Mitsubishi Electric MELSEC iQ-R RD78G4 User manual

MELSEC iQ-R
Motion Module
User's Manual (Startup)
-RD78G4
-RD78G8
-RD78G16
-RD78G32
-RD78G64
-RD78GHV
-RD78GHW

1
WHEN USING A HUB WITH CC-Link IE TSN
The dedicated TSN hub is required when modules on CC-Link IE TSN are configured in a star topology or hubs are
configured in a cascade connection.
Read the following carefully.
Page 30 Structure of Authentication Class B Devices and Ethernet Devices
Page 40 Hub
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 MELSEC iQ-R Module Configuration
Manual for a description of the PLC system safety precautions.
In this manual, the safety precautions are classified into two levels: " WARNING" and " CAUTION".
Under some circumstances, failure to observe the precautions given under " 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 reference.
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.

2
[Design Precautions]
WARNING
●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) Emergency stop circuits, protection circuits, and protective interlock circuits for conflicting
operations (such as forward/reverse rotations or upper/lower limit positioning) must be configured
external to the programmable controller.
(2) When the programmable controller detects an abnormal condition, it stops the operation and all
outputs are:
• 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) All outputs may be turned on if an error occurs in a part, such as an I/O 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 "General Safety Requirements" in the MELSEC iQ-R Module Configuration
Manual.
(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 that 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.
●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.

3
[Design Precautions]
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.
●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.
●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.
●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.
●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) Machine homing is controlled by two kinds of data: a homing direction and a homing speed.
Deceleration starts when the proximity dog signal turns on. If an incorrect homing 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 rapidly 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 homing 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, drive unit and
servomotor, make sure that the safety standards are satisfied.
●Construct a safety circuit externally of the module or drive unit if the abnormal operation of the module
or drive unit differs from the safety directive operation in the system.

4
[Design Precautions]
[Installation Precautions]
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.
●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.
●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 or reset the CPU module while the settings are being
written. Doing so will make the data in the flash ROM and SD memory card undefined. The values
need to be set in the buffer memory and written to the flash ROM and SD memory card again. Doing
so also may cause malfunction or failure of the module.
WARNING
●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.

5
[Installation Precautions]
[Wiring Precautions]
CAUTION
●Use the programmable controller in an environment that meets the general specifications in the Safety
Guidelines included with 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, and fix it with screw(s). Incorrect interconnection may cause malfunction,
failure, or drop of the module.
●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 malfunction.
●When using an SD memory card, fully insert it into the SD memory card slot. Check that it is inserted
completely. Poor contact may cause malfunction.
●Securely insert an extended SRAM cassette or a battery-less option cassette into the cassette
connector of the 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, battery-less option cassette, or connector. Doing so can cause
malfunction or failure of the module.
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 cause the module to fail or malfunction.
●After installation and wiring, attach a blank cover module (RG60) to each empty slot and an included
extension connector protective cover to the unused extension cable connector before powering on the
system for operation. Failure to do so may result in electric shock.

6
[Wiring Precautions]
CAUTION
●Individually ground the FG and LG terminals of the programmable controller with a ground resistance
of 100 ohms 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 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 malfunction or damage to the module or cables. In addition, the weight of the cables may
put stress on modules in an environment of strong vibrations and shocks. Do not clamp the extension
cables with the jacket stripped. Doing so may change the characteristics of the cables, resulting in
malfunction.
●Check the interface type and correctly connect 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.
●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 MELSEC iQ-R Module Configuration Manual.
●For Ethernet cables to be used in the system, select the ones that meet the specifications in this
manual. If not, normal data transmission is not guaranteed.

