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Mitsubishi Electric MELSEC iQ-R RD78GHV manuals available for free PDF download: User Manual
Mitsubishi Electric MELSEC iQ-R RD78GHV User Manual (628 pages)
Motion Module
Brand:
Mitsubishi Electric
| Category:
Control Unit
| Size: 7.02 MB
Table of Contents
Safety Precautions
3
Compliance with Emc and Low Voltage Directives
12
Introduction
12
Table of Contents
13
Relevant Manuals
22
Terms
23
How to Read this Manual
26
Future Support Planned
31
Part 1 Basic Specifications
33
Chapter 1 Axis Setting
34
Axis
34
Relevant Variables
34
Maximum Number of Controlled Axes
34
Required Settings for Axes
35
Axis Variables
35
Axis Variable Initialization Timing
36
How to Specify in a User Program
36
State Transition
37
Precautions
38
Axis Type
39
Relevant Variables/Fb
39
Real Drive Axis
40
Virtual Drive Axis
41
Virtual Linked Axis
41
Connectable Stations
42
Maximum Number of Stations that Can be Connected
42
Precaution
42
Axis Assignment
43
Relevant Variables
45
Slave Object Settings
46
PDO Mapping Settings
47
Setting Procedure
47
Slave Object List
48
Motion System Function/Command and Slave Object
52
Axes Group
53
Relevant Variables/Fbs
53
Settings Required for Axes Group
56
Axes Group Variables
57
Axes Group Variable Initialization Timing
57
Specify Method Using a User Program
57
Enabling Axes Group
58
Axes Group Enabled
59
Axes Group Disabled
61
Axes Group Assignment
62
Relevant Variables/Fb
62
Setting with Engineering Tool
63
Chapter 2 Axis Management Functions
64
Technical Units
64
Relevant Variables
64
Setting Methods
64
Precautions
68
Positioning Range
69
Relevant Variables
69
Set Position
70
Combination with Other Devices
71
Precautions
71
Velocity Range
72
Relevant Variables
72
Velocity Set Range
73
Servo ON/OFF
74
Relevant Variables/Fb
74
Control Details
78
Driver State Transition
79
Precautions
79
Follow up
80
Relevant Variables
80
Disabling Follow up
81
Precautions
81
Absolute Position Control
82
Relevant Variables
82
Current Position Restoration
84
Absolute Position Data Backup
87
Current Position Restoration for each Axis Type
89
Precautions
91
Chapter 3 Basic Functions
92
Operation Cycle
92
Relevant Variables
92
System Basic Cycle
92
Operation Cycle Settings
92
Operation Cycle Assignment
93
Send/Receive Data Refresh of Network Connected Devices
93
Motion Synchronization Station Link Device Auto Refresh
95
Buffer Memory Refresh
95
Add-On Function
96
Relevant Variables
96
Add-On Library Configuration
97
Management of Add-On Library
98
Loading Add-On Library
98
System Memory Settings
99
Relevant Variables
99
System Memory (RAM)
100
System Memory (Backup RAM)
101
Precautions
101
Software Reboot
102
Relevant Variables
102
Reset
102
Clear
103
Quick Clear
103
Precautions
103
Motion Control 1
105
Part 2 Motion Control
105
Chapter 4 Start and Stop
106
Start
106
Relevant Variables
106
Starting Conditions
107
Retrigger/Continuous Update
108
Multiple Start (Buffer Mode)
109
Relevant Variables
111
Multiple Start During Single Axis Operation
112
Multiple Start During Multiple Axes Operation
121
Precautions
128
Stop
132
Relevant Variables/Fb
132
Stop Cause Lists
140
Types of Stop Processes
142
Deceleration Stop
143
Order of Priority for Stop Process
144
Overrun at Stop Cause Occurrence
145
Stop During Single Axis Operation
146
Stop During Axes Group Operation
152
Forced Stop
161
Relevant Variables
161
Operation at the Forced Stop Occurrence
163
Operation at the Forced Stop Release
164
Check Method
165
Chapter 5 Homing
166
Outline
166
Relevant Variables/Fb
167
Homing Request
168
Driver Homing Method
169
Data Set Homing Method
