Mitsubishi Electric FATEC MELSEC iQ-R Installation guide

Mitsubishi Electric
Programmable Controller
Training Manual
MELSEC iQ-R/iQ-F Simple Motion
(for GX Works3)

A-1
Introduction
This document is a training manual prepared to facilitate the understanding of single-axis control and
multi-axis control by MELSEC iQ-R Series simple motion module.
It describes the features of the simple motion module, the procedures for setting the positioning data
and creating the sequence programs using RD77MS4 simple motion module and GX Works3 as
demonstration machine and the monitoring and testing operations.
The following related manuals are available.
(1) Simple motion module User’s Manuals
MELSEC iQ-R Simple Motion Module User's Manual (Startup)............IB(NA)-0300245ENG
MELSEC iQ-R Simple Motion Module User's Manual (Application).........IB(NA)-0300247ENG
MELSEC iQ-R Simple Motion Module User's Manual (Advanced Synchronous Control)
.............................................................IB(NA)-0300249ENG
(2) Programming manuals
MELSEC iQ-R Programming Manual (Program Design) .................SH(NA)-081265ENG
MELSEC iQ-R Programming Manual (Instructions, Standard Functions/Function Blocks)
.............................................................SH(NA)-081226ENG
(3) Operating Manual
GX Works3 Operating Manual .....................................SH(NA)-081215ENG
(4) Documents relating to servo amplier
MR-J4-_B_(-RJ) SERVO AMPLIFIER INSTRUCTION MANUAL ..........SH(NA)-030106ENG
MELSERVO-J4 Servo amplifier INSTRUCTION MANUAL (TROUBLE SHOOTING)
.............................................................SH(NA)-030109ENG
POINT
In this text, the buffer memories are classified with the following symbols, and the buffer memories for each
axis are listed collectively.
• [Pr.**]: Positioning parameter and home position return parameter items
• [Da.**]: Positioning data and block start data items
• [Md.**]: Monitor data items
• [Cd.**]: Control data items
SSCNET is an abbreviation of Servo System Controller Network.
Microsoft, Windows, Windows Vista, Windows NT, Windows XP, Windows Server, Visio, Excel, PowerPoint,
Visual Basic, Visual C++, Access are either registered trademarks or trademarks of Microsoft Corporation in
the United States and/or other countries.
Ethernet is the registered trademark of Fuji Xerox Co., Ltd.
Other products names and company names are the trademarks or registered trademarks of the respective
companies.

A-2
Contents
Introduction .....................................................................A-1
Chapter 1 Outline of Positioning Control 1-1 to 1-12
1.1 Outline of Positioning Control .................................................1-1
1.2 Mechanism of Positioning Control..............................................1-5
1.2.1 Schematic designs of positioning systems ....................................1-6
1.3 Positioning Control Procedures................................................1-8
1.3.1 Procedures for implementing positioning control ...............................1-8
1.3.2 Outline of start..........................................................1-9
1.3.3 Outline of stop .........................................................1-10
1.3.4 Outline of restart .......................................................1-12
Chapter 2 System Configuration 2-1 to 2-3
2.1 System Configuration Devices ................................................2-1
2.2 Configuration Device List ....................................................2-2
Chapter 3 Specifications and Functions 3-1 to 3-30
3.1 Performance Specifications ..................................................3-1
3.2 Main Features of RD77MS Simple Motion Module .................................3-4
3.3 Function List ..............................................................3-7
3.3.1 Main functions ..........................................................3-8
3.3.2 Sub function ..........................................................3-11
3.3.3 Common function ......................................................3-14
3.4 Specifications of I/O Signals with CPU Modules..................................3-15
3.4.1 List of input/output signals with CPU modules ................................3-15
3.4.2 Details of input signals ..................................................3-17
3.4.3 Details of output signals .................................................3-18
3.5 Input/output Interface with External Devices.....................................3-19
3.5.1 Input/output interface signals .............................................3-20
3.6 Buffer Memory............................................................3-22
3.6.1 Buffer memory area configuration..........................................3-22
3.6.2 Explanation of buffer memories used in practical work..........................3-25
Chapter 4 Types of Data 4-1 to 4-105
4.1 Parameters and Data Required for Control.......................................4-1
4.1.1 Setting data ............................................................4-1
4.1.2 Monitor data ...........................................................4-3
4.1.3 Control data............................................................4-3
4.2 Servo Network Composition Parameters ........................................4-3
4.2.1 Connected device .......................................................4-3
4.2.2 Identification code list ....................................................4-4
4.3 Common Parameters .......................................................4-5

