Product Features
Concept
Features
- The MELSEC iQ-R series Motion controller is capable of various controls such as positioning control, speed control, torque control, tightening & press-fit control, advanced synchronous control and cam control, etc. They are applied to various machines such as X-Y tables, unwinding machines, packing machines and filling machines.
- A combination of Mitsubishi's advanced PLC system, servo amplifiers, servo motors, and servo networks offers exceptional solutions that allow you to maximize your system's productivity.
Higher Basic Performance and Further Improved Total System Performance
Experience Powerful Performance of Multiple CPU with Ease of Use Just Like Using One CPU
You can select either the Motion CPU or the PLC CPU based on the application, allowing you to configure a system more flexibly.
The easy-to-understand flowchart form is adopted by Motion SFC for Motion control programming.
Also, the direct positioning start instruction allows you to program Motion control, such as positioning and synchronous controls, just with sequence programs.
Motion CPU Memory Expansion
- The cam working area has been expanded to 16M bytes, enabling you to use more cam data with higher resolution.
- The device memory has been increased to 128k words, so even multi-axis equipment requiring more devices can be applied.
- The cam data storage area has been expanded to 12M bytes. SD card is also available for storing cam data.
Ease of Use Achieved by a State-of-art CPU Buffer Memory
The high-speed, high-capacity CPU buffer memory revolutionizes the data exchange between CPUs.
The PLC CPU and the Motion CPU each have a CPU buffer memory. And those buffer memories are efficiently utilized for two different purposes.
- The 2M words CPU buffer memory (Motion CPU side) is provided as standard, which is utilized for bulky data transmission and fast data updating.
- The CPU buffer memory (fixed-cycle communication area) allows 24 k words (4 CPUs in total) transmission between the PLC CPU and the Motion CPU every 0.222 ms. It is perfectly suited for receiving/transmitting highly synchronized data between multiple CPUs.
CPU Buffer Memory
The Motion CPU and the PLC CPU are equipped with 2 M words and 512 k words CPU buffer memories respectively.
They allow for bulky data transmission and fast data update.
Example of using PLC CPU buffer memory
Bulky data such as cam data can be transferred by just a one-time transmission through the 512 k word buffer memory.
Example of using Motion CPU buffer memory
The data that is set on Motion CPU side can be reflected to the interlock in the sequence program without any delay.
CPU Buffer Memory (Fixed-cycle Communication Area)
Data can be transmitted every 0.222 ms between the PLC CPU and the Motion CPU. The CPU buffer memories (fixed-cycle communication area) are synchronized to the Motion control, optimizing the operation.
Motion SFC Program
The Motion control program is described in flowchart form using the Motion SFC (Sequential Function Chart) format.
The Motion SFC format program is suitable for event processing and allows the Motion CPU to perform batch control of multiple sequential machine operations, pursuing high event responsiveness.
High-speed Synchronous Network SSCNETIII/H
Positioning Control
A variety of positioning controls, such as PTP control, position follow-up, and continuous trajectory control are available with the Motion controller.
Basic Positioning Control
Advanced Synchronous Control
The advanced synchronous control is software-based synchronous control as an alternative to mechanical control, such as gear,
shaft, clutch, speed change gear and cam. In addition, cam control becomes even easier with cam auto-generation function.
- The synchronous control can be started/ended on axis-by-axis basis.
- Axes in synchronous and positioning controls can be used together in one program.
- Speed-torque control can be performed simultaneously with the synchronous control.
- Up to 192 axes can be synchronized by use of three R64MTCPU modules.
Multiple CPU advanced synchronous control
A large system can be configured thanks to the advanced synchronous control that allows up to 192-axis synchronization with high accuracy by use of three Motion CPU modules.
Synchronous Control Parameters
- The synchronous control is easily executed just by setting parameters.
- One of the following three can be set as the input axis: Synchronous encoder axis, Command generation axis, or Servo input axis.
- "Command generation axis" is not counted as a control axis; therefore all the control axes can be used as output axes.
