Mitsubishi Electric MELSEC iQ-R Series User manual

Quick Start GuideQuick Start Guide
MELSEC iQ-R Series Simple Motion Module
Let's Start!
Applicable Model
-RD77MS2
-RD77MS4
-RD77MS8
-RD77MS16
Servo System Controllers
Quick Start Guide
FACTORY AUTOMATION

1
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.
[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.
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
●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 home position return is controlled by two kinds of data: a home position return direction
and a home position return speed. Deceleration starts when the proximity dog signal turns on. If
an incorrect home position return direction is set, motion control may continue without
deceleration. To prevent machine damage caused by this, configure an interlock circuit external to
the programmable controller.
(2) When the module detects an error, the motion slows down and stops or the motion 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 home position return parameter and positioning
data within the specified setting range.
(3) Outputs may remain on or off, or become undefined due to a failure of a component such as an
insulation element and transistor in an output circuit, where the module cannot detect any error. In
a system that the incorrect output could cause a serious accident, configure an external circuit for
monitoring output signals.
●If safety standards (ex., robot safety rules, etc.,) apply to the system using the module, servo amplifier
and servomotor, make sure that the safety standards are satisfied.
●Construct a safety circuit externally of the module or servo amplifier if the abnormal operation of the
module or servo amplifier differs from the safety directive operation in the system.

3
[Design Precautions]
[Design Precautions]
[Installation Precautions]
WARNING
●Do not remove the SSCNETcable while turning on the control circuit power supply of the module
and servo amplifier. Do not see directly the light generated from SSCNETconnector of the module
or servo amplifier and the end of SSCNETcable. When the light gets into eyes, you may feel
something wrong with eyes. (The light source of SSCNETcomplies with class1 defined in JISC6802
or IEC60825-1.)
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.
●When changing the operating status of the CPU module from external devices (such as the remote
RUN/STOP functions), select "Do Not Open by Program" for "Opening Method" of "Module
Parameter". If "Open by Program" is selected, an execution of the remote STOP function causes the
communication line to close. Consequently, the CPU module cannot reopen the line, and external
devices cannot execute the remote RUN function.
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.

4
[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 until the hook(s) located at the top snaps into place. Incorrect interconnection
may cause malfunction, failure, or drop of the module.
●To mount a module with no module fixing hook, place the concave part(s) located at the bottom onto
the guide(s) of the base unit, push in the module, and fix it with screw(s). Incorrect interconnection
may cause malfunction, failure, or drop of the module.
●When using the programmable controller in an environment of frequent vibrations, fix the module with
a screw.
●Tighten the screws within the specified torque range. Undertightening can cause drop of the screw,
short circuit, or malfunction. Overtightening can damage the screw and/or module, resulting in drop,
short circuit, or malfunction.
●When using an extension cable, connect it to the extension cable connector of the base unit securely.
Check the connection for looseness. Poor contact may cause 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 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, 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.

5
[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 a solderless terminal with an insulation sleeve for terminal block wiring. Note that up to two
solderless terminals can be connected per terminal block.
●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.
●When an overcurrent caused by an error of an external device or a failure of a module flows for a long
time, it may cause smoke and fire. To prevent this, configure an external safety circuit, such as a fuse.
●Place the cables in a duct or clamp them. If not, dangling cable may swing or inadvertently be pulled,
resulting in damage to the module or cables or malfunction due to poor contact. Do not clamp the
extension cables with the jacket stripped. Doing so may change the characteristics of the cables,
resulting in malfunction.
●When disconnecting the communication cable or power cable from the module, do not pull the cable
by the cable part. For the cable connected to the terminal block, loosen the terminal screws. Pulling
the cable connected to the module may result in malfunction or damage to the module or cable.
●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.
●Tighten the terminal block mounting screws, terminal screws, and module fixing screws within each
specified torque range. Undertightening of the terminal block mounting screws and terminal screws
can cause short circuit, fire, or malfunction. Overtightening of them can damage the screw and/or
module, resulting in drop, short circuit, or malfunction. Undertightening of the module fixing screws
can cause drop of the screw. Overtightening of them can damage the screw and/or module, resulting
in drop.
●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.

6
[Wiring Precautions]
[Startup and Maintenance Precautions]
[Startup and Maintenance Precautions]
CAUTION
●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.
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.

