Simple Motion

Simple Motion ModuleLD77MH4LD77MH16

Advanced and wide-range motion control• Positioning control • Speed control • Torque control • Cam control • Synchronous control • Mark detection function

Graphical setting software

Simple and smart system installation

Advanced motion control similar to a positioning module

Simple Motion Module, now part of MELSEC-L Series

New

New 16-axis type4-axis type

January 2011

Mitsubishi Electric Programmable ControllerSV1101-3E

1

Features

Making Motion Simple in various applications

A variety of controls including positioning control, speed control, torque control, cam control and synchronous control can be realized easily just with simple parameter settings and a sequence program.

Advanced Motion Control

Servo functions and perform

ance

Number of control axes

High-end

1 axis 4 axes 8 axes 16 axes 32 axes

Low-end

LD75P4

Positioning module

LD75D4

Motion Controller for the iQ Platform

Stand-alone Motion Controller

The MELSEC-L Series lineup now includes the Simple Motion Module in addition to the regular positioning modules. Various control functions previously only possible with Motion Controllers, such as synchronous control, are now available in the same manner as a positioning module.

Simple Motion Module

LD77MH4

Simple Motion Module

LD77MH16New

• Variousapplicationsaresupportedwithextensivecontrol formats including linear interpolation control (upto4axes),2-axiscircularinterpolationcontrol, fixedfeedcontrolandcontinuousorbitcontrol.

• Executeautomaticoperationbysettingthepositioningaddresses and speeds, etc., easily from a sequence program.

• PowerfulauxiliaryfunctionssuchasMcodes,skipfunction, step operation and target position change function.

• Tensioncontrolapplicationssuchasrewindingandwindingaxesaresupported.

• Controlcanbeswitchedbetween“positioningcontrol”,“speedandtorquecontrol”and“positioncontrol”.

As a result, it is now possible to maintain the positioning control with the absolute position coordinates after switching the control.

• Synchronouscontrolandcamcontrolcanbecombinedandusedinsystemsrequiringsynchronouscontrol.

Positioning control

Speed and torque control are also available

Synchronous control and cam control

XY table Ceiling• Continuous orbit control• High-speed, high-accuracy orbit calculation• Linear/circular interpolation

• 2-axis linear interpolation• 2-axis circular interpolation• 3-axis linear interpolation• Continuous orbit control

r2r1

X

Y

Z

X

Y

Z

ServomotorRewind axis

Wind axis

Servomotor

Tension detector

Tension detector

Servomotor

WorkpieceA

P1

P2

P3

■ Positioning controlAxis 1 motor speed

Axis 2 motor speed

Axis 1 motor speed

Axis 2 motor speed

Time shortening

Cam data

Cam data

Axis 1 BUSY signal

■ Cam control

axis 1 axis 2

Example applications for cam controlWhenmakingadetouraroundworkpieceAandtransferringfrompointP1topointP3,withpositioningcontroltheBUSYsignalofaxis1ischeckedatpointP2,andaxis2starts.Byusingcamcontrol,theBUSYsignaldoesnotneedtobecheckedatpointP2sothe positioning time is shortened.

2

Simple Motion

Making Motion Simple with amplifier-less debugging functions

Making Motion Simple with compactly packed extra functions

Making Motion Simple in systems requiring high response

• PerformprogramminganddebuggingonadesktopusingjusttheLSeriesCPUmodule,LD77MHandpowersupplymodule.Thisbenefitsyourdesigninganddebugging efficiency.

• Debugsequenceprogramsandpositioningdatawithoutthe servo amplifier and servomotor.

• The50Mbpshigh-speedopticalcommunicationgreatlyincreasesthespeedofdataexchangebetweentheSimpleMotionModuleandservoamplifier,andreducesthe cycle time.

• Thedegreeoffreedominsystemlayoutisenhancedforlong-distancewiring.

• Theadoptedopticalfibercablehasoutstandingnoiseresistance properties.

• TheSSCNET# compatible servo amplifier supports various servomotors, linear servomotors and direct drive motors, and can be used in various applications.

• Realizesynchronouscontrolandcamcontrolbyusinginput pulses from a synchronous encoder.

• Useanincrementalsynchronousencoderwiththedirectlybuilt-ininterfaceofLD77MH,oruseanabsolutesynchronousencoder(comingsoon)viaaservoamplifier. Optional modules are no longer necessary.

• Furtherimprovethesynchronizationaccuracywiththephase compensation function, designed to compensate for synchronous encoder delays.