A-3
4.4 Basic Parameters ..........................................................4-6
4.4.1 Basic parameters 1 ......................................................4-6
4.4.2 Basic parameters 2 .....................................................4-10
4.5 Detailed Parameters .......................................................4-11
4.5.1 Detailed parameters 1...................................................4-11
4.5.2 Detailed parameters 2...................................................4-17
4.6 Home Position Return Parameters ............................................4-24
4.6.1 Home position return basic parameters .....................................4-24
4.6.2 Home position return detailed parameters ...................................4-31
4.7 Extended Parameters ......................................................4-33
4.8 Servo Parameters .........................................................4-34
4.8.1 Basic setting ..........................................................4-34
4.8.2 Gain/filter setting .......................................................4-42
4.8.3 Extension setting.......................................................4-53
4.8.4 I/O setting ............................................................4-60
4.8.5 Extension setting 2 .....................................................4-64
4.8.6 Extension setting 3 .....................................................4-67
4.9 Positioning Data ..........................................................4-69
4.10 Control Modes............................................................4-77
4.10.1 Linear control .........................................................4-77
4.10.2 Fixed-feed control ......................................................4-80
4.10.3 2-axis circular interpolation control with sub point designation ....................4-81
4.10.4 2-axis circular interpolation control with center point designation ..................4-84
4.10.5 3-axis helical interpolation control with sub point designation. . . . . . . . . . . . . . . . . . . . . 4-87
4.10.6 3-axis helical interpolation control with center point designation ..................4-90
4.10.7 Speed control .........................................................4-93
4.10.8 Speed-position switching control...........................................4-96
4.10.9 Position-speed switching control..........................................4-100
4.10.10 Current value change ..................................................4-102
4.10.11 NOP instruction .......................................................4-103
4.10.12 JUMP instruction ......................................................4-104
4.10.13 Loop control .........................................................4-105
Chapter 5 Practice (1) Test Operation with GX Works3 (RD77MS4) 5-1 to 5-27
5.1 Demonstration Machine System Configuration....................................5-1
5.2 CPU Module Setting ........................................................5-2
5.2.1 New project creation .....................................................5-2
5.2.2 Adding extension modules ................................................5-5
5.3 Simple Motion Module Setting ...............................................5-12
5.3.1 System configuration....................................................5-12
5.3.2 Parameters ...........................................................5-13
5.3.3 Servo parameters ......................................................5-17
5.3.4 Positioning data........................................................5-19
5.3.5 Simulation ............................................................5-20
5.4 Writing to the RD77MS .....................................................5-21