7
[Startup and Maintenance Precautions]
[Startup and Maintenance Precautions]
WARNING
●Do not touch any terminal while power is on. Doing so will cause electric shock or malfunction.
●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 will cause the
battery to produce heat, explode, ignite, or leak, resulting in injury and fire.
●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.
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 ensure that the operation is safe before proceeding. Improper
operation may damage machines or cause accidents.
●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.
●Do not disassemble or modify the modules. Doing so may cause failure, malfunction, injury, or a fire.
●Use any radio communication device such as a cellular phone or PHS (Personal Handy-phone
System) more than 25 cm away in all directions from the programmable controller. Failure to do so
may cause malfunction.
●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.

8
[Startup and Maintenance Precautions]
CAUTION
●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.
●After the first use of the product, do not perform each of the following operations more than 50 times
(IEC 61131-2/JIS B 3502 compliant).
Exceeding the limit may cause malfunction.
• Mounting/removing the module to/from the base unit
• Inserting/removing the extended SRAM cassette or battery-less option cassette to/from the
CPU module
• Mounting/removing the terminal block to/from the module
●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 of the module.
●Do not touch the integrated circuits on the circuit board of an extended SRAM cassette or a battery-
less option cassette. Doing so may cause malfunction or failure of the module.
●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.
●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
may occur depending on the machine.
●When using the absolute position system function, on starting up, and when the module or absolute
position motor has been replaced, always perform a homing.
●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.

9
[Operating Precautions]
[Disposal Precautions]
[Transportation Precautions]
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 and SD memory card undefined. The values need to be set in the buffer memory and
written to the flash ROM and SD memory card again. Doing so also may cause malfunction or failure
of the module.
●Note that when the reference axis speed is specified for interpolation operation, the speed of the
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.
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.
CAUTION
●When transporting lithium batteries, follow the transportation regulations. For details on the regulated
models, refer to the MELSEC iQ-R Module Configuration Manual.
●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.

10
INTRODUCTION
Thank you for purchasing the Mitsubishi Electric MELSEC iQ-R series programmable controllers.
This manual describes the specifications, procedures before operation and wiring of the relevant products listed below. Before
using this product, please read this manual and the relevant manuals carefully and develop familiarity with the functions and
performance of the MELSEC iQ-R series programmable controller to handle the product correctly.
When applying the program examples provided in this manual to an actual system, ensure the applicability and confirm that it
will not cause system control problems.
Please make sure that the end users read this manual.
Relevant products
RD78G4, RD78G8, RD78G16, RD78G32, RD78G64, RD78GHV, RD78GHW
Symbols used in this manual are shown below.
• [RD78GH]: Symbols indicating that it corresponds to only RD78GH
• Underlined variables (AxisName, etc.): Variables defined by users
COMPLIANCE WITH EMC AND LOW VOLTAGE
DIRECTIVES
Method of ensuring compliance
To ensure that Mitsubishi programmable controllers maintain EMC and Low Voltage Directives when incorporated into other
machinery or equipment, certain measures may be necessary. Please refer to one of the following manuals.
MELSEC iQ-R Module Configuration Manual
Safety Guidelines (This manual is included with the base unit.)
The CE mark on the side of the programmable controller indicates compliance with EMC and Low Voltage Directives.
Additional measures
To ensure that this product maintains EMC and Low Voltage Directives, please refer to one of the following manuals.
MELSEC iQ-R Module Configuration Manual
Safety Guidelines (This manual is included with the base unit.)