7
[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 mount/remove the module to/from the base unit, and the
terminal block to/from the module, and do not insert/remove the extended SRAM cassette to/from the
CPU module more than 50 times (IEC 61131-2 compliant) respectively. Exceeding the limit may cause
malfunction.
●After the first use of the product, do not insert/remove the SD memory card to/from the CPU module
more than 500 times. Exceeding the limit may cause malfunction.
●Do not touch the metal terminals on the back side of the SD memory card. Doing so may cause
malfunction or failure of the module.
●Do not touch the integrated circuits on the circuit board of an extended SRAM 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 home position return.
●Before starting the operation, confirm the brake function.
●Do not perform a megger test (insulation resistance measurement) during inspection.
●After maintenance and inspections are completed, confirm that the position detection of the absolute
position detection function is correct.
●Lock the control panel and prevent access to those who are not certified to handle or install electric
equipment.

8
[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.

9
CONTENTS
CONTENTS
SAFETY PRECAUTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1
CHAPTER 1 OVERVIEW 10
1.1 Simple Motion Module Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
1.2 Relevant Manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
1.3 Video-based instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
CHAPTER 2 MODULE STARTUP 12
2.1 System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
2.2 Device Preparation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
2.3 Startup Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
2.4 Installation of Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
2.5 Wiring and Cable Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
CHAPTER 3 POSITIONING CONTROL STARTUP 20
3.1 Creating a New Project . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
3.2 Sequence Program Creation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
3.3 Parameter Settings for Simple Motion Module. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
3.4 Operation Check . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
3.4.1 JOG operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
3.4.2 Home position return (Establishment of the home position). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
3.4.3 Positioning control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
CHAPTER 4 SYNCHRONOUS CONTROL STARTUP 48
4.1 System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
4.2 Startup Procedure for Synchronous Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
4.3 Parameter Creation for Synchronous Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
4.3.1 System configuration settings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
4.3.2 Parameters and servo parameters settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
4.3.3 Positioning data settings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
4.3.4 Synchronous control parameter settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
4.3.5 Cam data creation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
4.3.6 Saving a project . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
4.3.7 Writing to the Simple Motion module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
4.4 Operation Check for Synchronous Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
4.4.1 Home position return . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
4.4.2 Synchronous control start. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
4.4.3 Operation check with digital oscilloscope . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
CHAPTER 5 APPLICATION EXAMPLES 67
APPENDICES 69
Appendix 1 Simulation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
Appendix 2 Parameter and Positioning Data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
Appendix 3 Sample Program. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .76
REVISIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .80

10 1 OVERVIEW
1.1 Simple Motion Module Features
1OVERVIEW
This document describes necessary items and operation for first-time users of the Simple Motion module to make wiring,
perform JOG operation, program operation, and synchronous control with Programmable Controller Engineering Software,
MELSOFT GX Works3.
Refer to related manuals, where necessary, to fully utilize capability of each module.
1.1 Simple Motion Module Features
1. A wide range of controls, such as positioning, advanced synchronous, cam, speed-torque controls, are available.
2. Advanced, extensive controls can be achieved just with function blocks (FB) and sequence programs.
3. Programming, Servo adjustment, operation and maintenance can be all covered by MELSOFT GX Works3 only.
4. The Simple Motion module can be connected to SSCNET III/H compatible, high-performance servo amplifiers.
1.2 Relevant Manuals
(1) Simple Motion module
(2) MELSEC iQ-R series PLC
(3) Servo amplifier
1.3 Video-based instructions
To view instructions in video form, scan the QR codes listed in this quick start guide with your smartphone or similar device.
Videos are posted on the official MITSUBISHI ELECTRIC Factory Automation Youtube channel.
• Official MITSUBISHI ELECTRIC Factory Automation channel URL : youtube.com/c/MitsubishiElectricFA
Name Number
MELSEC iQ-R Simple Motion Module User's Manual (Startup)
This manual explains specifications, procedures before operation, system configuration, wiring, and operation examples of
the Simple Motion module.
IB-0300245
MELSEC iQ-R Simple Motion Module User's Manual (Application)
This manual explains functions, input/output signals, buffer memories, parameter settings, programming, and
troubleshooting of the Simple Motion module.
IB-0300247
MELSEC iQ-R Simple Motion Module User's Manual (Advanced Synchronous Control)
This manual explains functions and programming for the synchronous control of the Simple Motion module.
IB-0300249
Name Number
MELSEC iQ-R CPU Module User's Manual (Startup)
This manual explains the specifications of the CPU module, procedures before operation, and procedures for
troubleshooting.
SH-081263
MELSEC iQ-R CPU Module User's Manual (Application)
This manual explains the basic knowledge required for program design, CPU module functions, devices/labels, parameters
etc.
SH-081264
MELSEC iQ-R Module Configuration Manual
This manual explains the specifications of the power supply modules, base units, SD memory cards etc., and the mounting
environment and mounting position.
SH-081262
Name Number
MR-J4-_B_(-RJ) Servo amplifier Instruction Manual
This manual explains the I/O signals, parts names, parameters, start-up procedure and others for MR-J4-_B(-RJ)/MR-J4-
_B4(-RJ)/MR-J4-_B1(-RJ) Servo amplifier.
SH-030106
MR-J4W2-_B/MR-J4W3-_B/MR-J4W2-0303B6 Servo amplifier Instruction Manual
This manual explains the I/O signals, parts names, parameters, start-up procedure and others for Multi-axis AC Servo MR-
J4W2-_B/MR-J4W3_B/MR-J4W2-0303B6 Servo amplifier.
SH-030105