A-4
5.4.1 Saving the project ......................................................5-21
5.4.2 Writing to the PLC ......................................................5-22
5.5 Test Operation............................................................5-24
Chapter 6 Practice (2) Training in Positioning Control 6-1 to 6-64
6.1 Practice Content ...........................................................6-1
6.2 Device Assignment .........................................................6-1
6.3 RD77MS Demonstration Machine System Configuration ............................6-3
6.3.1 System configuration.....................................................6-3
6.3.2 Demonstration machine operation panel .....................................6-4
6.4 Opening the Project for RD77MS ..............................................6-5
6.5 Simple Motion Module Setting ................................................6-6
6.5.1 System configuration.....................................................6-6
6.5.2 Parameters ............................................................6-7
6.5.3 Servo parameters ......................................................6-11
6.5.4 Positioning data........................................................6-13
6.6 Position Control Program ...................................................6-14
6.6.1 Initial processing .......................................................6-15
6.6.2 JOG operation.........................................................6-17
6.6.3 Home position return....................................................6-22
6.6.4 Standby point positioning ................................................6-27
6.6.5 Point selection positioning................................................6-29
6.6.6 Address indirect specification positioning ....................................6-32
6.6.7 Speed change .........................................................6-36
6.6.8 Positioning execute program .............................................6-40
6.7 Writing to the RD77MS .....................................................6-41
6.7.1 Saving the project ......................................................6-41
6.7.2 Writing to the PLC ......................................................6-42
6.8 Demonstration Machine Operation ............................................6-44
6.8.1 Starting the servo amplifiers ..............................................6-44
6.8.2 JOG operation.........................................................6-45
6.8.3 Home position return....................................................6-47
6.8.4 Standby point positioning ................................................6-48
6.8.5 Point selection.........................................................6-50
6.8.6 Address indirect specification positioning ....................................6-51
6.8.7 Speed change .........................................................6-52
6.8.8 Troubleshooting .......................................................6-53
6.9 Sequence Program List.....................................................6-55
Chapter 7 Advanced Synchronous Control Practice 7-1 to 7-99
7.1 What is the Synchronous Control? .............................................7-1
7.1.1 Synchronous control modules..............................................7-1
7.1.2 Synchronous control module list ............................................7-2
7.1.3 Servo input axes ........................................................7-3
7.1.4 Synchronous encoder axes................................................7-4

A-5
7.1.5 Main shaft main input axis.................................................7-6
7.1.6 Main shaft sub input axis..................................................7-6
7.1.7 Composite main shaft gear ................................................7-6
7.1.8 Main shaft gear .........................................................7-7
7.1.9 Main shaft clutch ........................................................7-7
7.1.10 Auxiliary shafts ........................................................7-10
7.1.11 Auxiliary shaft gear .....................................................7-10
7.1.12 Auxiliary shaft clutch ....................................................7-11
7.1.13 Auxiliary shaft composite gear ............................................7-13
7.1.14 Speed change gear.....................................................7-14
7.1.15 Output axes...........................................................7-14
7.1.16 Starting/ending for synchronous control .....................................7-17
7.1.17 Stop operation of output axis .............................................7-18
7.2 Practice Content ..........................................................7-20
7.2.1 Advanced synchronous control 1: Travel cutter ...............................7-21
7.2.2 Advanced synchronous control 2: Rotary cutter ...............................7-22
7.3 Assignment of Devices Used for Practice .......................................7-23
7.4 Opening the Project for RD77MS .............................................7-26
7.5 Simple Motion Module Setting ...............................................7-27
7.5.1 Parameters ...........................................................7-27
7.5.2 Servo parameters ......................................................7-30
7.5.3 Positioning data........................................................7-31
7.5.4 Synchronous control parameters ..........................................7-34
7.5.5 Cam data.............................................................7-40
7.6 Advanced Synchronous Control Programs ......................................7-44
7.6.1 Advanced synchronous control 1: Travel cutter program ........................7-44
7.6.2 Advanced synchronous control 2: Rotary cutter program ........................7-54
7.7 Writing to the PLC .........................................................7-65
7.8 Demonstration Machine Operation ............................................7-67
7.8.1 Advanced synchronous control 1: Travel cutter ...............................7-67
7.8.2 Advanced synchronous control 2: Rotary cutter ...............................7-70
7.9 Sequence Program List.....................................................7-73
Appendices App-1 to App-78
Appendix 1 Sequence Program List ................................................App-1
Appendix 2 Application Practice ..................................................App-17
Appendix 2.1 Practice Content .................................................App-18
Appendix 2.2 Practice Program.................................................App-19
Appendix 2.2.1 Continuous positioning (1).......................................App-19
Appendix 2.2.2 Continuous positioning (2).......................................App-28
Appendix 2.2.3 Teaching, teaching playback .....................................App-32
Appendix 2.2.4 Fixed-feed, fixed-feed stepping ...................................App-36
Appendix 2.3 Demonstration Machine Operation ...................................App-40
Appendix 2.3.1 Preparation for positioning execution ..............................App-40
Appendix 2.3.2 Continuous positioning (1).......................................App-41

