Mitsubishi Electric MELSEC iQ-R Series Manual de usuario

MELSEC iQ-R Simple Motion Module

User's Manual (Advanced Synchronous Control)

-RD77MS2 -RD77GF4

-RD77MS4 -RD77GF8

-RD77MS8 -RD77GF16

-RD77MS16 -RD77GF32

SAFETY PRECAUTIONS

(Read these precautions before using this product.)

Before using MELSEC iQ-R series programmable controllers, please read the manuals for the product and the relevant

manuals introduced in those manuals carefully, and pay full attention to safety to handle the product correctly. If the equipment

is used in a manner not specified by the manufacturer, the protection provided by the equipment may be impaired.

The precautions given in this manual are concerned with this product only. For the safety precautions of the programmable

controller system, refer to the MELSEC iQ-R Module Configuration Manual.

In this manual, the safety precautions are classified into two levels: " WARNING" and " CAUTION".

Under some circumstances, failure to observe the precautions given under " CAUTION" may lead to serious

consequences.

Observe the precautions of both levels because they are important for personal and system safety.

Make sure that the end users read this manual and then keep the manual in a safe place for future reference.

[Design Precautions]

WARNING

●Configure safety circuits external to the programmable controller to ensure that the entire system

operates safely even when a fault occurs in the external power supply or the programmable controller.

Failure to do so may result in an accident due to an incorrect output or malfunction.

(1) Emergency stop circuits, protection circuits, and protective interlock circuits for conflicting

operations (such as forward/reverse rotations or upper/lower limit positioning) must be configured

external to the programmable controller.

(2) When the programmable controller detects an abnormal condition, it stops the operation and all

outputs are:

• Turned off if the overcurrent or overvoltage protection of the power supply module is activated.

• Held or turned off according to the parameter setting if the self-diagnostic function of the CPU

module detects an error such as a watchdog timer error.

(3) All outputs may be turned on if an error occurs in a part, such as an I/O control part, where the

CPU module cannot detect any error. To ensure safety operation in such a case, provide a safety

mechanism or a fail-safe circuit external to the programmable controller. For a fail-safe circuit

example, refer to "General Safety Requirements" in the MELSEC iQ-R Module Configuration

Manual.

(4) Outputs may remain on or off due to a failure of a component such as a relay and transistor in an

output circuit. Configure an external circuit for monitoring output signals that could cause a

serious accident.

●In an output circuit, when a load current exceeding the rated current or an overcurrent caused by a

load short-circuit flows for a long time, it may cause smoke and fire. To prevent this, configure an

external safety circuit, such as a fuse.

●Configure a circuit so that the programmable controller is turned on first and then the external power

supply. If the external power supply is turned on first, an accident may occur due to an incorrect output

or malfunction.

WARNING Indicates that incorrect handling may cause hazardous conditions, resulting in

death or severe injury.

CAUTION Indicates that incorrect handling may cause hazardous conditions, resulting in

minor or moderate injury or property damage.

[Design Precautions]

WARNING

●Configure a circuit so that the external power supply is turned off first and then the programmable

controller. If the programmable controller is turned off first, an accident may occur due to an incorrect

output or malfunction.

●For the operating status of each station after a communication failure, refer to manuals for the network

used. For the manuals, please consult your local Mitsubishi representative. Incorrect output or

malfunction due to a communication failure may result in an accident.

●When connecting an external device with a CPU module or intelligent function module to modify data

of a running programmable controller, configure an interlock circuit in the program to ensure that the

entire system will always operate safely. For other forms of control (such as program modification,

parameter change, forced output, or operating status change) of a running programmable controller,

read the relevant manuals carefully and ensure that the operation is safe before proceeding. Improper

operation may damage machines or cause accidents.

●Especially, when a remote programmable controller is controlled by an external device, immediate

action cannot be taken if a problem occurs in the programmable controller due to a communication

failure. To prevent this, configure an interlock circuit in the program, and determine corrective actions

to be taken between the external device and CPU module in case of a communication failure.