1 OVERVIEW
1.3 Video-based instructions 11
1
MEMO

12 2 MODULE STARTUP
2MODULE STARTUP
A 1-axis system with ball screw is used as an example in Chapter 2 to 3.
[Machine]
[Specifications]
Ball screw lead (PB) : 10000.0μm (=10mm)
Reduction ratio (NL/NM) : 1/2 (Load side [NL]/Motor side [NM])
• The load-side ball screw is made to rotate once by rotating the motor twice.
Encoder resolution : 4194304 [pulse/rev]
Servo amplifier : MR-J4-10B
Servo motor : HG-KR series
[Operation pattern]
1. The workpiece travels from home position to P1 back and forth.
1. It moves at 2000.00mm/min from home position (0 mm) to P1.
2. It moves at 8000.00mm/min from P1 to the home position.
2. Continuous positioning of 1. through 2. is performed.
View video:
<Position [mm]>
<Speed [mm/min]>
2000.00
-8000.00
Time
Time
P1=100.0mm
P0=0.0mm

2 MODULE STARTUP
2.1 System Configuration 13
2
2.1 System Configuration
The following shows a system example using the Simple Motion module, MR-J4-10B, and a servo motor.
Molded-case
circuit breaker
(MCCB)
Magnetic
contactor
(MC)
GX Works3
CP
R04CPU
MR-J4-10B
SSCNET III cable
Encoder cable
Servo motor
power cable
Servo motor
RD77MS4
Output module (RY42NT2P)
Input module (RX42C4)

14 2 MODULE STARTUP
2.2 Device Preparation
2.2 Device Preparation
Prepare the following devices, cables, and software.
Simple Motion module Engineering Software
RD77MS4 MELSOFT GX Works3
Servo amplifier Servo motor
MR-J4-10B HG-KR13
Main base unit Power supply module PLC CPU module Input/output module
R35B R61P R04CPU RX42C4(Input)
RY42NT2P(Output)
Encoder cable Servo motor power cable SSCNET III cable
MR-J3BUS_M
USB cable
Molded-case circuit breaker
(MCCB)
Magnetic contactor(MC) Circuit protector (CP)

2 MODULE STARTUP
2.3 Startup Procedure 15
2
2.3 Startup Procedure
The following sections explain operation details and procedures required for system startup.
2. MODULE STARTUP
2.1 System configuration
2.2 Device preparation
2.3 Startup procedure
2.4 Installation of modules
• 1. Installing a battery
• 2. Inserting an extended SRAM cassette and a SD memory card
• 3. Installing a module
2.5 Wiring and cable connection
• 1. Wiring for power supply module
• 2. Wiring for servo amplifier power supply and servo motor power cables
• 3. Connection of each cable
• 4. Axis selection rotary switch of servo amplifier
• 5. Power-on of the system
• 6. Power-on of servo amplifier
3. POSITIONING CONTROL STARTUP
3.1 Creating a new project
• 1. Installing engineering software
• 2. Creating a new project
• 3. Connecting the PLC CPU to a personal computer
• 4. Initializing the PLC CPU module
• 5. Settings for sequence program parameters
3.2 Sequence program creation
• 1. New sequence programs creation
• 2. Multiple comments display setting
• 3. Registration of global labels
• 4. Element selection window
• 5. Sequence program creation with labels
• 6. Sequence program creation with module FB
• 7. Saving a project
• 8. Writing to PLC CPU
3.3 Parameter settings for Simple Motion module
• 1. Start of Simple Motion module setting function
• 2. System settings
• 3. Parameter settings
• 4. Servo parameter settings
• 5. Positioning data setting
• 6. Saving a project
• 7. Writing to the Simple Motion module
3.4 Operation check
3.4.1 JOG operation
3.4.2 Home position return (Establishment of the home position)
3.4.3 Positioning control