A-6
Appendix 2.3.3 Continuous positioning (2).......................................App-43
Appendix 2.3.4 Teaching, teaching playback .....................................App-43
Appendix 2.3.5 Fixed-feed, fixed-feed stepping ...................................App-46
Appendix 2.3.6 Troubleshooting...............................................App-48
Appendix 3 Assistant Function ...................................................App-49
Appendix 4 FB (function block) Insertion Procedure ..................................App-53
Appendix 5 Simple Motion Monitor ...............................................App-56
Appendix 5.1 Starting the Monitor (in the case of Axis Monitor) ........................App-56
Appendix 5.2 Stopping/starting the Monitor .......................................App-56
Appendix 5.3 Switching the Monitor .............................................App-57
Appendix 5.4 Types of Monitors ................................................App-57
Appendix 5.5 Adding/deleting Monitor Items .......................................App-58
Appendix 6 Digital Oscilloscope ..................................................App-59
Appendix 7 MELSEC iQ-F Series Simple Motion Module ..............................App-66
Appendix 7.1 Major Features of MELSEC iQ-F Series Simple Motion Module.............App-66
Appendix 7.2 System Configuration .............................................App-67
Appendix 7.3 Major Differences from MELSEC iQ-R Series Simple Motion Module ........App-68
Appendix 8 Glossary ..........................................................App-70

A-7
Safety Precautions 
(Always read before performing practical work.)
When designing systems, always read related manuals and give
sufficient consideration to safety.
Pay due attention to the following points when performing practical
work, and ensure correct handling of the product.
[Practical work precautions]
● Do not touch terminals while the power is ON. Failure to observe
this may result in electric shock.
● When removing the safety cover, either turn OFF the power, or
ensure that sufficient attention is paid to safety.
● Carry out practical work in accordance with the instructions of your
teacher.
● Do not remove the demonstration machine, or make changes to the
wiring.
Failure to observe this may result in a fault, malfunction, injury, or
fire.
● Turn OFF the power before attaching or removing the module.
Removing or attaching the module with the power ON may result in
a module fault or electric shock.
● If the demonstration machine emits an abnormal odor or noise,
press the [Power] button or [EMERGENCY STOP] button to stop
the module.
● If an error occurs, notify your teacher immediately.

A-8
Revision History
* The text number is indicated in the lower left of the rear cover of this text.
Print date * Text No. Revision details
December, 2017 SH-030278ENG-A First print
This manual confers no industrial property rights of any other kind, nor does it confer any patent licenses.
Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property
rights which may occur as a result of using the contents noted in this manual.
© 2017 MITSUBISHI ELECTRIC CORPORATION

1-1
Chapter 1 Outline of Positioning Control
1.1 Outline of Positioning Control
The term “positioning” refers to the process to move a body, such as a workpiece or a tool,
(hereinafter, collectively referred to as a workpiece) at the specified speed and stop the body
accurately at the target position.
The movement control of workpiece to the target position can be easily made by stopping
the workpiece using a timer or installing a sensor at the stop position. However, various
problems may arise if it is required to stop it accurately at the position or after moving at a
high speed.
Manual
control
If stopped with
the pushbutton
ON
OFF
Target stop position Varies in
each case.
Automatic
control
Target stop position
Varies depending
on conveyor speed.
Start position
Stop after 10 seconds!
Stop with this sensor!
Varies if the
speed is low.
To solve these problems, the positioning procedures are described below, so that you can
learn how to transfer a workpiece to the target position at a high speed and stop the
workpiece correctly.
Positioning Target stop position
Start position
Precisely
High speed

