LD77MH and QD77MS Simple Motion Modules
The LD77MH and QD77MS simple motion modules offer the flexibility to include or add motion to the L series PLC. A variety of controls including positioning control, speed control, torque control, cam control and synchronous control can be achieved with simple parameter settings and a sequence program. The LD77MH and QD77MS modules are capable of 2 axes and 16 axes of control and add the functionality and convenience of using the MR-J3-B Safety amplifiers with Mitsubishi’s 50Mbps high-speed optical communication Servo System Control Network (SSCNETIII).
System Configuration
LD77MH Parts List
|
Model Number |
Description |
Stocked Items |
|
LD77MH4 |
4 Axis Motion Controller for L Series PLC |
S |
|
LD77MH16 |
16 Axis Motion Controller for L Series PLC |
S |
|
GX-WORKS2-C1 |
PLC and Motion Programming Software |
S |
|
MR-CONFIGURATOR2 |
Communication Software for MR-J3-B Safety Amplifiers |
S |
|
MR-HDP01 |
Optional Manual Pulse Generator |
S |
|
Cables and Accessories | ||
|
MR-ECN1 |
External I/O Signal Connector. |
S |
|
LD77DOCBL-2M |
Differential Output Type Cable for External I/O - 2 Meter |
S |
|
LD77DOCBL-5M |
Differential Output Type Cable for External I/O - 5 Meter |
S |
|
LD77DOCBL-10M |
Differential Output Type Cable for External I/O - 10 Meter |
S |
|
LD77DOCBL-20M |
Differential Output Type Cable for External I/O - 20 Meter |
- |
|
LD77DOCBL-30M |
Differential Output Type Cable for External I/O - 30 Meter |
- |
|
LD77OCCBL-2M |
Voltage Output/Open Collector Cable for External I/O - 2 Meter |
S |
|
LD77OCCBL-5M |
Voltage Output/Open Collector Cable for External I/O - 5 Meter |
S |
|
LD77OCCBL-10M |
Voltage Output/Open Collector Cable for External I/O - 10 Meter |
S |
|
MR-J3BUS015M |
0.15 meter SSCNET III (plastic) cable from LD77MH to MR-J3-B Safety Amplifier |
S |
|
MR-J3BUS03M |
0.3 meter SSCNET III (plastic) cable from LD77MH to MR-J3-B Safety Amplifier |
S |
|
MR-J3BUS05M |
0.5 meter SSCNET III (plastic) cable fromLD77MH to MR-J3-B Safety Amplifier |
S |
|
MR-J3BUS1M |
1 meter SSCNET III (plastic) cable from LD77MH to MR-J3-B Safety Amplifier |
S |
|
MR-J3BUS3M |
3 meter SSCNET III (plastic) cable from LD77MH to MR-J3-B Safety Amplifier |
S |
|
MR-J3BUS5M-A |
5 meter SSCNET III (plastic) cable from LD77MH to MR-J3-B Safety Amplifier |
S |
|
MR-J3BUS10M-A |
10 meter SSCNET III (plastic) cable from LD77MH to MR-J3-B Safety Amplifier |
S |
|
MR-J3BUS20M-A |
20 meter SSCNET III (plastic) cable from LD77MH to MR-J3-B Safety Amplifier |
S |
|
MR-J3BUS30M-B |
30 meter SSCNET III (glass) cable from LD77MH to MR-J3-B Safety Amplifier |
S |
|
MR-J3BUS40M-B |
40 meter SSCNET III (glass) cable from LD77MH to MR-J3-B Safety Amplifier |
- |
|
MR-J3BUS50M-B |
50 meter SSCNET III (glass) cable from LD77MH to MR-J3-B Safety Amplifier |
- |
|
MR-TBNATBL05M |
0.5M cable used to make a connection to the LD77MH4 and LD77MH16 |
- |
|
MR-TBNATBL1M |
1M cable used to make a connection to the LD77MH4 and LD77MH16 |
- |
|
MR-TB26A |
Junction terminal block |
S |
|
Manuals | ||
|
IB(NA)0300172 |
LD77MH Simple Motion Module User’s Manual |
MEAU.com |
|
IB(NA)0300163 |
MR Configurator2 (SW1DNC-MRC2-E) Installation Guide |