• Thebuilt-inmarkdetectionsignalinterfaceallowsincorporationinpackagingsystemsetc.,withoutoptional modules.

• Easilyprogramandautomaticallygenerate difficult cam data for rotary cutters just by specifying the sheet length and synchronization width, etc.

Using synchronous control with a synchronous encoder

Standard mark detection function

Automatic cam data generation

for rotary cutter

Speed

Time

Sheet length Cam dataSheet synchronization width

Sheet synchronization width

Stroke ratio

Time

GOT

Input

Cam resolution

Sheet length

Sheet synchronization width

Synchronous axis length

SSCNET# compatible servo amplifiers

Servomotor ServomotorServomotor Linear Servomotor

Direct drive motor

INC synchronous

encoder

Mark sensorRotary cutter

No servo amplifier

Amplifier-less operation functionThisfunctioncarriesouttheLD77MHpositioningcontrolwithout a servo amplifier connected. Use this to debug the user program for system installation, or to simulate the positioning operation.

New

3

Simple Settings without Programs

Simple setting of positioning data

Simple setting of synchronous control data

Simple setting of cam control data

Executepositioningcontrolwiththedatatablemethod.

Using software, realize synchronous control which replaces machine mechanisms, such as the gear, shaft, speed change gear and cam.

Easilypreparecamdataforvariouspatterns.

DataSettingAssistantfunction

CamData CamDataList

AutomaticCommandSpeedCalculation OfflineSimulation

SynchronousControlParameterSettings

• TheDataSettingAssistantfunctionsimplifiessettings.

• PositioningdatacanbesetverysimplybyusingfunctionssuchasAutomaticCommandSpeedCalculation,OfflineSimulation,andautomaticcalculationofauxiliaryarc,etc.

• Itispossibletorealizesynchronouscontroleasilywithparametersettings.Thereisnoneedtocreatecomplicatedprograms.

• Startandstopsynchronouscontrolforeachaxis. Usethesynchronouscontrolaxisandpositioningcontrolaxistogether.

• Conveythetravelvalueofmainshafttotheoutputaxisviatheclutch.New

• Setcamswithahighdegreeoffreedom.There’snoneedtoworryaboutexistingconceptsofelectroniccamcontrol.

• Setthestroke,speed,accelerationandthrobwhilesimultaneouslycheckingtheprofileonagraph.

• Easilycheckthecreatedcamdatabyviewingasthumbnaildisplaysofcamdata.

• ImportandexportcamdatainCSVformat.

4

Simple Motion

Simple setting of servo amplifier parameters

Simple parameter settings

CollaborationwiththeMRConfigurator2increasestheservoinstallationefficiency.

SetandadjustservoamplifierparameterswiththeMRConfigurator2,atreasuretroveofMitsubishiservoknow-how.

• One-pointhelpallowsparameterstobesetwithoutneedingamanual.

• Easilysettheapplicableservoamplifieronagraphicalscreen.

• Doawaywithbothersomeelectronicgearcalculationjustbyspecifyingthemechanismconfiguration(reductionratio,ballscrewpitch,etc.).

ParameterSettings SystemStructureSetting ElectronicGearSettings

DigitalOscilloscope AxisMonitor

PositioningTest

Use MR Configurator2

via PLC

Servo

amplifier

Servomotor

Simple installation

• CollectionofdataintheSimpleMotionModulesynchronizedwith the operation cycle and waveform displays facilitate efficient start up.

• Theassistantfunctionexplainsallworksteps.

• Setoften-vieweddataeasilywiththepurpose-basedprobesetting.

• Sample16CHwordand16CHbitdata.Ofthis,8CHwordsand8CHbitscanbedisplayedinrealtime. New

• Easilycompletesysteminstallationandoperationcheckswithpowerfulmonitorandtestfunctions.

• Selectitemstobedisplayedonthemonitorfromthe voluminous information monitor options. New

• Usethetestfunctiontocheckbasicoperationswithout a sequence program.

Digital oscilloscope function Monitor and test functions

5

System Configuration

Servomotor

Servomotor

Servomotor

Linearservo motor

Direct drivemotor

Graphic operation terminal (GOT)

Ethernet cable

USB cable

Personal computer

CPU moduleL26CPU-BT / L02CPU

LD77MH4 / LD77MH16

END coverL6EC

Connecting either a manual pulse generator (MR-HDP01) or incremental synchronous encoder.

