Модули движения и позиционирования iQ-R

Stocked Item

S

S

S

S

Number of Control Axes 
(Virtual Servo Amplifier Axis Included)

Up to 16 axes

Up to 8 axes

Up to 4 axes

Up to 2 axes

Operation Cycle (Operation Cycle Settings)

0.444ms, 0.888ms, 1.777ms, 3.555ms

Interpolation Function

Linear interpolation (Up to 4 axes), Circular interpolation (2 axes)

Control Modes

PTP (Point To Point) control, Trajectory control (both linear and arc), Speed control, Speed-position switching control, 
Position-speed switching control, Speed-torque control

Acceleration/Deceleration Process

Trapezoidal acceleration/deceleration, S-curve acceleration/deceleration

Compensation Function

Backlash compensation, Electronic gear, Near pass function

Synchronous Control

Synchronous encoder input, Cam, Phase Compensation, Cam auto-generation

Control Unit

mm, inch, degree, pulse

Number Of Positioning Data

600 data (positioning data No. 1 to 600)/axis (Can be set with MELSOFT GX Works3 or a sequence program.)

Backup

Parameters, positioning data, and block start data can be saved on flash ROM (battery-less backup)

Home Position Return

Home Position Return Method

Proximity dog method, Count method 1, Count method 2, Data set method, Scale home position signal detection method

Fast Home Position Return Control

Provided

Sub Functions

Home position return retry, Home position shift

Positioning

Control

Linear Control

1-axis linear control, 2-axis linear interpolation control, 3-axis linear interpolation control, 4-axis linear interpolation control 
(*1) (Composite speed, Reference axis speed)

Fixed-Pitch Feed Control

1-axis fixed-pitch feed, 2-axis fixed-pitch feed, 3-axis fixed-pitch feed, 
4-axis fixed-pitch feed

2-Axis Circular Interpolation

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 Change

Positioning data, Start No. for a current value changing

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

Possible to connect 1 module (Incremental), Unit magnification (1 to 10000 times)

Expansion Control

Speed-Torque Control

Speed control without positioning loops, Torque control, Tightening & press-fit control

Absolute Position System

Made compatible by setting a battery to servo amplifier

Synchronous Encoder Interface

Up to 4 channels (Total of the internal interface, via PLC CPU interface, and servo amplifier interface)

Encoder 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

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

0 to 300 [%]

Acceleration/Deceleration Time Change Function

Provided

Torque Change Function

Provided

Target Position Change Function

Target position address and speed are changeable

Other Functions

M-Code Output Function

WITH mode/AFTER mode

Step Function

Deceleration unit step, Data No. unit step

Skip Function

Via PLC CPU, Via external command signal

Teaching Function

Provided

Parameter Initialization Function

Provided

External Input Signal Setting Function

Via internal interface, CPU, servo amplifier (FLS, RLS, DOG, and DI can be assigned with parameters.)

Event History Function

Provided

Amplifier-Less Operation Function

Provided

Mark Detection Function

Detection

Continuous Detection mode, Specified Number of Detections mode, Ring Buffer mode

Mark Detection Signal

Up to 20 points

Up to 10 points

Mark Detection Setting

16 settings

Optional Data Monitor Function

4 points/axis

Driver Communication Function

Provided

SSCNET Connect/Disconnect Function

Provided

Digital Oscilloscope Function

Bit Data

16CH

Word Data

16CH

Number Of Control Axes 
(Virtual Servo Amplifier Axis Included)

Up to 16 axes

Up to 8 axes

Up to 4 axes

Up to 2 axes

Servo Amplifier Connection Method

SSCNET III/H

Maximum Overall Cable Distance m (ft.)

1600 (5249.34)

Maximum Distance Between Stations m (ft.)