MEAU.com |
LD77MH Performance Specifications
|
Model Number |
LD77MH4 |
LD77MH16 | |
|
Stocked Status |
S |
S | |
|
Number of Control Axes |
4 |
16 | |
|
Operation Cycle (ms) |
0.88 |
0.88/1.77 | |
|
Control System |
PTP (Point To Point) control, path control (both linear and arc can be set), speed control, speed-position switching control, position-speed switching control, Speed-torque control | ||
|
Control Unit |
mm, inch, degree, PLS | ||
|
Positioning Data |
600 data/axis. (Can be set with GX Works2 or sequence program.) | ||
|
Backup |
Parameters, positioning data, and block start data can be saved on flash ROM (battery-less backup) | ||
|
Positioning System |
PTP control: Incremental system/absolute system Speed-position switching control: Incremental system/absolute system (*1) Position-speed switching control: Incremental system Path control: Incremental system/absolute system | ||
|
Applicable Connector for External Input Signal |
LD77MHIOCON | ||
|
SSCNET III Cable |
MR-J3BUS_M [m (ft)] (*2) |
LD77MH MR-J3(W)-_B/MR-J3(W)-_B MR-J3(W)-_B; Standard cord for inside panel; 0.15 (0.49), 0.3 (0.98), 0.5 (1.64), 1 (3.28), 3 (9.84) | |
|
MR-J3BUS_M-A [m (ft)] (*2) |
LD77MH MR-J3(W)-_B/MR-J3(W)-_ MR-J3(W)-_B; Standard cable for outside panel; 5 (16.40), 10 (32.81), 20 (65.62) | ||
|
MR-J3BUS_M-B [m (ft)] (*2,*3) |
LD77MH MR-J3(W)-_B/MR-J3(W)-_B MR-J3(W)-_B; Long distance cable; 30 (98.43 ), 40 (131.23), 50 (164.04) | ||
|
5VDC Internal Current Consumption (A) |
0.55 |
0.70 | |
|
Flash ROM Write Count |
Max. 100000 times | ||
|
Number of Occupied I/O Points (points) |
32 (I/O assignment: Intelligent function module 32 points) | ||
|
Number of Applicable Modules |
Up to 5 modules | ||
|
Outline Dimensions W x H x D mm (in) |
45.0 x 90.0 x 95.0 (1.77 x 3.54 x 3.74) | ||
|
Weight (kg) |
0.22 | ||
|
External Command Signal |
Switching Signal |
DI signal (External start or speed-position switching can be selected by parameter.) | |
Notes:
- In speed-position switching control (ABS mode), the control unit available is “degree” only.
- _ = Cable length: (015: 0.15m (0.49ft.), 03: 0.3m (0.98ft.), 05: 0.5m (1.64ft.), 1: 1m (3.28ft.), 3: 3m (9.84ft.), 5: 5m (16.40ft.), 10: 10m (32.81ft.), 20: 20m (65.62ft.), 30: 30m (98.43ft.), 40: 40m (131.23ft.), 50: 50m (164.04ft.) )
- For the cable of less than 30(m)(98.43(ft.)), contact your nearest Mitsubishi sales representative.
LD77MH_ Input/Output (X/Y) Comparisons
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Pin Layout |
Pin No. |
Signal Name |
Pin No. |
Signal Name |
|
|
1 |
5V |
14 |
5V |
|
2 |
SG |
15 |
SG | |
|
3 |
HA (*1, *2, *3) |
16 |
HB (*1, *2, *3) | |
|
4 |
HAH (*1, *2, *4) |
17 |
HBH (*1, *2, *4) | |
|
5 |
HAL (*1, *2, *4) |
18 |
HBL (*1, *2, *4) | |
|
6 |
No connect (*5) |
19 |
No connect (*5) | |
|
7 |
20 | |||
|
8 |
21 | |||
|
9 |
22 | |||
|
10 |
EMI |
23 |
EMI, COM | |
|
11 |
DI1(*6) |
24 |
DI2(*6) | |
|
12 |
DI3 (*6) |
25 |
DI4 (*6) | |
|
13 |
COM (*7) |
26 |
COM (*7) |
Notes:
Input type from manual pulse generator/incremental synchronous encoder is switched in “ Pr.89 Manual pulse generator/Incremental synchronous encoder input type selection”. (Only the value specified against the axis 1 is valid.)