1-2
Simple transfer control can be achieved with programmable controllers using timers and limit
switches where high accuracy is not required as shown in previous page.
For positioning control or transfer control where high accuracy is required, the positioning
function of programmable controllers can be used to stop workpiece accurately at target
position with high repeatability and high reliability.
The stopping accuracy of the function can be controlled in the order of μm depending on the
equipment mechanism.
• For positioning control using the positioning function of programmable controllers, devices
appropriate to the control are required. The outline and functions of the devices are shown
below.
(1) Positioning controller (CPU module or positioning module)
(2) Driving amplifier or driver for transmitting commands from programmable controllers to
motor
(3) Servo motor or stepping motor capable of precisely detecting rotation angle
(1) Positioning controller
The CPU module or module serves as the positioning controller and
gives necessary information for positioning to the servo amplifier or
the stepping motor driver.
(2) Servo amplifier or the stepping motor driver
Based on the commands given by programmable controllers like
the rotation direction, rotating speed, rotation amount are transmitted
to the motor.
In which direction, forward or reverse… Rotation direction command
At what speed … Speed command
To where … Position command
(3) Servo motor or stepping motor
The motor rotates in the specified direction at the specified speed and
stops at the specified position according to the command given by the
servo amplifier or stepping motor driver.

1-3
Positioning examples are as shown below:
■ Punch press (positioning for feeding in X- and Y-axis directions)
RD77MS
15 m/min
(2000 rev/min)
15 m/min
(1875 rev/min)
12 s
Servo motor
for Y-axis
Gear + ball screw
Y-axis
X-axis
Press punching
Servo
amplifier
Y-axis
X-axis
Y-axis
320 mm 160 mm
Servo
amplifier
Press head X-axis
Gear + rack & pinion
Servo motor for X-axis
• To punch an insulating material or
leather with a single die, positioning is
performed using two servo motors.
One servo motor is for feeding (X-axis)
and second servo motor is for press
head direction.
• After the table is positioned by the
X-axis servo motor, the press head is
positioned by the Y-axis servo motor,
and the material is punched with the
press.
• When the kind or shape of material is
changed, the press head is replaced,
and the positioning pattern is
switched.
■ Palletizer
RD77MS
(From RD77MS)
Conveyor control
Servo motor
(with brake)
Conveyor
Reducer
Ball screw
Servo amplifier
Position detector
Palletizer
Delivery machine control
• The palletizer is positioned with a high
degree of accuracy by using the 1-axis
servo motor.
• The lowering distance of the palletizer
corresponding to the material
thickness is stored.
■ Small machining center (ATC magazine positioning)
RD77MS
Servo motor
Servo
amplifier
Coupling
Reducer
Positioning pin
ATC tool magazine
Tools
(12 pcs. or 20 pcs.)
Rotation direction to
call 11, 12, 1, 2 or 3
Current
value
removing
position
Rotation direction to
call 5, 6, 7, 8, 9 or 10
(Number of tools: 12)
Rotation direction to
call 17 to 20 or 1 to 5
Rotation direction to
call 7 to 16
(Number of tools: 20)
Current
value
removing
position
• The ATC tool magazine of small
machining center is positioned.
• The relationship between the current
value and target value of the
magazine is calculated, and it is
positioned in the forward or reverse
direction in which the target tool can
be accessed more quickly.

1-4
■ Lifter (storing of CRTs in aging rack)
RD77MS
Conveyor B
Lifter
Counterweight
Reducer
Servo motor
(with brake)
Conveyor C
Conveyor A
Loading machine
Servo motor
Unloading machine
Loading/unloading machine
Aging rack
Servo amplifier
Servo amplifier
• CRTs are stored in the rack in the
aging process by positioning with the
aid of AC servo motor.
• The lifter is positioned in the vertical
direction by using the one servo motor,
and the aging rack is positioned in the
horizontal direction by using second
servo motor.
■ Index table (high-precision angle indexing)
RD77MS
Digital switch
Index table
Worm gear Detector
Servo motor
Servo
amplifier
• The index table is positioned with a
high degree of accuracy by using the
1 servo motor.
■ Internal grinding machine
RD77MS
AC
Servo
amplifier
220 V AC
60 Hz
The grinding wheel
is secured, and the
workpiece is sent
and ground.
Inverter
Grinding wheel
Workpiece
Motor
Servo motor
a. Operation panel (µm)
b. Finishing feed (µm)
c. Correction amount (µm)
d. Coarse grinding speed (µm/s)
e. Fine grinding speed (µm/s)
Motor
Inverter
• Grinding of internal surface of
workpiece is controlled by using the
servo motor and inverters.
• One inverter controls the rotation of
the workpiece, and the second inverter
controls the rotation of the grinding
wheel. The one servo motor feeds the
workpiece to grind it.

