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.

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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

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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

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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

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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

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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

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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.

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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