Product Features

MELSEC iQ-R Series Features System Recorder Lineup System configuration CPU I/O Analog Motion, Positioning, High-speed counter, Channel isolated pulse input Network Advanced information Technology

Features Motion

Motion Module

Motion modules allow the use of multiple control functions for both single and multiple axes, such as synchronization, cam, speed, and torque control using PLCopen^® Motion Control function blocks. An advanced motion control system realized by mixing servo amplifiers and I/O modules on one network.

Motion modules for high-performance operations

The motion module is equipped with either quad-core (4 cores) or dual-core processors. The motion module is programmed using ST language, allowing the control load to be separated from the programmable controller CPU. High performance can be maintained, even when control axes are increased.

Motion control utilizing easier programming

The motion control program can be programmed with ladder, FBD or ST language using GX Works3. Upload the created program either to the programmable controller CPU, motion module or both. Each module has different features based on its usage requirements.

Synchronous encoder

Synchronous control can be set easily by setting the synchronous encoder to "Real encoder axis" and creating a program using function blocks. The number of command pulses can be adjusted using the function block (MC_Gearin) or via the parameters.

*1: The system shows an example using an incremental synchronous encoder.
When configuring an absolute position system, use an encoder of HK series servo motors.

Monitoring of servo data

Substantial monitoring of servo amplifiers can be achieved by the extensive data acquired via CC-Link IE TSN, and transferred to the IT system or displayed on any GOT (HMI) within the control network. Monitored data can be changed during operation.

Motion module specifications

Item	RD78G4	RD78G8	RD78G16	RD78G32	RD78G64	RD78GHV	RD78GHW
Max. number of control axes	4	8	16	32	64	128	256
Min. operation cycle^*2 (µs)	62.5	62.5	62.5	62.5	62.5	31.25^*3	31.25^*3
Program capacity (built-in ROM) (byte)	16M	16M	16M	16M	16M	64M	64M
Servo amplifier connection
Servo amplifier	MR-J5-G	MR-J5-G	MR-J5-G	MR-J5-G	MR-J5-G	MR-J5-G	MR-J5-G
CC-Link IE TSN	●	●	●	●	●	●	●
Distance between stations (m)	100	100	100	100	100	100	100
Interpolation function
Linear interpolation (axis)	2, 3, 4	2, 3, 4	2, 3, 4	2, 3, 4	2, 3, 4	2, 3, 4	2, 3, 4
Circular interpolation (axis)	2	2	2	2	2	2	2
Control method
Positioning control	●	●	●	●	●	●	●
Speed control	●	●	●	●	●	●	●
Torque control	●	●	●	●	●	●	●
Synchronous control	●	●	●	●	●	●	●
Acceleration/deceleration process
Trapezoidal acceleration/deceleration	●	●	●	●	●	●	●
Jerk acceleration/deceleration	●	●	●	●	●	●	●
Function
Absolute positioning system	●	●	●	●	●	●	●
Touch probe	●	●	●	●	●	●	●
Firmware update^*4	●	●	●	●	●	●	●

*2: The operation cycle varies depending on the number of control axes and models.

*3: This value is achieved when fast operation mode of the motion module (RD78GH) is used. For details, please refer to the MELSEC iQ-R Motion Module User's Manual (Application) (IB-0300411ENG).

*4: For more information, please refer to the relevant product manual.