1-5
1.2 Mechanism of Positioning Control
On the positioning system using RD77MS, various kinds of software and external devices
are used for the functions shown in the following figure.
RD77MS captures various signals, parameters and positioning data, and the CPU module
controls them to realize complicated positioning control.
Positioning control using RD77MS
GX Works3
RD77MS
simple
motion
module
CPU
module
External signals
Manual pulse generator/
Incremental synchronous encoder
Servo
amplifier
Servo
motor
Machine
moving part
(Driving part)
Creates a sequence
program of control
order and conditions.
Stores the created program.
Outputs the start signal and stop
signal to RD77MS according to the
stored program.
Detects errors of RD77MS.
Sets the control parameters
and positioning data.
Issues the start instruction
for JOG operation during test
operation by test function.
Monitors the positioning
operation.
Outputs the start signal, external
command signals and switching
signals to RD77MS.
Issues commands
by pulse output.
Stores parameters and data.
Drives the servo motor based on the position
command and control command received
from RD77MS.
Activate the controlled machine according to
the commands from the servo amplifier.
Transmits data to the servo amplifier according
to the directions of the CPU module, GX Works3,
external signals and manual pulse generator.
Outputs the position data in the motor data to
RD77MS through SSCNET III (/H).

1-6
1.2.1 Schematic designs of positioning systems
The operations and schematic designs of positioning systems are shown below.
(1) System using ball screw
Travel and speed of system using ball screw
V
RL
Table
Workpiece
Feed screw
Servo motor
Pulse
generator
(PG)
A : Position detection unit (mm/pulse)
Vs : Command pulse frequency (pulses/s)
n : Number of slits of pulse generator (pulse
count) (pulses/rev)
L : Feed screw lead (mm/rev)
R : Reduction ratio
V : Moving part speed (mm/s)
N : Motor speed (r/min)
K : Position loop gain (1/s)
ε : Accumulated pulse count of deviation
counter (pulses)
For the above system using ball screw, the position detection unit, command
pulse frequency and accumulated pulse count of deviation counter are calculated
by the following formulas.
[1] Position detection unit
The position detection unit is calculated from the feed screw lead, reduction
ratio and number of slits of pulse generator.
=
R×n
L
A [mm/pulse]
[2] Command pulse frequency
The command pulse frequency is calculated from the moving part speed and
position detection unit.
[pulse/s]
A
V
Vs
=
[3] Accumulated pulse count of deviation counter
The accumulated pulse count of deviation counter is calculated from the
command pulse frequency and position loop gain.
[pulse]ε
K
Vs
=

1-7
(2) Positioning system using RD77MS
Outline of operation of positioning system using RD77MS
CPU module RD77MS
Reading,
writing,
etc.
OS
Position commands
Control commands
Monitor data
Interface
•
Position commands
• Control commands
• Monitor data
• External input signals
of servo amplifier
Position
control
Speed
control
Current
control
Inverter
Current feedback
Speed feedback
Positioning feedback Interface
Servo motor
M
PLG
•EMI (Forced stop input signal)
•FLS (Upper limit signal)*1
•RLS (Lower limit signal)*1
• DI (External command /switching signal)
•STOP (Stop signal)
•DOG (Proximity dog signal)*1
Servo amplifier
Manual pulse generator/Incremental
synchronous encoder A-phase/B-phase
+
-
+
- -
+
SSCNET III (/H)
External input signals of servo amplifier
(refer to servo amplifier instruction manuals)
•FLS (Upper limit signal)*1
•RLS (Lower limit signal)*1
•DOG (Proximity dog signal)*1
External input signals
*1 Any of external input signal of RD77MS, external input signal of servo amplifier and
external input signal through CPU (buffer memory of RD77MS) can be used depending
on the parameter setting.
SSCNET
III
(
/H
)
I/F
SSCNET
III
(
/H
)
I/F