11
CONTENTS
CONTENTS
WHEN USING A HUB WITH CC-Link IE TSN. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1
SAFETY PRECAUTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1
INTRODUCTION. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10
COMPLIANCE WITH EMC AND LOW VOLTAGE DIRECTIVES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10
RELEVANT MANUALS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12
TERMS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13
FUTURE SUPPORT PLANNED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .15
CHAPTER 1 PART NAMES 17
1.1 LED Display Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
CHAPTER 2 SPECIFICATIONS 19
2.1 Performance Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
2.2 Specifications of Interfaces with External Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
2.3 External Circuit Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
CHAPTER 3 FUNCTION LIST 23
3.1 Control Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Basic specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Motion control 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Motion control 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Control/Operation/Maintenance. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
3.2 List of Network Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
CHAPTER 4 PROCEDURES BEFORE OPERATIONS 27
CHAPTER 5 SYSTEM CONFIGURATION 29
5.1 Structure of Authentication Class B Devices and Ethernet Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
5.2 Structure of Authentication Class B/A Devices and Ethernet Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
5.3 Precautions for System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
CHAPTER 6 INSTALLATION AND WIRING 37
6.1 Installation and Removal of SD Memory Card . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
6.2 Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
APPENDICES 41
Appendix 1 Component List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Appendix 2 External Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Appendix 3 Open Source Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
INDEX 48
REVISIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .50
WARRANTY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .51
TRADEMARKS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .52

12
RELEVANT MANUALS
This manual does not include detailed information on the followings:
• General specifications
• Available CPU modules and the number of mountable modules
• Installation
For details, refer to the following.
MELSEC iQ-R Module Configuration Manual
For programs, refer to the following.
MELSEC iQ-R Programming Manual (Program Design)
This manual does not include information on the network function blocks. Refer to the following for details on the network
function blocks.
MELSEC iQ-R Ethernet/CC-Link IE Function Block Reference
e-Manual refers to the Mitsubishi Electric FA electronic book manuals that can be browsed using a dedicated
tool.
e-Manual has the following features:
• Required information can be cross-searched in multiple manuals.
• Other manuals can be accessed from the links in the manual.
• The hardware specifications of each part can be found from the product figures.
• Pages that users often browse can be bookmarked.
• Sample programs can be copied to an engineering tool.
Manual name [manual number] Description Available form
MELSEC iQ-R Motion Module User's Manual (Startup)
[IB-0300406ENG] (This manual)
Specifications, procedures before operation, system configuration,
and wiring of the Motion module
Print book
e-Manual
PDF
MELSEC iQ-R Motion Module User's Manual
(Application)
[IB-0300411ENG]
Functions, I/O signals, variables, labels, programming, and
troubleshooting of the Motion module
Print book
e-Manual
PDF
MELSEC iQ-R Motion Module User's Manual (Network)
[IB-0300426ENG]
Functions, parameter settings, troubleshooting, and buffer
memory of CC-Link IE TSN
Print book
e-Manual
PDF
MELSEC iQ-R Programming Manual (Motion Module
Instructions, Standard Functions/Function Blocks)
[IB-0300431ENG]
Instructions for the Motion module and standard functions/function
blocks
Print book
e-Manual
PDF