171
Precautions
171
Operation Setting for Incompletion of Homing
172
Relevant Variables
172
Fbs that Can be Started When Homing Is Incompletion
172
Homing Request Clear
172
Precautions
172
Chapter 6 Axis Control Function
173
Single Axis Positioning Control
173
Relevant Fbs
173
Absolute Positioning Control
178
Relative Positioning Control
187
Single Axis Speed Control
189
Relevant FB
189
Control Details
192
Buffermode
193
Single Axis Manual Control
194
Relevant Variables/Fb
194
Types of Manual Control
196
JOG Operation
196
Multiple Axes Positioning Control
201
Relevant Variables/Fbs
201
Operation in Multiple Axes Positioning Control
211
Positioning Speed in Multiple Axes Positioning Control
212
Command Unit in the Multiple Axes Positioning Control
220
Acceleration/Deceleration Processing
222
State Transition in the Multiple Axes Positioning Control
222
Linear Interpolation Control
223
Circular Interpolation Control
232
Chapter 7 Direct Control
243
Velocity Control
244
Relevant Variables/Fb
244
Control Details
248
Buffermode
249
Precautions
254
Torque Control
255
Relevant Variables/Fb
255
Control Details
259
Buffermode
262
Precautions
271
CHAPTER 8 RELEVANT FUNCTIONS to POSITION
272
Current Position Change Function
272
Relevant Fbs
272
Position Setting Range
278
Current Position Change
278
Trigger Current Position Change
280
Cancel
281
Command In-Position
283
Relevant Variables
283
Command In-Position Width Check
284
Software Stroke Limit
285
Relevant Variables
285
Definition of Movable Range
285
Specifications of the Software Stroke Limit Check
290
Precautions
290
Hardware Stroke Limit
291
Relevant Variables
291
Hardware Stroke Limit Check Details
293
Returning from Outside the Hardware Stroke Limit Range
294
Precautions
294
Chapter 9 Relevant Functions to Velocity
295
Acceleration/Deceleration Processing Function
295
Relevant Variables
297
Acceleration/Deceleration Method
301
Acceleration/Deceleration Waveform Adjustment When Specifying Jerk
308
Operation When Specifying Acceleration/Deceleration 0
310
Acceleration Limit Value/Deceleration Limit Value
311
Jerk Limit Value
311
Limit of Acceleration Time/Deceleration Time
312
Automatic Deceleration
313
Changing Control of Jerk Acceleration/Deceleration
314
Multiple Start of the Jerk Acceleration/Deceleration
319
Speed Limit
320
Relevant Variables
320
How to Set the Speed Limit Function
320
Operation When the Speed Limit Value Is Exceeded
321
Operation Setting When the Speed Limit Value Is Exceeded
322
Override Function
323
Relevant Variables/Fbs
323
How to Change Control Data
329
Chapter 10 Relevant Functions to Torque
333
Torque Limit
333
Relevant Variables
333
Slave Object Map
334
Torque Limit Value Setting Range
334
Torque Limit Maximum Value Setting Range
334
Precautions
334
Torque Limit Value Change Function
335
Relevant Variables/Fb
335
How to Change Control Data
342
Chapter 11 Control Sub Functions
343
Compensation Function
343
Relevant Variables
343
Driver Unit Conversion Function
343
Command Filter
346
Relevant Fbs
346
Smoothing Filter
349
Precaution
351
Input Variable Change in Execution
352
Relevant Variables
352
Target Position/Movement Distance Change
353
Set Velocity Change
356
Acceleration/Deceleration and Acceleration/Deceleration Time Change
357
Chapter 12 Common Functions
358
External Signal Selection
358
Relevant Variables
358
SIGNAL_SELECT Structure
358
TARGET_REF Structure
360
12.2 Touch Probe
363
Relevant Fbs
363
External Latch Valid
366
External Latch Invalid
371
Precautions
371
Slave Emulate
372
Relevant Variables
372
Setting Procedures
372
Operation During Emulate Function