• 0: Differential-output type (Default value)
• 1: Voltage-output/open-collector type
Set the signal input form in “Pr.24 Manual pulse generator/Incremental synchronous encoder input selection”.
Voltage-output/open-collector type - Connect the A-phase/PLS signal to HA, and the B-phase/SIGN signal to HB.
Differential-output type - Connect the A-phase/PLS signal to HAH, and the A-phase/PLS inverse signal to HAL. Connect the B-phase/SIGN signal to HBH, and the B-phase/SIGN inverse signal to HBL.
Do not connect to any of the terminal is explained as “No connect”.
Set the external command signal (DI) in “ Pr.95 External command signal selection” at LD77MH16 use.
“COM” is the common terminal of DI1, DI2, DI3 and DI4.
Simple Motion Module QD77MS Parts List
|
Model Number |
Description |
Stocked Items |
|
QD77MS16 |
Up to 16 axes control |
S |
|
QD77MS4 |
Up to 4 axes control |
S |
|
QD77MS2 |
Up to 2 axes control |
S |
|
MR-HDP01 |
Manual pulse generator, Pulse resolution: 25PLS/rev(100PLS/rev after magnification by 4). Permitted speed: 200r/min (Normal rotation) |
S |
|
GX Works2 |
SW1DNC-GXW2-E, Sequence program creation, QD77MS setting |
S |
|
MR Configurator2 |
SW1DNC-MRC2-E, Servo amplifier MR-J4 series setting and adjustment |
S |
|
Cables and Accessories | ||
|
MR-J3BUS_M |
SSCNET III cable, Standard cord for inside panel. (_ = available lengths in meters: 0.15, 0.3, 0.5, 1, 3) |
S |
|
MR-J3BUS_M-A |
SSCNET III cable, Standard cord for outside panel. (_ = available lengths in meters: 5, 10, 20) |
S |
|
MR-J3BUS_M-B (*2) |
SSCNET III cable, long distance cable. (_ = available lengths in meters: 30, 40, 50) |
S |
|
Manuals | ||
|
IB(NA)-0300174-B(1202)MEE |
QD77MS/LD77MH Simple Motion Module Users Manual (synchronous control) |
MEAU.com |
|
IB-(NA)-0300185-A(1202)MEE |
Melsec-Q QD77MS Simple Motion Module Users Manual (positioning control) |
MEAU.com |
Notes:
- Please contact your nearest Mitsubishi sales representative for the cable of 100m.
- _=Cable length (015: 0.15m (0.49ft.), 03: 0.3m (0.98ft.), 05: 0.5m (1.64ft.), 1: 1m (3.28ft.), 3: 3m (9.84ft.), 5: 5m (16.40ft.), 10: 10m (32.81ft.), 20: 20m (65.62ft.), 30: 30m (98.43ft.), 40: 40m (131.23ft.), 50: 50m (164.04ft.))
QD77MS Input/Output (X/Y) Comparisons
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Simple Motion Module QD77MS Performance Specifications
|
Model Number |
QD77MS16 |
QD77MS4 |
QD77MS2 (*3) | |
|
Stocked Item |
S |
S |
S | |
|
No. of Control Axes |
16 axes |
4 axes |
2 axes | |
|
Operation Cycle |
0.88 ms / 1.77 ms (*1) |
0.88 ms |
0.88 ms | |
|
Interpolation Function |
Linear interpolation (Up to 4 axes), Circular interpolation (2 axes) | |||
|
Control System |
PTP (Point To Point) control, Path control (both linear and arc can be set), Speed control, Torque control, Speed-position switching control, Position-speed switching control | |||
|
Acceleration/Deceleration Process |
Trapezoidal acceleration/deceleration, S-pattern acceleration/deceleration | |||
|
Compensation Function |
Backlash compensation, Electronic gear, Near pass function | |||
|
Synchronous Control |
External encoder, Cam, Phase Compensation, Cam auto-generation function | |||
|
Control Unit |
mm, inch, degree, PLS | |||
|
Positioning Data |
600 data (positioning data No. 1 to 600)/axis (Can be set with MELSOFT GX Works2 or PLC program.) | |||
|
Backup |
Parameters, positioning data, and block start data can be saved on flash ROM (battery-less backup) | |||
|
OPR Control |
Machine OPR Control |
Near-point dog method, Count method 1, Count method 2, Data set method, Scale origin signal detection method | ||
|
Fast OPR Control |
Provided | |||
|
Sub Functions |
OPR retry, OP shift | |||
|
Positioning |
Linear Control |