13
TERMS
Unless otherwise specified, this manual uses the following terms.
Term Description
Actual position An address that is rounded a position address returned by a slave device. It is affected by a current position change.
Authentication Class A class classified by CC-Link Partner Association (www.cc-link.org) from a function and performance of the module
corresponding to CC-Link IE TSN and a switching hub. There are two authentication Classes: A and B, and
authentication Class B for the RD78G(H).
Axis A target to carry out the motion control
Buffer memory A memory in an intelligent function module, where data (such as setting values and monitoring values) are stored.
Buffer mode A generic term for multiple start
CC-Link IE Includes the following network:
• CC-Link IE TSN
• CC-Link IE Controller Network (MELSEC iQ-R CC-Link IE Controller Network User’s Manual (Application)
• CC-Link IE Field Network (MELSEC iQ-R CC-Link IE Field Network User’s Manual (Application)
Continuous update Continuously reflecting input values to the control while the ContinuousUpdate input of the motion control FB is TRUE
CPU module The abbreviation for the MELSEC iQ-R series CPU module
Cumulative current position A command position address that is not rounded by a ring counter. It is affected by a current position change.
Cyclic transmission A function by which data are periodically exchanged among stations on the same network using a slave station
Data link Cyclic transmission and transient transmission
Dedicated instruction An instruction for using functions of the module
Device Various memory data in a CPU module. There are devices handled in each bit and in each word.
Disconnection A process of stopping data link if a data link error occurs
Drive unit A generic term for motor drive devices such as a survo amplifier
Engineering tool A generic term for GX Works3, and MR Configurator2
Ethernet device Includes a device supporting IP communication (such as personal computers)
Execute Set TRUE to the Execute input or the Enable input to the motion control FB
General-purpose hub An authentication Class A hub authorized by CC-Link Partner Association
GOT A generic term for Mitsubishi Electric Graphic Operation Terminal GOT1000 and GOT2000 series
GX Works3 The product name of the software package for the MELSEC programmable controllers
Hardware reboot Turning ON the power of the system again or resetting
Intelligent function module A module that has functions other than input and output, such as an A/D converter module and D/A converter module
Label A label that represents a device in a given character string
Link device A device in a module on CC-Link IE
Link refresh Automatic data transfer between a link device of the Motion module and a device in a CPU module
Master station A station that controls the entire network. This station can perform cyclic transmission and transient transmission with all
stations. Only one master station can be used in a network.
Motion area A software that performs the motion control in the Motion module
Motion control FB An FB that is related to the motion control. Its name starts with MC_ or MCv_.
Motion FB A motion control FB that takes an axis or an axes group for the argument and changes the axis status or the axes status
by execution
Motion management station A station that updates a link device in the Motion module
Motion module A generic term for the RD78G(H)_
MR-J5(W)-G MR-J5-_G_(-RJ)/MR-J5W_-_G type servo amplifier series
Multiple start Executing another motion control FB to the same axis while a motion control FB is executed
Network area A software that performs the network control in the Motion module
Network module Includes the following modules:
• Ethernet interface module
• Module on CC-Link IE TSN
• CC-Link IE Controller Network module
• Module on CC-Link IE Field Network
• MELSECNET/H network module
• MELSECNET/10 network module
• RnENCPU (network part)
Object Various data of a slave device compatible with CANopen
PDO A communication object of CANopen (Process Data Object)
RAS The abbreviation for Reliability, Availability, and Serviceability. This term refers to usability of automated equipment.

14
RD78G Another term for the MELSEC iQ-R series Motion module (compatible with CC-Link IE TSN)
RD78GH
RD78G(H) A generic term for RD78G_, RD78GH_ (high performance version)
Real axis An axis that is linked with a slave device on network
Remote station A station that exchanges I/O signals (bit data) and I/O data (word data) with another station by cyclic transmission. A
transient transmission is available.
Retrigger Starting up the Execute input again while executing an FB to a motion control FB that has the Execute input
Return A process of restarting data link when a station recovers from an error
SB Link special relay
Bit data that indicates the operating status and data link status of a module on CC Link IE.
Set position A command position address rounded by the ring counter. It is affected by a current position change.
Slave station • A generic term for a local station, and remote station on CC-Link IE TSN
• A generic term for a local station, remote I/O station, remote device station, and intelligent device station on CC-Link IE
Field Network
SLMP A Seamless Message Protocol. This protocol is used to access an SLMP-compatible device or a CPU module connected
to an SLMP-compatible device from an external device such as a personal computer.
Software reboot Resetting only motion area and network area without a hard reboot
Start Executing a motion FB for the first time to an axis or an axes group
SW Link special register
Word data that indicates the operating status and data link status of a module on CC-Link IE.
Target position A command position address that is specified in the motion FB
Transient transmission A function of data communication unperiodically among nodes (station) on network.
A function used to send message to the target station when requested by a link dedicated instruction or the engineering
tool
Communication is available with station on another network via relay station, or gateway.
TSN hub An authentication Class B hub authorized by CC-Link Partner Association
Virtual axis An axis that is not linked with a slave device on network
Term Description