1-8
1.3 Positioning Control Procedures
1.3.1 Procedures for implementing positioning control
The positioning controls (used in this document) are implemented in accordance with the
following procedures.
Major positioning
control
Home position return control
(Machine home position return)
High-level
positioning control
Set the parameters*1
Positioning Control start
Set the positioning data.
Parameter
settings
Program
creation
Start control
Stop control
Turn on PLC READY signal [Y0].
Turn on All axis servo ON [Y1].
Set the synchronous
control data.
Set the cam data.
Set the block start data.
Set the condition data.
Sets the "[Cd.17] JOG
speed."
Turn on "[Cd.380]
Synchronous
control start."
Sets the "[Cd.3] Positioning start No."
Turn on the Positioning start signal [Y10 to Y1F].
Turn on the External command signal (DI), or
execute the module FB "M+RD77_StartPositioning."
Turn off "[Cd.181] Forward
run JOG start" or
"[Cd.182] Reverse run
JOG start."
Stop due to
completion of
control
Stop due to completion of control
Manual control
(JOG operation)
Extended control
(Synchronous control)
Set the positioning
data.
Set 0 in "[Cd.16] Inching
movement amount."
Turn on "[Cd.181] Forward
run JOG start" or
"[Cd.182] Reverse run
JOG start."
*1. The home position return parameters must be set only for the home position return control.

1-9
1.3.2 Outline of start
When the servo amplifier is started and the start trigger is activated for each control,
RD77MS starts the positioning control.
Servo ON conditions
To start the servo amplifier, the following output signals must be successively turned on.
[1] PLC READY signal [Y0] ON
[2] All axis servo ON [Y1] ON
Start signals
The start signal for each control enabled after the servo amplifier is started is shown below.
Control type Start trigger
Major positioning control • The positioning start signal [Y10 to Y1F] is turned on.
• The external command signal (DI) is turned on.
• The module FB ”M+RD77_StartPositioning” is executed.
High-level positioning control
Home position return control
Manual
control
JOG operation “[Cd.181] Forward run JOG start signal” or “[Cd.182] Reverse run
JOG start signal” is turned on.
Inching operation
Manual pulse
generator The manual pulse generator is operated.

1-10
1.3.3 Outline of stop
The axis stop signal or stop signal from external input signal is used to stop the control.
It is necessary to create a program for turning on the “[Cd.180] Axis stop signal” as the
stopping program.
Each control is stopped in the following cases.
(a) When each control is completed normally
(b) When the servo amplifier power supply is turned off
(c) When a CPU module error occurs
(d) When the PLC READY signal is turned OFF
(e) When an error occurs in RD77MS
(f) When control is intentionally stopped
(Stop signal from CPU module turned ON, “Stop signal” of external input signal turned
ON, etc.)
The stop process for the above cases is shown below.
(Except the normal termination in case (a))
Stop cause Stop axis
M code ON
signal after stop
Axis operation status
after stopping ([Md.26])
Forced stop “Forced stop input signal“ OFF
from an external device All axes No change Servo OFF
Forced stop
Servo READY OFF
Servo amplifier power supply OFF
Each axis No change
Servo amplifier has not
been connected
Servo alarm Error
Forced stop input to servo amplifier Servo OFF
Fatal stop
(Stop group 1)
Hardware stroke limit upper/lower
limit error occurrence Each axis No change Error
Emergency stop
(Stop group 2)
Error occurs in a CPU module All axes No change Error
PLC READY signal OFF Turns OFF
Relatively safe stop
(Stop group 3)
Axis error detection (Error other
than stop group 1 or 2)*1 Each axis No change Error
Intentional stop
(Stop group 3)
“Axis stop signal” ON from a CPU
module Each axis No change Stopped
(Standby)
“Stop signal” of external input
signal ON