16 2 MODULE STARTUP
2.4 Installation of Modules
2.4 Installation of Modules
Install the modules.
1. Installing a battery
The connector plug of the Q6BAT is disconnected from the jack of the CPU module before shipment. To use the battery,
connect the connector, following the procedure below.
1. Open the battery cover located on the bottom of the CPU module.
2. Check that the Q6BAT (1) is correctly installed.
3. Check the direction and securely insert the connector plug of the Q6BAT (2) to the jack (3) of the CPU module.
4. Close the battery cover.
2. Inserting an extended SRAM cassette and a SD memory card
Since the example system does not use an extended SRAM cassette and a SD memory card, the insertion/removal
procedures are omitted in this document.
Refer to MELSEC iQ-R CPU Module User's Manual (Startup) for details.
3. Installing a module
Install each module to the main base unit.
Refer to MELSEC iQ-R Module Configuration Manual for details.
View video:

2 MODULE STARTUP
2.5 Wiring and Cable Connection 17
2
2.5 Wiring and Cable Connection
The following shows the wiring and cable connection example for the Simple Motion module and servo amplifiers.
The system below uses the cables for MR-J4-10B. If the capacity of the servo amplifier is different, refer to SERVO
AMPLIFIER INSTRUCTION MANUAL for each model.
1. Wiring for power supply module
The following shows an example when a power wire and a grounding wire are connected to the power supply module.
Connect an isolation transformer when noise often enters in the power supply system.
2. Wiring for servo amplifier power supply and servo motor power cables
Wire the control circuit power supply (L11, L21) and the main circuit power supply (L1, L2, L3) of the servo amplifier, and the
servo motor power cable.
Item Applicable wire size Tightening torque
Power wire 0.75 to 2mm2(AWG18 to AWG14) 1.02 to 1.38N•m
Grounding wire 0.75 to 2mm2(AWG18 to AWG14) 1.02 to 1.38N•m
Item Applicable wire size Tightening torque
Control circuit power supply (L11, L21) 1.25mm2(AWG16) 
Main circuit power supply (L1, L2, L3) 2mm2(AWG14) 
Grounding wire 1.25mm2(AWG16) 1.2N•m
Molded-case
circuit breaker
(MCCB)
Magnetic
contactor
(MC)
CP
R04CPU
MR-J4-10B
SSCNET III cable
Encoder cable
Servo motor
power cable
Servo motor
RD77MS4
Output module (RY42NT2P)
Input module (RX42C4)

18 2 MODULE STARTUP
2.5 Wiring and Cable Connection
3. Connection of each cable
Connect the SSCNET III cable, the encoder cable, and the servo motor power cable.
For between the personal computer and PLC CPU, connect a USB cable.
4. Axis selection rotary switch of servo amplifier
"0" to "F" of the axis selection rotary switch correspond to "d01" to "d16".
The following table shows the correspondence between SSCNET configuration and the switch No. Set the switch correctly
checking the correspondence.
5. Power-on of the system
1. Check the wiring for the power supply module.
2. Confirm that the PLC CPU is in STOP status.
3. Turn ON the power of PLC CPU.
(a) Power supply module: LED (green light) turns ON.
(b) CPU module: READY LED (green light) turns ON.
• When parameters and programs are not written to the CPU module, the ERROR LED (red light) of the PLC CPU flickers,
but no immediate error is occurring.After writing parameters and programs and turning the power OFF to ON, the ERROR
LED will be OFF.
Servo amplifier MR-J4-10B Description
View video:
View video:
Axis selection
rotary switch
SSCNET
configuration
No.
“0”
“1”
“2”
“3”
“4”
“5”
“6”
“7”
No.
“8”
“9”
“A”
“B”
“C”
“D”
“E”
“F”
dno.
d01
d02
d03
d04
d05
d06
d07
d08
dno.
d08
d09
d10
d11
d12
d13
d14
d15
Axis No.
Axis 1
Axis 2
Axis 3
Axis 4
−
−
−
−
Axis No.
−
−
−
−
−
−
−
−
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