Factory Automation

Controllers MELSEC iQ-R Series Product features -Motion, Positioning-

    Specifications

    Motion (PLCopen<span class="ff-nsj">®</span> motion control FB mode) <sup>Motion module specifications (PLCopen ® motion control FB mode) </sup>

    Item RD78G4 RD78G8 RD78G16 RD78G32 RD78G64 RD78GHV RD78GHW
    Max. number of control axes 4 8 16 32 64 128 256
    Operation cycle settings 62.5 µs
    …8 ms     		62.5 µs
    …8 ms     		62.5 µs
    …8 ms     		62.5 µs
    …8 ms     		62.5 µs
    …8 ms     		31.25 µs
    …8 ms     		31.25 µs
    …8 ms
    Program capacity (built-in ROM) (byte) 16M 16M 16M 16M 16M 64M 64M
    Servo amplifier connection
    Servo amplifier MR-J5-G
    MR-J5W-G
    MR-J5D-G4     		MR-J5-G
    MR-J5W-G
    MR-J5D-G4     		MR-J5-G
    MR-J5W-G
    MR-J5D-G4     		MR-J5-G
    MR-J5W-G
    MR-J5D-G4     		MR-J5-G
    MR-J5W-G
    MR-J5D-G4     		MR-J5-G
    MR-J5W-G
    MR-J5D-G4     		MR-J5-G
    MR-J5W-G
    MR-J5D-G4
    CC-Link IE TSN ● ● ● ● ● ● ●
    Max. station-to-station distance (m) 100 100 100 100 100 100 100
    Interpolation function
    Linear interpolation (axis) Max. 4 Max. 4 Max. 4 Max. 4 Max. 4 Max. 4 Max. 4
    Circular interpolation (axis) 2 2 2 2 2 2 2
    Control method
    Positioning control ● ● ● ● ● ● ●
    Speed control ● ● ● ● ● ● ●
    Torque control ● ● ● ● ● ● ●
    Synchronous control ● ● ● ● ● ● ●
    Cam control ● ● ● ● ● ● ●
    Acceleration/deceleration process
    Trapezoidal acceleration/deceleration ● ● ● ● ● ● ●
    Jerk acceleration/deceleration ● ● ● ● ● ● ●
    Function
    Absolute position system ● ● ● ● ● ● ●
    Touch probe ● ● ● ● ● ● ●

    Motion (simple motion mode) <sup>Motion module specifications (simple motion mode) </sup>

    Item RD78G4 RD78G8 RD78G16
    Max. number of control axes 4 8 16
    Operation cycle settings (µs) 250, 500, 1000, 2000, 4000 250, 500, 1000, 2000, 4000 250, 500, 1000, 2000, 4000
    Number of positioning data (data/axis) 600 600 600
    Servo amplifier connection
    Servo amplifier MR-J5-G
    MR-J5W-G
    MR-J5D-G4     		MR-J5-G
    MR-J5W-G
    MR-J5D-G4     		MR-J5-G
    MR-J5W-G
    MR-J5D-G4
    CC-Link IE TSN ● ● ●
    Max. station-to-station distance (m) 100 100 100
    Interpolation function
    Linear interpolation (axis) Max. 4 Max. 4 Max. 4
    Circular interpolation (axis) 2 2 2
    Helical interpolation (axis) 3 3 3
    Control method
    Positioning control ● ● ●
    Speed control ● ● ●
    Torque control ● ● ●
    Continuous operation to torque control ● ● ●
    Synchronous control ● ● ●
    Cam control ● ● ●
    Acceleration/deceleration process
    Trapezoidal acceleration/deceleration ● ● ●
    S-curve acceleration/deceleration ● ● ●
    Function
    Absolute position system ● ● ●
    Mark detection function ● ● ●