372
Precaution
372
Part 3 Motion Control2
373
Chapter 13 Operation Profile Function
374
Operation Profile Data
374
Relevant Variables/Fb
375
Creating Operation Profile Data
390
Operation Profile Data Types
391
Operating Operation Profile Data
404
Control of Operation Profile Data
413
Sub Function of Operation Profile Data Control
416
Operation Profile Data Format
422
Operation Profile Data Details
422
Chapter 14 Synchronous Control
428
Outline of Single Axis Synchronization Function Blocks
428
Axis Configuration
429
Master Axis Data Source Selection
429
Start and Stop Operation
430
Required Slave Object
431
Restrictions
431
Cam Operation
432
Relevant FB
432
Control Details
435
Precautions
442
Gear Operation
443
Relevant FB
443
Control Details
445
Precautions
448
Addition/Subtraction Positioning
449
Relevant FB
449
Control Details
452
Part 4 Control/Operation/Maintenance
455
Chapter 15 Logging
456
Data Logging/Real-Time Monitor
456
Relevant Variables
457
Data Logging Function
458
Real-Time Monitor
459
Steps until the Collected Data Is Saved
459
Logging Setting
463
Data to be Collected (DATA)
463
Logging Setting (LOGGING)
464
Trigger Condition (TRIGGERCONDITION)
468
Application Function
470
Precautions
472
Folder Configuration
474
Data Logging Format
475
CSV File Data Specifications
475
JSON File Data Specifications
477
Chapter 16 Ras Functions
479
Execution Time Monitor
479
Relevant Variables
480
Control Details
481
Processing Time over Check
484
Precautions
485
History Data
486
Relevant Variables
487
Event History Function
488
Positioning Data History
490
Precautions
490
Chapter 17 Motion Service Processing
491
Operation Overview
491
Processing Description
492
Chapter 18 How to Control from Cpu Module
493
Specifications of I/O Signals with CPU Modules
493
Using MCFB
494
Relevant Variable
494
Control Details
494
Chapter 19 File Control
498
Memory and File
498
Relevant Variables
498
Drive
499
Path Setting
501
Operation that Can be Executed
503
Storage Files
504
Module Extended Parameters
505
Precautions
506
File Transfer Function
507
Relevant Variables
507
Access Control Setting
508
Functions of File Transfer
508
Command Format
508
Log File
510
Drive Operation
510
Precautions
510
SD Memory Card
511
Relevant Variables
511
SD Memory Card Handling
511
Specifications of SD Memory Card
511
Installation and Removal of SD Memory Card
511
Precautions
512
Chapter 20 Security
513
Chapter 21 Module Software Installation
514
Motion System Software Installation
514
Relevant Variables
514
Software File Configuration of Motion System
515
Motion Software Package File Configuration Details
515
Checking Software Version
516
Basic System Software Update Function
517
Software Management
517
Boot Software Update Function
520
Chapter 22 Troubleshooting
523
LED Control
523
Checking Errors and Warnings
524
Relevant Variables
525
Control Details
525
Filter Setting
525
Error and Warning Reset
526
Relevant Variables
526
System Error Reset
527
Axis Error Reset
528
Axes Group Error Reset
529
List of Warning Codes
530
List of Error Codes
536
List of Event Codes
567
Part 5 Lists
569
CHAPTER 23 List of Variables
570
CHAPTER 24 List of Fbs
593
Appendices
594
Appendix 1 Restrictions by the Version
594
Appendix 2 Motion Module Programs
595
Relevant Variables/Function Blocks (FB)
597
Execution of Programs
597
Label Initialization Function
602
Program Creation Procedure for the Motion Module
602
System Settings
609
Mitsubishi Electric MELSEC iQ-R RD78GHV User Manual (310 pages)
Brand:
Mitsubishi Electric
| Category:
Controller
| Size: 48.59 MB
Table of Contents
Safety Precautions
3
