Controllers MELSEC iQ-R Series Product features -CPU-

MELSEC iQ-R Series

Motion CPU module

The motion CPU module is incorporated into the multiple CPU configuration, separating the CPU load efficiently.
High-speed general control and high-accuracy motion control are achieved, thereby contributing to high-speed and high-accuracy machine processing.

R16MTCPU 16-axis

R32MTCPU 32-axis

R64MTCPU 64-axis

Interface

Features <sup>High-speed and large-capacity communications between the CPU modules </sup>

Large-capacity data communication

In the multiple CPU configuration with the programmable controller CPU module and motion CPU module, a large memory area shared for high-speed data communication is provided
High-speed communications are very useful when there is a need to instantaneously transfer a large amount of information such as cam data, thereby simplifying programming even further
Useful for production lines responding to high variety and variable quantity production where recipe data needs to be instantly reflected to the motor operation according to commands from the computer

*1.As compared to current Mitsubishi Electric products.

Various applications easily realized

Synchronous control
Vision system
G-code

Simple configuration of a converting equipment that requires high-precision synchronization between motors and stable machining with constant tension

In cooperation with the vision system, it is possible to configure an alignment device that moves accurately, quickly and continuously according to the device position

Execution of G-code programs used in a processing machine enables simple machine tool and punching

Motion SFC program with easy-to-understand processing steps

Flowchart
Event responsiveness

The motion CPU module is programmed using the SFC ^*2 type language which enables programming in clearly identifiable steps
The motion SFC program is extremely useful for equipment and production lines requiring fast response

*2.SFC: Sequential Function Chart

Motion SFC Program

Specifications

Motion CPU module specifications

MT SFC : Motion SFC INS : Dedicated instruction

Item	R16MTCPU	R32MTCPU	R64MTCPU
Max. number of control axes	16	32 (16 axes × 2 lines)	64 (32 axes × 2 lines)
Operation cycle setting (ms)	0.222, 0.444, 0.888, 1.777, 3.555, 7.111	0.222, 0.444, 0.888, 1.777, 3.555, 7.111	0.222, 0.444, 0.888, 1.777, 3.555, 7.111
Programming language	MT SFC INS	MT SFC INS	MT SFC INS
Servo program capacity (step)	64K	64K	64K
Number of positioning points	6400 (positioning data can be designated indirectly)	6400 (positioning data can be designated indirectly)	6400 (positioning data can be designated indirectly)
Servo amplifier network	SSCNETⅢ/H (1 line)	SSCNETⅢ/H (2 lines)	SSCNETⅢ/H (2 lines)
Max. distance between stations (m)	100	100	100
Interpolation
Linear interpolation (axis)	Max. 4	Max. 4	Max. 4
Circular interpolation (axis)	2	2	2
Helical interpolation (axis)	3	3	3
Control mode
Positioning control	●	●	●
Continuous path control	●	●	●
Position follow-up control	●	●	●
Advanced synchronous control	●	●	●
Speed-torque control	●	●	●
G-code control ^*3	●	●	●
Acceleration/deceleration control
Trapezoidal acceleration/deceleration	●	●	●
S-curve acceleration/deceleration	●	●	●
Advanced S-curve acceleration/deceleration	●	●	●
Interface
PERIPHERAL I/F	●	●	●
SD memory card	●	●	●
Function
Absolute position system ^*4	●	●	●
Mark detection function	●	●	●
Digital oscilloscope function	●	●	●
Driver communication function	●	●	●

*3.G-code control is available by additionally installing the G-code control add-on library. For more information, please contact your local Mitsubishi Electric sales office or representative.
*4.Supported when a battery is connected to the servo amplifier. A battery is not required when using a servo motor equipped with a battery-less absolute position encoder.