- The cam axis can be operated in linear operation (a rotary table, a ball screw, etc.), two-way operation, or feed operation by setting cam No. and cam data.
Pressure Control
The machine is controlled so that the pressure commands match the pressure sensor values; therefore pressure is maintained constant even with a changing load. Each pressure process ("Feed", "Pressure maintaining", and "Pressure release") can be set with the Pressure Profile, and those processes can be tested on MELSOFT MT Works2, which makes a changeover and adjustment easy.
Multi-axis Adjustment Function
The multi-axis adjustment function enables simpler servo adjustment and quicker startup for machines executing multi-axis simultaneous operation, such as a tandem configuration.
- Multi-axis simultaneous JOG operation by specifying speed and acceleration/deceleration time
- Multi-axis simultaneous positioning
- Multi-axis simultaneous tuning by the same settings
G-code Control Function
- Up to 16 axes can perform G-code control (Simultaneous interpolation: Up to 4 axes).
- A G-code program is created in text format with a generic editor/CAD conversion tool.
- Operators can edit and modify a G-code program on GOT on the spot.
Machine Control Function
This Motion controller controls the simple industrial robot by installing the machine library.
The control method of the robots is a machine control which controls in a three dimensional (XYZ) Cartesian coordinates space.
Optical Hub Unit
The MR-MV200 optical hub unit can branch a single SSCNETIII/H network line in three separate directions. This enables distribution of the SSCNETIII/H compatible devices with flexible wiring arrangement. In addition, the distributed amplifier can be partly OFF for maintenance without stopping the whole system; thus, the machine availability can be improved.
- The SSCNET connect/disconnect function of the controller allows you to power off only the desired servo amplifiers.
- The optical hub unit is introduced just by making some changes in wiring without making any new settings.
- Longer-distance wiring becomes available by using the optical hub unit.
(Note): Be sure to confirm that "SSCNETIII/H" is selected in the system setting when introducing the optical hub unit.
Functions List
Motion controller | |||
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R64MTCPU | R32MTCPU | R16MTCPU | |
Number of control axes | Up to 64 axes (32 axes/line x 2) | Up to 32 axes (16 axes/line x 2) | Up to 16 axes |
Servo amplifier interface | SSCNETIII/H | ||
Connectable servo amplifier | MR-J4-B(-RJ), MR-J4W-BMore details | ||
Operation cycle[ms] (Operation cycle settings) |
From 0.222ms | ||
Engineering Environment | MELSOFT MT Works2 | ||
Programming method | Motion SFC, Direct positioning start instruction | ||
Control modes | Position control, Speed control, Torque control, Tightening & press-fit control, Synchronous control, Cam control, Advanced synchronous control, G-code control , Machine control |
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Positioning control |
PLinear interpolationm, Circular interpolation, Continuous trajectory control, Helical interpolation, Position follow-up control, Speed control with fixed position stop, High-speed oscillation control, Speed/position switching control |
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Acceleration/deceleration process |
Trapezoidal acceleration/deceleration, S-curve acceleration/deceleration, Advanced S-curve acceleration/deceleration |
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Manual control | JOG operation, Manual pulse generator, JOG operation simultaneous start | ||
Functions that change control details | Current value change, Target position change, Torque limit value change, Speed change | ||
Home position return method |
Proximity dog method 1, Proximity dog method 2, Scale home position signal detection method, Count method 1, Count method 2, Count method 3, Data set method 1, Data set method 2, Dog cradle method, Stopper method 1, Stopper method 2, Limit switch combined method, Dogless home position signal reference method |
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Auxiliary functions |
Forced stop method, Hardware stroke limit method, Software stroke limit method, Absolute position system, Amplifier-less operation method, Unlimited length feed method, Optional data monitor method, Mark detection method, M-code output method, Error history, Digital oscilloscope method, Vision system connection function, Security function, Limit switch output method,Cam auto-generation method |
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5VDC internal current consumption [A] | 1.20 | ||
Mass [kg] | 0.28 |