●Do not write any data to the "system area" and "write-protect area" of the buffer memory in the

module. Also, do not use any "use prohibited" signals as an output signal from the CPU module to

each module. Doing so may cause malfunction of the programmable controller system. For the

"system area", "write-protect area", and the "use prohibited" signals, refer to the user's manual for the

module used. For areas used for safety communications, they are protected from being written by

users, and thus safety communications failure caused by data writing does not occur.

●If a communication cable is disconnected, the network may be unstable, resulting in a communication

failure of multiple stations. Configure an interlock circuit in the program to ensure that the entire

system will always operate safely even if communications fail. Failure to do so may result in an

accident due to an incorrect output or malfunction. When safety communications are used, an

interlock by the safety station interlock function protects the system from an incorrect output or

malfunction.

●Configure safety circuits external to the programmable controller to ensure that the entire system

operates safely even when a fault occurs in the external power supply or the programmable controller.

Failure to do so may result in an accident due to an incorrect output or malfunction.

(1) Machine home position return is controlled by two kinds of data: a home position return direction

and a home position return speed. Deceleration starts when the proximity dog signal turns on. If

an incorrect home position return direction is set, motion control may continue without

deceleration. To prevent machine damage caused by this, configure an interlock circuit external to

the programmable controller.

(2) When the module detects an error, the motion slows down and stops or the motion rapidly stops,

depending on the stop group setting in parameter. Set the parameter to meet the specifications of

a positioning control system. In addition, set the home position return parameter and positioning

data within the specified setting range.

(3) Outputs may remain on or off, or become undefined due to a failure of a component such as an

insulation element and transistor in an output circuit, where the module cannot detect any error. In

a system that the incorrect output could cause a serious accident, configure an external circuit for

monitoring output signals.

[Design Precautions]

[Security Precautions]

WARNING

●If safety standards (ex., robot safety rules, etc.,) apply to the system using the module, servo amplifier

and servo motor, make sure that the safety standards are satisfied.

●Construct a safety circuit externally of the module or servo amplifier if the abnormal operation of the

module or servo amplifier differs from the safety directive operation in the system.

●Do not remove the SSCNET cable while turning on the control circuit power supply of the module

and servo amplifier. Do not see directly the light generated from SSCNET connector of the module

or servo amplifier and the end of SSCNET cable. When the light gets into eyes, you may feel

something wrong with eyes. (The light source of SSCNET complies with class1 defined in JISC6802

or IEC60825-1.)

CAUTION

●Do not install the control lines or communication cables together with the main circuit lines or power

cables. Doing so may result in malfunction due to electromagnetic interference. Keep a distance of

100 mm or more between those cables.

●During control of an inductive load such as a lamp, heater, or solenoid valve, a large current

(approximately ten times greater than normal) may flow when the output is turned from off to on.

Therefore, use a module that has a sufficient current rating.

●After the CPU module is powered on or is reset, the time taken to enter the RUN status varies

depending on the system configuration, parameter settings, and/or program size. Design circuits so

that the entire system will always operate safely, regardless of the time.

●Do not power off the programmable controller or reset the CPU module while the settings are being

written. Doing so will make the data in the flash ROM and SD memory card undefined. The values

need to be set in the buffer memory and written to the flash ROM and SD memory card again. Doing

so also may cause malfunction or failure of the module.

●When changing the operating status of the CPU module from external devices (such as the remote

RUN/STOP functions), select "Do Not Open by Program" for "Opening Method" of "Module

Parameter". If "Open by Program" is selected, an execution of the remote STOP function causes the

communication line to close. Consequently, the CPU module cannot reopen the line, and external

devices cannot execute the remote RUN function.

WARNING

●To maintain the security (confidentiality, integrity, and availability) of the programmable controller and

the system against unauthorized access, denial-of-service (DoS) attacks, computer viruses, and other

cyberattacks from external devices via the network, take appropriate measures such as firewalls,

virtual private networks (VPNs), and antivirus solutions.

