Data
158
Condition Data Setting Examples
160
Start Program for High-Level Positioning Control
161
Starting High-Level Positioning Control
161
Example of a Start Program for High-Level Positioning Control
162
Chapter 5 Manual Control
165
Outline of Manual Control
165
Three Manual Control Methods
165
JOG Operation
167
Outline of JOG Operation
167
JOG Operation Execution Procedure
170
Setting the Required Parameters for JOG Operation
171
Creating Start Programs for JOG Operation
172
JOG Operation Example
174
Inching Operation
176
Outline of Inching Operation
176
Inching Operation Execution Procedure
179
Setting the Required Parameters for Inching Operation
180
Creating a Program to Enable/Disable the Inching Operation
181
Inching Operation Example
183
Manual Pulse Generator Operation
184
Outline of Manual Pulse Generator Operation
184
Manual Pulse Generator Operation Execution Procedure
189
Setting the Required Parameters for Manual Pulse Generator Operation
190
Creating a Program to Enable/Disable the Manual Pulse Generator Operation
191
Chapter 6 Inter-Module Synchronization Function
193
Chapter 7 Expansion Control
195
Speed-Torque Control
195
Outline of Speed-Torque Control
195
Setting the Required Parameters for Speed-Torque Control
196
Setting the Required Data for Speed-Torque Control
197
Operation of Speed-Torque Control
199
Synchronous Control
216
Chapter 8 Control Sub Functions
217
Outline of Sub Functions
217
Sub Functions Specifically for Machine Home Position Return
219
Home Position Return Retry Function
219
Home Position Shift Function
223
Functions for Compensating the Control
226
Backlash Compensation Function
226
Electronic Gear Function
227
Near Pass Function
233
Functions to Limit the Control
235
Speed Limit Function
235
Torque Limit Function
237
Software Stroke Limit Function
240
Hardware Stroke Limit Function
245
Forced Stop Function
248
Functions to Change the Control Details
250
Speed Change Function
250
Override Function
256
Acceleration/Deceleration Time Change Function
258
Torque Change Function
261
Target Position Change Function
265
Functions Related to Start
268
Pre-Reading Start Function
268
Absolute Position System
270
Functions Related to Stop
271
Stop Command Processing for Deceleration Stop Function
271
Continuous Operation Interrupt Function
273
Step Function
275
Other Functions
280
Skip Function
280
M Code Output Function
283
Teaching Function
287
Command In-Position Function
292
Acceleration/Deceleration Processing Function
294
Deceleration Start Flag Function
296
Speed Control 10 Times Multiplier Setting for Degree Axis Function
299
Operation Setting for Incompletion of Home Position Return Function
301
Servo ON/OFF
303
Follow up Function
304
Chapter 9 Common Functions
305
Outline of Common Functions
305
Parameter Initialization Function
306
Execution Data Backup Function
308
External Input Signal Select Function
310
History Monitor Function
318
Amplifier-Less Operation Function
321
Virtual Servo Amplifier Function
325
Driver Communication Function
327
Mark Detection Function
333
Optional Data Monitor Function
342
Event History Function
344
Connect/Disconnect Function of SSCNET Communication
347
Online Module Change
351
Hot Line Forced Stop Function
352
Chapter 10 Parameter Setting
354
Parameter Setting Procedure
354
Module Parameters
354
Refresh Settings
354
Simple Motion Module Setting
358
Chapter 11 Specifications of I/O Signals with Cpu Modules
359
List of Input/Output Signals with CPU Modules
359
Details of Input Signals
361
Details of Output Signals
362
Chapter 12 Data Used for Positioning Control
363
Types of Data
363
Parameters and Data Required for Control
363
Setting Items for Servo Network Composition Parameters
365
Setting Items for Common Parameters
366
Setting Items for Positioning Parameters
368
Setting Items for Home Position Return Parameters
378
Setting Items for Expansion Parameters
379
Setting Items for Servo Parameters
379
Setting Items for Positioning Data
380
Setting Items for Block Start Data
383
Setting Items for Condition Data
383
Types and Roles of Monitor Data
384
Types and Roles of Control Data
387
List of Buffer Memory Addresses
390
Basic Setting
409
Servo Network Composition Parameters
409
Common Parameters
410
Basic Parameters1
416
Basic Parameters2
419
Detailed Parameters1
420
Detailed Parameters2
427
Home Position Return Basic Parameters
437
Home Position Return Detailed Parameters
440
Expansion Parameters
444
Servo Parameters
446
Positioning Data
447
Block Start Data
462
Condition Data
465
Monitor Data
470
System Monitor Data
470
Axis Monitor Data
479
Servo Network Composition Status
505
Control Data
506
System Control Data
506
Axis Control Data
511
Memory Configuration and Data Process
544
Configuration and Roles
544
Buffer Memory Area Configuration
546
Data Transmission Process
548
Chapter 13 Programming
558
Precautions for Creating Program
558
List of Labels Used
560
Creating a Program
563
General Configuration of Program
563
Positioning Program Examples
564
Chapter 14 Troubleshooting
576
Troubleshooting Procedure
576
Troubleshooting Using the Leds
576
Troubleshooting Using the Module Status
578
Troubleshooting by Symptom
579
Error and Warning Details
580
Error Type
580
Error Code Classification
581
Error Storage
581
Warning Type
582
Warning Code Classification
582
Warning Storage
582
Clearing Errors and Warnings
583
List of Warning Codes
584
Simple Motion Module Detection Warning
584
Servo Amplifier Detection Warning
592
List of Error Codes
593
Simple Motion Module Detection Error
593
Servo Amplifier Detection Error
620
Appendices
621
Appendix 1 Module Label
621
Appendix 2 How to Find Buffer Memory Addresses
622
Appendix 3 Compatible Devices with SSCNETIII(/H)
626
Servo Driver VCII Series Manufactured by Nikki Denso Co., Ltd
626
Inverter FR-A700 Series
630
Connection with MR-JE-B
635
Appendix 4 Restrictions by the Version
636
Index
637
Revisions
640
Warranty
641
Trademarks
642
4
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Mitsubishi Electric RD77MS16 Specifications
General
Brand
Mitsubishi Electric
Model
RD77MS16
Category
Controller
Language
English
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