1-axis linear control, 2-axis linear interpolation control, 3-axis linear interpolation control, 4-axis linear interpolation control (*4) (Composite speed, Reference axis speed) | ||
|
Fixed-Feed Control |
1-axis fixed-feed control, 2-axis fixed-feed control, 3-axis fixed-feed control, 4-axis fixed-feed control | |||
|
2-Axis Circular Interpolation Control |
Sub point designation, center point designation | |||
|
Speed Control |
1-axis speed control, 2-axis speed control, 3-axis speed control, 4-axis speed control | |||
|
Speed-Position Switching Control |
INC mode, ABS mode | |||
|
Position-Speed Switching Control |
INC mode | |||
|
Current Value Changing |
Changing to a new current value using the positioning data , Changing to a new current value using the start No. | |||
|
NOP Instruction |
Provided | |||
|
JUMP Instruction |
Unconditional JUMP, Conditional JUMP | |||
|
LOOP, LEND |
Provided | |||
|
High-Level Positioning Control |
Block start, Condition start, Wait start, Simultaneous start, Repeated start | |||
|
Manual Control |
JOG Operation |
Provided | ||
|
Inching Operation |
Provided | |||
|
Manual Pulse Generator Operation |
Possible to connect 1 module (Incremental) Unit magnification (1 to 10000 times) | |||
|
Expansion Control |
Speed-Torque Control |
Speed control without positioning loops, Torque control without positioning loops, Tightening & Press-fit control | ||
|
Absolute Position System |
Made compatible by setting battery to servo amplifier | |||
|
Synchronous Encoder Interface |
Up to 4 channel (internal interface, servo amplifier, via the PLC CPU interface) | |||
|
Internal Interface |
1 channel (Incremental) | |||
|
Functions That Limit Control |
Speed Limit Function |
Speed limit value, JOG speed limit value | ||
|
Torque Limit Function |
Torque limit value_same setting, torque limit value_individual setting | |||
|
Forced Stop Function |
Valid/Invalid setting | |||
|
Software Stroke Limit Function |
Movable range check with current feed value, movable range check with machine feed value | |||
|
Hardware Stroke Limit Function |
Provided | |||
|
Functions That Change Control Details |
Speed Change Function |
Provided | ||
|
Override Function |
Provided | |||
|
Acceleration/Deceleration Time Change Function |
Provided | |||
|
Torque Change Function |
Provided | |||
|
Target Position Change Function |
Target position address and target position speed are changeable | |||
|
Other Functions |
M Code Output Function |
Provided | ||
|
Step Function |
Deceleration unit step, Data No. unit step | |||
|
Skip Function |
Via sequence CPU, Via external command signal | |||
|
Teaching function |
Provided | |||
|
Mark Detection Function |
Continuous Detection mode, Specified Number of Detections mode, Ring Buffer mode | |||
|
Mark Detection Signal |
4 points |
2 points | ||
|
Mark Detection Setting |
16 |
4 | ||
|
Optional Data Monitor Function |
4 points/axis | |||
|
Amplifier-less Operation Function |
Provided | |||
|
Digital Oscilloscope Function |
Bit data:16 channels,
|
Bit data: 8 channels, Word data: 4 channels | ||
|
No. of Occupied I/O Points (Points) |
32 (I/O assignment: Intelligent function module 32 points) | |||
|
Dimensions W x H x D mm (in) |
27.4 x 98 x 90 (1.08 x 3.86 x 3.5) | |||
|
Weight kg |
0.16 |
0.15 | ||
Notes:
- Default value is 1.77 ms. If necessary, check the operation time and change to 0.88 ms.
- 8CH word data and 8CH bit data can be displayed in real time.
- The maximum number of control axes for QD77MS2 is two axes. Use QD77MS4 or QD77MS16 to control three or more axes.
- 4-axis linear interpolation control is effective only for the reference axis speed.
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