    Simple motion <sup>Simple motion module specifications </sup>

    Item RD77GF4 RD77GF8 RD77GF16 RD77GF32
    Number of control axes 4 8 16 32
    Operation cycle settings (ms) 0.5, 1.0, 2.0, 4.0 0.5, 1.0, 2.0, 4.0 0.5, 1.0, 2.0, 4.0 0.5, 1.0, 2.0, 4.0
    Control unit mm, inch, degree, pulse mm, inch, degree, pulse mm, inch, degree, pulse mm, inch, degree, pulse
    Positioning data (data/axis) 600 600 600 600
    Servo amplifier MR-J4-GF MR-J4-GF MR-J4-GF MR-J4-GF
    Max. station-to-station distance (m) 100 100 100 100
    Servo amplifier connection system
    CC-Link IE Field Network ● ● ● ●
    Interpolation function
    Linear interpolation (axis) Max. 4 Max. 4 Max. 4 Max. 4
    Circular interpolation (axis) 2 2 2 2
    Helical interpolation ● ● ● ●
    Control method
    Position control ● ● ● ●
    Speed control ● ● ● ●
    Torque control ● ● ● ●
    Advanced synchronous control ● ● ● ●
    Cam control ● ● ● ●
    Acceleration/deceleration process
    Trapezoidal acceleration/deceleration ● ● ● ●
    S-curve acceleration/deceleration ● ● ● ●
    Function
    Absolute position system *1 ● ● ● ●
    Mark detection function ● ● ● ●
    Item RD77MS2 RD77MS4 RD77MS8 RD77MS16
    Number of control axes 2 4 8 16
    Operation cycle settings (ms) 0.444, 0.888, 1.777, 3.555 0.444, 0.888, 1.777, 3.555 0.444, 0.888, 1.777, 3.555 0.444, 0.888, 1.777, 3.555
    Control unit mm, inch, degree, pulse mm, inch, degree, pulse mm, inch, degree, pulse mm, inch, degree, pulse
    Positioning data (data/axis) 600 600 600 600
    Servo amplifier MR-J4-B
    MR-J4W-B     		MR-J4-B
    MR-J4W-B     		MR-J4-B
    MR-J4W-B     		MR-J4-B
    MR-J4W-B
    Max. station-to-station distance (m) 100 100 100 100
    Servo amplifier connection system
    SSCNETⅢ/H ● ● ● ●
    External interface *2
    40-pin connector ● ● (2x) ● (2x) ● (2x)
    Interpolation function
    Linear interpolation (axis) Max. 2 Max. 4 Max. 4 Max. 4
    Circular interpolation (axis) 2 2 2 2
    Helical interpolation - ● ● ●
    Control method
    Position control ● ● ● ●
    Speed control ● ● ● ●
    Torque control ● ● ● ●
    Continuous operation to torque control ● ● ● ●
    Advanced synchronous control ● ● ● ●
    Cam control ● ● ● ●
    Acceleration/deceleration process
    Trapezoidal acceleration/deceleration ● ● ● ●
    S-curve acceleration/deceleration ● ● ● ●
    Function
    Absolute position system *1 ● ● ● ●
    Mark detection function ● ● ● ●

    Positioning <sup>Positioning module specifications </sup>

    Item Open collector output Differential driver output
    RD75P2 RD75P4 RD75D2 RD75D4
    Number of control axes 2 4 2 4
    Control unit mm, inch, degree, pulse mm, inch, degree, pulse mm, inch, degree, pulse mm, inch, degree, pulse
    Positioning data (data/axis) 600 600 600 600
    Module backup function Positioning data and block start data can be saved on flash ROM (battery-less backup)
    Start time (1-axis linear control) (ms) 0.3 0.3 0.3 0.3
    Max. output pulse (pulse/s) 200,000 200,000 5,000,000 5,000,000
    Max. connection distance between servos (m) 2 2 10 10
    Interpolation
    Linear interpolation (axis) 2 2, 3, 4 2 2, 3, 4
    Circular interpolation (axis) 2 2 2 2
    Helical interpolation (axis) - 3 - 3
    Control method
    PTP (Point To Point) control ● ● ● ●
    Path control (linear, arc, helical) ● ● ● ●
    Speed control ● ● ● ●
    Speed-position switching control ● ● ● ●
    Position-speed switching control ● ● ● ●
    Acceleration/deceleration process
    Trapezoidal acceleration/deceleration ● ● ● ●
    S-curve acceleration/deceleration ● ● ● ●
    Fast-start function
    Positioning start signal (µs) 8 8 8 8
    External command signal (µs) 20 20 20 20
    External interface *2
    40-pin connector ● ● (2x) ● (2x) ● (2x)
    • *1.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.
    • *2.For applicable options, please refer to the relevant product manual.