[Installation Precautions]

[Wiring Precautions]

WARNING

●Shut off the external power supply (all phases) used in the system before mounting or removing the

module. Failure to do so may result in electric shock or cause the module to fail or malfunction.

CAUTION

●Use the programmable controller in an environment that meets the general specifications in the Safety

Guidelines (IB-0800525). Failure to do so may result in electric shock, fire, malfunction, or damage to

or deterioration of the product.

●To mount a module, place the concave part(s) located at the bottom onto the guide(s) of the base unit,

and push in the module until the hook(s) located at the top snaps into place. Incorrect interconnection

may cause malfunction, failure, or drop of the module.

●To mount a module with no module fixing hook, place the concave part(s) located at the bottom onto

the guide(s) of the base unit, push in the module, and fix it with screw(s). Incorrect interconnection

may cause malfunction, failure, or drop of the module.

●When using the programmable controller in an environment of frequent vibrations, fix the module with

a screw.

●Tighten the screws within the specified torque range. Undertightening can cause drop of the

component or wire, short circuit, or malfunction. Overtightening can damage the screw and/or module,

resulting in drop, short circuit, or malfunction. For the specified torque range, refer to the MELSEC iQ-

R Module Configuration Manual.

●When using an extension cable, connect it to the extension cable connector of the base unit securely.

Check the connection for looseness. Poor contact may cause malfunction.

●When using an SD memory card, fully insert it into the SD memory card slot. Check that it is inserted

completely. Poor contact may cause malfunction.

●Securely insert an extended SRAM cassette or a battery-less option cassette into the cassette

connector of the CPU module. After insertion, close the cassette cover and check that the cassette is

inserted completely. Poor contact may cause malfunction.

●Beware that the module could be very hot while power is on and immediately after power-off.

●Do not directly touch any conductive parts and electronic components of the module, SD memory

card, extended SRAM cassette, battery-less option cassette, or connector. Doing so can cause

malfunction or failure of the module.

WARNING

●Shut off the external power supply (all phases) used in the system before installation and wiring.

Failure to do so may result in electric shock or cause the module to fail or malfunction.

●After installation and wiring, attach a blank cover module (RG60) to each empty slot and an included

extension connector protective cover to the unused extension cable connector before powering on the

system for operation. Failure to do so may result in electric shock.

[Wiring Precautions]

CAUTION

●Individually ground the FG and LG terminals of the programmable controller with a ground resistance

of 100 ohms or less. Failure to do so may result in electric shock or malfunction.

●Use applicable solderless terminals and tighten them within the specified torque range. If any spade

solderless terminal is used, it may be disconnected when the terminal screw comes loose, resulting in

failure.

●Check the rated voltage and signal layout before wiring to the module, and connect the cables

correctly. Connecting a power supply with a different voltage rating or incorrect wiring may cause fire

or failure.

●Connectors for external devices must be crimped or pressed with the tool specified by the

manufacturer, or must be correctly soldered. Incomplete connections may cause short circuit, fire, or

malfunction.

●Securely connect the connector to the module. Poor contact may cause malfunction.

●Do not install the control lines or communication cables together with the main circuit lines or power

cables. Doing so may result in malfunction due to noise. Keep a distance of 100 mm or more between

those cables.

●Place the cables in a duct or clamp them. If not, dangling cables may swing or inadvertently be pulled,

resulting in malfunction or damage to modules or cables.

In addition, the weight of the cables may put stress on modules in an environment of strong vibrations

and shocks.

Do not clamp the extension cables with the jacket stripped. Doing so may change the characteristics

of the cables, resulting in malfunction.

●Check the interface type and correctly connect the cable. Incorrect wiring (connecting the cable to an

incorrect interface) may cause failure of the module and external device.