Note-1: MR Configurator2 can be downloaded from MELFANSweb and installed on a personal computer equipped with GX Wor

• Upper stroke limit • Lower stroke limit• Proximity dog

GX Works2Simple Motion Module setting tool equipped as standard

MR Configurator2 (Note-1)

Software supporting servo amplifier from startup to maintenance

• Specifications of force stop input (24VDC)

• External command signal/ Switching signal (4points)

External input signal of servo amplifier

Setting software

MR-J3-BMR-J3-B-RJ080W MR-J3W-B

External input signal cable

MR-J3-B Safety

Absolute synchronous encoderQ171ENC

Coming soon

StructureanintegralsystemconsistingoftheMR-J3SeriesservoamplifierandservomotorwiththePLCCPUmoduleandSSCNET# integrated.

• LD77MH4cancontrolupto4axesandtheLD77MH16cancontrolupto16axes.

6

Simple Motion

Item LD77MH16 LD77MH4

Servoamplifierconnectionsystem SSCNET#-compatible(50Mbps)

TransmissionDistance 50m(164.04ft)

PERIPHERALI/F ViaCPUmodule(USB,RS-232,Ethernet)

Interfacewithexternaldevices

Externalcommandsignal/Switchingsignal

Numberofinputpoints 4 points

Inputmethod Positivecommon/Negativecommonshared(Photocoupler)

Ratedinputvoltage/Ratedinputcurrent

24VDC/Approx.5mA

Operating voltage range 21.6to26.4VDC(24VDC±10%,rippleratio5%orless)

ONvoltage/current 17.5VDCormore/3.5mAormore

OFFvoltage/current 5VDCorless/0.9mAorless

Inputresistance Approx5.6kΩResponsetime

OFF➝ON,ON➝OFF 1ms or less

Recommendedwiresize AWG24(0.2mm2)

Specificationsofforcestopinput signal

Numberofinputpoints 1point

Inputmethod Positivecommon/Negativecommonshared(Photocoupler)

Ratedinputvoltage/Ratedinputcurrent

24VDC/Approx.2.4mA

Operating voltage range 20.4to26.4VDC(24VDC+10%/-15%,rippleratio5%orless)

ONvoltage/current 17.5VDCormore/2.0mAormore

OFFvoltage/current 1.8VDCorless/0.18mAorless

Inputresistance Approx10kΩResponsetime 1ms or less

Recommendedwiresize AWG24(0.2mm2)

Manualpulsegenerator/Incrementalsynchronous encoder signal

signal input form PhaseA/PhaseB(magnificationby4/magnificationby1),PLS/SIGN

Differential-output type

Inputfrequency 1Mpps(Aftermagnificationby4,upto4Mpps)

High-voltage 2.0to5.25VDC

Low-voltage 0to0.8VDC

Differential-voltage ±0.2V

Cablelength 30m(98.43ft)

Voltage-output/ High-voltage3.0to5.25VDCOpen-collectortype(5VDC)

Inputfrequency 200kpps(Aftermagnificationby4,upto800kpps)

High-voltage 3.0to5.25VDC

Low-voltage 0to1.0VDC

Cablelength 10m(32.81ft)

NumberofI/Ooccupyingpoints 32points(I/Oallocation:Intelligent,32points)

Maximumnumberofmodulesspecification Countsas2modules

Internalcurrentconsumption(5VDC)[A] 0.70 0.55

Mass[kg] 0.22

Exteriordimensions[mm(inch)] 90.0(3.54)(H)×45.0(1.77)(W)×95(3.74)(D)

External Dimension Diagram

Module

LD77MH16RUN

ERR.

AX 1

9 10111213141516

2 3 4 5 6 7 8

95(3.74) 45(1.77)

90(3

.54)

4(0.

16)

4(0.

16)

8(0.31)

45(1

.77)

45(1

.77)

98.5(3.88)

4(0.16)

DIN rail center

LD77MH4RUN

ERR.AX

1234

95(3.74) 45(1.77)

90(3

.54)

4(0.

16)

4(0.

16)

8(0.31)

UNIT: mm(inch)

45(1

.77)

45(1

.77)

DIN rail center

98.5(3.88)

4(0.16)

LD77MH16 LD77MH4

7

Motion controlItem LD77MH16 LD77MH4

Numberofcontrolaxes 16axes 4axes

Operation cycle 0.88ms/1.77ms(Note-1) 0.88ms

Interpolationfunction Linearinterpolation(Upto4axes),Circularinterpolation(2axes)

ControlsystemPTP(PointToPoint)control,pathcontrol(bothlinearandarccanbeset),speedcontrol,

torquecontrol,speed-positionswitchingcontrol,position-speedswitchingcontrol

Acceleration/decelerationprocess Trapezoidalacceleration/deceleration,S-patternacceleration/deceleration

Compensationfunction Backlashcompensation,Electronicgear,Nearpassfunction

Synchronouscontrol Externalencoder,Cam,PhaseCompensation,Camgeneratedautomatically

Controlunit mm,inch,degree,PLS

Positioningdata600data(positioningdataNo.1to600)/axis

(CanbesetwithGXWorks2orPLCprogram.)