WHEN USING a SWITCHING HUB with CC-Link IE TSN
3
Compliance with Emc and Low Voltage Directives
12
Introduction
12
Table of Contents
13
Relevant Manuals
16
Terms
17
Generic Terms and Abbreviations
19
Chapter 1 Functions
21
Cyclic Transmission
21
Communications Using RX, RY, Rwr, and Rww
22
Communications Using LB and LW
29
Communications Using RX, RY, Rwr, Rww, LB, and LW
31
Link Refresh
33
Direct Access to Link Devices
35
Direct Access from Motion Built-In Program to Link Devices
38
Cyclic Data Assurance
40
Communication Cycles Coexistence
47
Interlink Transmission
48
I/O Maintenance Settings
49
Remote Device Test
55
Canopen Communication
57
Transient Transmission
61
Communications Using a Dedicated Instruction
61
Communications Using the SLMP
62
Communications Using the Engineering Tool
63
Ethernet Connection
64
Connection with MELSOFT Products and a GOT
64
Connecting SLMP-Compatible Devices
67
Security
68
IP Filter
68
Remote Password
70
Ras
74
Device Station Disconnection
74
Automatic Return
74
Master Station Duplication Detection
75
IP Address Duplication Detection
76
Time Synchronization
77
CC-Link IE TSN Network Synchronous Communication Function
78
Safety Communications
88
Others
92
Reserved Station Setting
92
Error Invalid Station Setting
92
Device Station Parameter Automatic Setting
93
Data Collection Using the CC-Link IE TSN Communication Software
95
Co-Recording Function
96
Chapter 2 Parameter Settings
98
Setting Parameters
98
Required Settings
99
Station Type
99
Network no
99
Station No./Ip Address Settings
100
Basic Settings
101
Refresh Settings
102
Network Topology
104
Communication Period Setting
104
Connection Device Information
105
Device Station Setting
106
Safety Communication Setting
106
Application Settings
110
Communication Speed Setting
111
Supplementary Cyclic Settings
111
Transient Transmission Group No. Setting
111
Communication Mode
111
Parameter Name
112
Dynamic Routing
112
Event Reception from Other Stations
112
Module Operation Mode
112
Security
113
Interlink Transmission Settings
113
CC-Link IE TSN Configuration" Window
114
Parameter Setting of a Device Station
114
Connected/Disconnected Module Detection
119
Parameter Processing of a Device Station
122
Command Execution to Device Stations
125
PDO Mapping Setting
127
Module Change
129
Device No. Reassignment
130
Object Name Display
131
Chapter 3 Programming
132
Precautions for Programming
132
Communication Example of Safety Communication
133
System Configuration Example
133
Setting in the Master Station
134
Checking the Network Status
141
Chapter 4 Troubleshooting
142
Checking with LED
142
Checking the Module Status
146
Module Diagnostics
146
Checking the Network Status
148
CC-Link IE TSN/CC-Link IE Field Diagnostics
148
Communication Test
156
Station Information List
157
Remote Operation
158
Troubleshooting by Symptom
159
List of Error Codes
176
List of Parameter Nos
200
Event List
203
Response Code (SDO Abort Code)
206
Appendices
207
Appendix 1 Buffer Memory (When Using the Plcopen Motion Control FB Mode)
207
List of Buffer Memory Addresses
207
Details of Buffer Memory Addresses
216
Appendix 2 Buffer Memory (When Using the Simple Motion Mode)
231
List of Buffer Memory Addresses
231
Details of Buffer Memory Addresses
237
Appendix 3 List of Link Special Relay (SB)
251
Appendix 4 List of Link Special Register (SW)
256
Appendix 5 Dedicated Instruction
267
Link Dedicated Instructions
267
Remote Instructions
268
SLMP Communication Instruction
268
Appendix 6 Processing Time
269
Cyclic Transmission Delay Time
270
Communication Cycle Interval
277
Interlink Transmission Time
295