15
FUTURE SUPPORT PLANNED
The following functions are mentioned in this manual, but it is planned for a future support.
The information in this page might be changed for improvement without prior notice.
Model Description
RD78GH • RD78GHV
• RD78GHW
Function Description
Operation cycle Auto refresh link devices of motion syncronization stations
[RD78GH]
Minimum operation cycle 31.25 s
Current position change function Trigger current position change
Override function Overall override function
Touch probe Overall touch probe function
Operation profile data Profile operation
Change of current value per cycle
Multidimensional profile
Logging Real-time monitor
File transfer function Access control setting
Motion system software installation Motion software package for the RD78G(H) (including files)
• Boot software binary (for the RD78G)
• Boot software binary (for the RD78GH)
• Basic system software simulator DLL
• Data definition file (axis data, etc.)
• Add-on simulator DLL
• The engineering tool window definition file for add-on
• Boot software binary for network
• Bood software simulator DLL for network

16
MEMO

1 PART NAMES
17
1
1PART NAMES
This chapter describes the part names of the Motion module.
No. Name Description
(1) RUN LED For details, refer to the following.
Page 18 LED Display Specifications
(2) ERR LED
(3) PROGRAM RUN LED (P RUN is shown inside the cover)
(4) D LINK LED
(5) SD/RD LED
(6) CARD READY LED (C RDY is shown inside the cover)
(7) CARD ACCESS LED (C ACS is shown inside the cover)
(8) SD memory card access control switch
(9) SD memory card slot
(10) LEDs for CC-Link IE TSN connector L ER LED
LINK LED
(11) Ethernet port Connects to a slave station.
(12) Serial No. marking Shows the serial No. printed on the Motion module.
RD78G RD78GHRD78G RD78GH
(11)
(10)
(1)
(12)
(8)
(9)
(2)
(3)
(4)
(11)
(10)
(1)
(5)
(6)
(7)
(12)
(2)
(3)
(4)
(5)
(6)
(7)
(8)
(9)
(Uncovered) (Uncovered)

18 1 PART NAMES
1.1 LED Display Specifications
1.1 LED Display Specifications
This section lists the LED display specifications of the Motion module.
: OFF, : ON, ●: Flashing
Error status can be determined by status of the RUN LED and the ERR LED.
When multiple errors occur, the error status is displayed in the order of major, moderate, and minor.
Name Description LED display Status
RUN LED Indicates the operating status. RUN LEDOperating normally
RUN LEDError, Initializing
ERR LED Indicates the error status. ERR LEDError
ERR LED●200 ms interval: Error
500 ms interval: A data link faulty station detected
ERR LEDOperating normally
PROGRAM RUN LED Indicates the execution status of built-
in programs.
PROGRAM RUN LEDExecuting program
PROGRAM RUN LEDStopping program
D LINK LED Indicates the data link status. D LINK LEDData link (cyclic transmission being performed)
D LINK LED●Data link (cyclic transmission stopped)
D LINK LEDData link not performed (disconnection)
SD/RD LED Indicates the data communicating
status.
SD/RD LEDCommunicating data
SD/RD LEDNot communicating data
CARD READY LED Indicates the status of SD memory
card.
CARD READY LEDAn SD memory card is usable.
CARD READY LED●Preparing
CARD READY LEDNo SD memory card inserted
CARD ACCESS LED Indicates the access status of SD
memory card.
CARD ACCESS LEDAccessing SD memory card
CARD ACCESS LEDNot accessing SD memory card
L ER LED Indicates the port status. L ER LEDAbnormal data received
L ER LEDNormal data received
LINK LED Indicates the link status. LINK LEDLink-up
LINK LEDLink-down
RUN LED ERR LED Error status Description
Off On, flashing Major error An error such as hardware failure or memory failure. The module stops operating.
On Flashing Moderate error An error, such as parameter error, which affect module operation. The module stops
operating.
On On Minor error An error such as communication, positioning control, and program error. The module
continues operating.