Backup Parameters,positioningdata,andblockstartdatacanbesavedonflashROM(battery-lessbackup)

OPRcontrol

MachineOPRcontrolNear-pointdogmethod,Countmethod1),Countmethod2),Datasetmethod,

scale origin signal detection method

FastOPRcontrol Provided

Subfunctions OPRretry,OPshift

Positioncontrol

Positioncontrol

Linear control1-axislinearcontrol,2-axislinearinterpolationcontrol,

3-axislinearinterpolationcontrol,4-axislinearinterpolationcontrol(Compositespeed,Referenceaxisspeed)

Fixed-feedcontrol1-axisfixed-feedcontrol,2-axisfixed-feedcontrol,3-axisfixed-feedcontrol,

4-axisfixed-feedcontrol

2-axiscircularinterpolationcontrol

sub point designation, center point designation

Speedcontrol 1-axisspeedcontrol,2-axisspeedcontrol,3-axisspeedcontrol,4-axisspeedcontrol

Speed-positionswitchingcontrol INCmode,ABSmode

Position-speedswitchingcontrol INCmode

Other control

CurrentvaluechangingChangingtoanewcurrentvalueusingthepositioningdata,

ChangingtoanewcurrentvalueusingthestartNo.

NOPinstruction Provided

JUMPinstruction UnconditionalJUMP,ConditionalJUMP

LOOP,LEND Provided

High-levelpositioningcontrol Blockstart,Conditionstart,Waitstart,Simultaneousstart,Repeatedstart

Manualcontrol

JOGoperation Provided

Inchingoperation Provided

ManualpulsegeneratoroperationPossibletoconnect1module(Incremental)

Unitmagnification(1to10000times)

Expansioncontrol Speed-torquecontrol Speedcontrolwithoutpositioningloops,Torquecontrolwithoutpositioningloops

Absolute position system Madecompatiblebysettingbatterytoservoamplifier

Synchronousencoderinterface Upto4channel(internalinterface,servoamplifier,viathePLCCPUinterface)

Internalinterface 1channel(Incremental)

Viaservoamplifier Supportcomingsoon

Functionsthatlimitcontrol

Speedlimitfunction Speedlimitvalue,JOGspeedlimitvalue

TorquelimitfunctionTorquelimitvalue_samesetting,

torquelimitvalue_individualsetting

Forcedstopfunction valid/invalidsetting

Softwarestrokelimitfunction Movablerangecheckwithcurrentfeedvalue,movablerangecheckwithmachinefeedvalue

Hardwarestrokelimitfunction Provided

Functionsthatchangecontrol details

Speedchangefunction Provided

Override function Provided

Acceleration/decelerationtimechangefunction Provided

Torquechangefunction Provided

Targetpositionchangefunction Targetpositionaddressandtargetpositionspeedarechangeable

Other functions

Mcodeoutputfunction Provided

Stepfunction Decelerationunitstep,DataNo.unitstep

Skipfunction ViasequenceCPU,Viaexternalcommandsignal

Teachingfunction Provided

Markdetectionfunction

Markdetectionmode(ContinuousDetectionmode,SpecifiedNumberofDetectionsmode,RingBuffermode)

markdetectionsignal 4points

markdetectionsetting 16 4

Optional data monitor function 4points/axis

Master-slaveoperationfunction Provided

Amplifier-lessoperationfunction Provided

Digitaloscilloscopefunction bitdata:16channels,worddata:16channels(Note-2) bitdata:8channels,worddata:4channels

Defaultvalueis1.77ms.Ifnecessary,checktheoperationtimeandchangeto0.88ms.Note-1 : 8CHworddataand8CHbitdatacanbedisplayedinrealtime.Note-2 :