Transmission Delay Time of Safety Communications
296
Safety Response Time
297
Monitoring Time for Safety Communications
297
Appendix 7 Port no
300
Appendix 8 SLMP Command for Accessing the CAN Application Object
301
Appendix 9 Added and Enhanced Functions
303
Index
304
Revisions
306
Warranty
307
Trademarks
308
Mitsubishi Electric MELSEC iQ-R RD78GHV User Manual (106 pages)
Motion Module
Brand:
Mitsubishi Electric
| Category:
Control Unit
| Size: 9.05 MB
Table of Contents
Safety Precautions
3
WHEN USING a HUB with CC-Link IE TSN
3
Compliance with Emc and Low Voltage Directives
12
Introduction
12
Table of Contents
13
Relevant Manuals
15
Terms
16
Future Support Planned
18
Chapter 1 Functions
19
Cyclic Transmission
19
Communications Using Slave Labels
19
Transient Transmission
20
Communications Using the SLMP
20
Ethernet Connection
21
Connection with MELSOFT Products and a GOT
21
Connecting SLMP-Compatible Devices
24
Security
25
IP Filter
25
Remote Password
27
Ras
31
Slave Station Disconnection
31
Master Station Duplication Detection
31
IP Address Duplication Error
32
Time Synchronization
33
Others
34
Slave Station Parameter Automatic Setting
34
Chapter 2 Parameter Settings
36
Setting Parameters
36
Required Settings
37
Station Type
37
Network no
38
Station No./Ip Address Settings
38
Basic Settings
39
Network Topology
40
Communication Period Setting
40
Connection Device Information
41
Slave Station Setting
41
Application Settings
42
Event Reception from Other Stations
42
Module Operation Mode
43
Security
43
CC-Link IE TSN Configuration" Window
44
Parameter Setting of a Slave Station
44
Connected/Disconnected Module Detection
46
Parameter Processing of a Slave Station
48
Command Execution to Slave Stations
50
Chapter 3 Troubleshooting
51
Checking with LED
51
Checking the Module Status
54
Module Diagnostics
54
Checking the Network Status
56
CC-Link IE TSN/CC-Link IE Field Diagnostics
56
Communication Test
64
Remote Operation
65
Troubleshooting by Symptom
66
List of Error Codes
71
List of Parameter Nos
84
Event List
86
Appendices
89
Appendix 1 Buffer Memory
89
List of Buffer Memory Addresses
89
Details of Buffer Memory Addresses
91
Appendix 2 List of Link Special Relay (SB)
94
Appendix 3 List of Link Special Register (SW)
96
Appendix 4 Port no
99
Index
100
Revisions
102
Warranty
103
Trademarks
104
Mitsubishi Electric MELSEC iQ-R RD78GHV User Manual (56 pages)
Motion Module
Brand:
Mitsubishi Electric
| Category:
Controller
| Size: 7.12 MB
Table of Contents
Safety Precautions
3
WHEN USING a HUB with CC-Link IE TSN
3
Compliance with Emc and Low Voltage Directives
12
Introduction
12
Table of Contents
13
Relevant Manuals
14
Terms
15
Future Support Planned
17
Chapter 1 Part Names
19
LED Display Specifications
20
Chapter 2 Specifications
21
Performance Specifications
21
Specifications of Interfaces with External Devices
22
External Circuit Design
23
Chapter 3 Function List
25
Control Functions
25
Basic Specifications
25
Motion Control 1
26
Motion Control 2
27
Control/Operation/Maintenance
27
List of Network Function
28
Chapter 4 Procedures before Operations
29
Chapter 5 System Configuration
31
Structure of Authentication Class B Devices and Ethernet Devices
32
Structure of Authentication Class B/A Devices and Ethernet Devices
35
Precautions for System Configuration
37
Chapter 6 Installation and Wiring
39
Installation and Removal of SD Memory Card
39
Wiring
41
Appendices
43
Appendix 1 Component List
43
Appendix 2 External Dimensions
44
Appendix 3 Open Source Software
48
Index
50
Revisions
52
Warranty
53
Trademarks
54
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