●Tighten the terminal screws or connector screws within the specified torque range. Undertightening

can cause drop of the screw, short circuit, fire, or malfunction. Overtightening can damage the screw

and/or module, resulting in drop, short circuit, fire, or malfunction.

●When disconnecting the cable from the module, do not pull the cable by the cable part. For the cable

with connector, hold the connector part of the cable. For the cable connected to the terminal block,

loosen the terminal screw. Pulling the cable connected to the module may result in malfunction or

damage to the module or cable.

●Prevent foreign matter such as dust or wire chips from entering the module. Such foreign matter can

cause a fire, failure, or malfunction.

●When a protective film is attached to the top of the module, remove it before system operation. If not,

inadequate heat dissipation of the module may cause a fire, failure, or malfunction.

●Programmable controllers must be installed in control panels. Connect the main power supply to the

power supply module in the control panel through a relay terminal block. Wiring and replacement of a

power supply module must be performed by qualified maintenance personnel with knowledge of

protection against electric shock. For wiring, refer to the MELSEC iQ-R Module Configuration Manual.

●For Ethernet cables to be used in the system, select the ones that meet the specifications in the user's

manual for the module used. If not, normal data transmission is not guaranteed.

[Startup and Maintenance Precautions]

WARNING

●Do not touch any terminal while power is on. Doing so will cause electric shock or malfunction.

●Correctly connect the battery connector. Do not charge, disassemble, heat, short-circuit, solder, or

throw the battery into the fire. Also, do not expose it to liquid or strong shock. Doing so will cause the

battery to produce heat, explode, ignite, or leak, resulting in injury and fire.

●Shut off the external power supply (all phases) used in the system before cleaning the module or

retightening the terminal screws, connector screws, or module fixing screws. Failure to do so may

result in electric shock.

CAUTION

●When connecting an external device with a CPU module or intelligent function module to modify data

of a running programmable controller, configure an interlock circuit in the program to ensure that the

entire system will always operate safely. For other forms of control (such as program modification,

parameter change, forced output, or operating status change) of a running programmable controller,

read the relevant manuals carefully and ensure that the operation is safe before proceeding. Improper

operation may damage machines or cause accidents.

●Especially, when a remote programmable controller is controlled by an external device, immediate

action cannot be taken if a problem occurs in the programmable controller due to a communication

failure. To prevent this, configure an interlock circuit in the program, and determine corrective actions

to be taken between the external device and CPU module in case of a communication failure.

●Do not disassemble or modify the modules. Doing so may cause failure, malfunction, injury, or a fire.

●Use any radio communication device such as a cellular phone or PHS (Personal Handy-phone

System) 25 cm or more away in all directions from the programmable controller. Failure to do so may

cause malfunction.

●Shut off the external power supply (all phases) used in the system before mounting or removing the

module. Failure to do so may cause the module to fail or malfunction.

●Tighten the screws within the specified torque range. Undertightening can cause drop of the

component or wire, short circuit, or malfunction. Overtightening can damage the screw and/or module,

resulting in drop, short circuit, or malfunction.

●After the first use of the product, do not perform each of the following operations more than 50 times

(IEC 61131-2/JIS B 3502 compliant).

Exceeding the limit may cause malfunction.

• Mounting/removing the module to/from the base unit

• Inserting/removing the extended SRAM cassette or battery-less option cassette to/from the

CPU module

• Mounting/removing the terminal block to/from the module

• Connecting/disconnecting the extension cable to/from the base unit

●After the first use of the product, do not insert/remove the SD memory card to/from the CPU module

more than 500 times. Exceeding the limit may cause malfunction.

●Do not touch the metal terminals on the back side of the SD memory card. Doing so may cause

malfunction or failure of the module.

[Startup and Maintenance Precautions]

CAUTION

●Do not touch the integrated circuits on the circuit board of an extended SRAM cassette or a battery-

less option cassette. Doing so may cause malfunction or failure of the module.