8

Simple Motion

Item LD77MH16 LD77MH4

InputaxisServoinputaxis 16axes/module 4axes/module

Synchronousencoderaxis 4axes/module 1axis/module

Compositemainshaftgear 1/outputaxis

Mainshaftinputaxis 1/outputaxis

Mainshaftsubinputaxis 1/outputaxis

Mainshaftgear 1/outputaxis

Mainshaftclutch 1/outputaxis

Auxiliaryshaft 1/outputaxis

Auxiliaryshaftgear 1/outputaxis

Auxiliaryshaftclutch 1/outputaxis

Auxiliaryshaftcompositegear 1/outputaxis

Speedchangegear 1/outputaxis

Outputaxis 16axes/module 4axes/module

Item LD77MH16 LD77MH4

MemorycapacityStorageareaforcamdata 256kbytes

Workingareaforcamdata 1024kbytes

Numberofregistration Max.256programitems(accordingtomemorycapacity,camresolutionandnumberofcoordinates)

Comment Max.32characters(half-byte)foreachcamdata

Camdata

StrokeratiodatatypeCamresolution 256,512,1024,2048,4096,8192,16384,32768

Strokeratio -214.7483648to214.7483647[%]

CoordinatedatatypeCoordinatenumber 2to16384

Coordinatedata Outputvalue:-2147483648to2147483647

Camgeneratedautomatically Camgeneratedautomaticallyforrotarycutter

Synchronous control

Cam

MELSOFT-Related ToolProduct Model Application version Description

GXWorks2 SW1DNC-GXW2-E Version1.48Aorlater SettingofLD77MH4andLD77MH16

MRConfigurator2

SW1DNC-MRC2-E Version1.01Borlater SettingandadjustmentofMR-J3Seriesservoamplifier

EquipmentModel Description Standards

MELSEC-LseriesSimpleMotionModule

LD77MH4 Upto4axescontrol CE,UL

LD77MH16 Upto16axescontrol CE,UL

connectorforexternalinput signal cable

LD77MHIOCONManualpulsegenerator/incrementalsynchronousencoderinterface/Specificationsofforcestopinput

interface/externalcommandsignal/switchingsignalinterfaceprovidedwithSimpleMotionModule-

SSCNET# cable(Note-1)MR-J3BUSM •LD77MH4⇔MR-J3(W)-B

•LD77MH16⇔MR-J3(W)-B•MR-J3(W)-B⇔MR-J3(W)-B

Standardcordforinsideapanel: 0.15m(0.49ft.),0.3m(0.98ft.),0.5m(1.64ft.),1m(3.28ft.),3m(9.84ft.)

-

MR-J3BUSM-A Standardcableforoutsideapanel:5m(16.40ft.),10m(32.81ft.),20m(65.62ft.) -

MR-J3BUSM-B(Note-2) Long-distancecable:30m(98.43ft.),40m(131.23ft.),50m(164.04ft.) -

Manualpulsegenerator MR-HDP01Pulseresolution:25PLS/rev--100PLS/reva f termagnificationby4Allowablespeed:200r/mininnormalrotationVoltageoutputAllowableloadRadialload:19.6 N Thrustload:9.8N

-

showscablelength.(015:0.15m(0.49ft.),03:0.3m(0.98ft.),05:0.5m(1.64ft.),1:1m(3.28ft.),2:2m(6.56ft.),3:3m(9.84ft.),5:5m(16.40ft.),10:10m(32.81ft.),20:20m(65.62ft.),30:Note-1 : 30m(98.43ft.),40:40m(131.23ft.),50:50m(164.04ft.))CheckwithMitsubishiElectricregardingcableslessthan30mlong.Note-2 :

9

MEMO

Simple Motion

MEMO

To use the products given in this publication properly, always read the relevant manuals before use.The products have been manufactured as general-purpose parts for general industries, and have not been designed or manufactured to be incorporated in a device or system used in purposes related to human life.Before using the products for special purposes such as nuclear power, electric power, aerospace, medicine or passenger movement vehicles, consult with Mitsubishi.The products have been manufactured under strict quality control. However, when installing the products where major accidents or losses could occur if the products fail, install appropriate backup or fail-safe functions in the system.

This publication explains the typical features and functions of the products herein and does not provide restrictions and other information related to usage and module combinations. Before using the products, always read the product user manuals.Mitsubishi Electric will not be held liable for damage caused by factors found not to be the cause of Mitsubishi Electric; opportunity loss or lost profits caused by faults in Mitsubishi Electric products; damage, secondary damage, or accident compensation, whether foreseeable or not, caused by special factors; damage to products other than Mitsubishi Electric products; and to other duties.

Precautions before use

1101(MDOC)New publication effective Jan. 2011.

Specifications subject to change without notice.