●Do not drop or apply shock to the battery to be installed in the module. Doing so may damage the

battery, causing the battery fluid to leak inside the battery. If the battery is dropped or any shock is

applied to it, dispose of it without using.

●Startup and maintenance of a control panel must be performed by qualified maintenance personnel

with knowledge of protection against electric shock. Lock the control panel so that only qualified

maintenance personnel can operate it.

●Before handling the module, touch a conducting object such as a grounded metal to discharge the

static electricity from the human body. Wearing a grounded antistatic wrist strap is recommended.

Failure to discharge the static electricity may cause the module to fail or malfunction.

●After unpacking, eliminate static electricity from the module to prevent electrostatic discharge from

affecting the module. If an electrostatically charged module comes in contact with a grounded metal

object, a sudden electrostatic discharge of the module may cause failure. For details on how to

eliminate static electricity from the module, refer to the following.

Antistatic Precautions Before Using MELSEC iQ-R Series Products (FA-A-0368)

●Use a clean and dry cloth to wipe off dirt on the module.

●Before testing the operation, set a low speed value for the speed limit parameter so that the operation

can be stopped immediately upon occurrence of a hazardous condition.

●Confirm and adjust the program and each parameter before operation. Unpredictable movements

may occur depending on the machine.

●When using the absolute position system function, on starting up, and when the module or absolute

position motor has been replaced, always perform a home position return.

●Before starting the operation, confirm the brake function.

●Do not perform a megger test (insulation resistance measurement) during inspection.

●After maintenance and inspections are completed, confirm that the position detection of the absolute

position detection function is correct.

●Lock the control panel and prevent access to those who are not certified to handle or install electric

equipment.

[Operating Precautions]

[Computer Connection Precautions]

CAUTION

●When changing data and operating status, and modifying program of the running programmable

controller from an external device such as a personal computer connected to an intelligent function

module, read relevant manuals carefully and ensure the safety before operation. Incorrect change or

modification may cause system malfunction, damage to the machines, or accidents.

●Do not power off the programmable controller or reset the CPU module while the setting values in the

buffer memory are being written to the flash ROM in the module. Doing so will make the data in the

flash ROM and SD memory card undefined. The values need to be set in the buffer memory and

written to the flash ROM and SD memory card again. Doing so also may cause malfunction or failure

of the module.

●Note that when the reference axis speed is specified for interpolation operation, the speed of the

partner axis (2nd, 3rd, or 4th axis) may exceed the speed limit value.

●Do not go near the machine during test operations or during operations such as teaching. Doing so

may lead to injuries.

CAUTION

●When connecting a personal computer to a module having a USB interface, observe the following

precautions as well as the instructions described in the manual for the personal computer used.

Failure to do so may cause the module to fail.

(1) When the personal computer is AC-powered

When the personal computer has a 3-pin AC plug or an AC plug with a grounding wire, connect

the plug to a grounding receptacle or ground the grounding wire. Ground the personal computer

and the module with a ground resistance of 100 ohms or less.

When the personal computer has a 2-pin AC plug without a grounding wire, connect the computer

to the module by following the procedure below. For power supplied to the personal computer and

the module, using the same power source is recommended.

1. Unplug the personal computer from the AC receptacle.

2. Check that the personal computer is unplugged. Then, connect the personal computer to the

module with a USB cable.

3. Plug the personal computer into the AC receptacle.

(2) When the personal computer is battery-powered

The personal computer can be connected to the module without taking specific measures.

For details, refer to the following.

Cautions When Using Mitsubishi Programmable Controllers or GOTs Connected to a Personal

Computer With the RS-232/USB Interface (FA-A-0298)

When the USB cable used is the GT09-C30USB-5P manufactured by Mitsubishi Electric, specific

measures are not required to connect the AC-powered personal computer to the module. However,

note that the signal ground (SG) is common for the module and its USB interface. Therefore, if an SG

potential difference occurs between the module and the connected devices, it causes failures of the

module and the connected devices.

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