100 (328.08)

Peripheral I/F

Via CPU module (USB, Ethernet)

Manual Pulse Generator Operation Function

Possible to connect 1 module

Synchronous Encoder Operation Function

Possible to connect 4 modules (Total of the internal interface, via PLC CPU interface, and servo amplifier interface)

Input Signals (SIN)

Number Of Input Points

20 points

10 points

Input Method

Positive common/Negative common shared 
(Photocoupler isolation)

Rated Input Voltage/Current

24 VDC/ Approx. 5 mA

Operating Voltage Range

19.2 to 26.4 VDC 
(24 VDC +10%/-20%, ripple ratio 5% or less)

On Voltage/Current

17.5 VDC or more/ 3.5 mA or more

Off Voltage/Current

7 VDC or less/ 1.0 mA or less

Input Resistance

Approx. 6.8 kΩ

Response Time

1 ms or less (OFF—ON, ON—OFF)

Recommended Wire Size

AWG24 (0.2 mm²)

Forced Stop Input Signal (EMI)

Number Of Input Points

1 point

Input Method

Positive common/Negative common shared 
(Photocoupler isolation)

Rated Input Voltage/Current

24 VDC/ Approx. 5 mA

Operating Voltage Range

19.2 to 26.4 VDC 
(24 VDC +10%/-20%, ripple ratio 5% or less)

On Voltage/Current

17.5 VDC or more/ 3.5 mA or more

Off Voltage/Current

7 VDC or less/ 1.0 mA or less

Input Resistance

Approx. 6.8 kΩ

Response Time

1 ms or less (OFF–ON, ON–OFF)

Recommended Wire Size

AWG24 (0.2 mm²)

Manual Pulse Generator/ Incremental Synchronous Encoder Signal

Differential Output Type (26Ls31 Or Equivalent)

Input Pulse Frequency

Up to 1 Mpulse/s (After magnification by 4, up to 4 Mpulse/s)

Pulse Width

1μs or more

Leading Edge/Trailing Edge Time

0.25μs or less

Phase Difference

0.25μs or more

Rated Input Voltage

5.5 VDC or less

High/Low-Voltage

2.0 to 5.25 VDC/0 to 0.8 VDC

Differential Voltage

±0.2V

Cable Length

Up to 30m (98.43ft.)

Voltage Output/ Open Collector Type (5VDC)

Input Pulse Frequency

Up to 200 kpulse/s (After magnification by 4, up to 800 kpulse/s)

Pulse Width

5μs or more

Leading Edge/Trailing Edge Time

1.2μs or less

Phase Difference

1.2μs or more

Rated Input Voltage

5.5 VDC or less

High/Low-Voltage

3.0 to 5.25 VDC/2 mA or less, 0 to 1.0 VDC/5 mA or more

Cable Length

Up to 10m (32.81ft.)

Number Of I/O Occupying Points

32 points (I/O allocation: Intelligent function module, 32 points)

Number Of Module Occupied Slots

1

5VDC Internal Current Consumption (A)

1.0

Weight (Kg)

0.23

0.22

Exterior Dimensions mm (inch) (H x W x D)

106.0 x 27.8 x 110.0 (4.17 x 1.09 x 4.33)

PLC CPU

R04CPU, R08CPU, R16CPU, R32CPU, R120CPU

Stocked Item

S

S

Motion SFC Program Capacity

Code Total (Motion SFC Chart + Operation Control +Transition)

4096k bytes

Motion SFC Program

Number of Motion SFC Programs

256 (No. 0 to 255)

Motion SFC Chart Size/Program

Up to 64k bytes (including Motion SFC chart comments)

Number of Motion SFC Steps/Program

Up to 4094 steps

Number of Selective Branches/Branch

255

Number of Parallel Branches/Branch

255

Parallel Branch Nesting

Up to 4 levels

Operation Control Program (F/FS)/Transition Program (G)

Number of Operation Control Programs

4096 with F (Once execution type) and FS (Scan execution type) combined (F/FS0 to F/FS4095)

Number of Transition Programs

4096 (G0 to G4095)

Code Size/Program

Up to approx. 128k bytes (65534 steps)

Number of Blocks (Line)/Program

Up to 8192 blocks (In the case of 8 steps (min)/block)

Number of Characters/Block

Up to 1020 (Comment included)

Number of Operand/Block

Up to 510 (Operand: Constants, Word devices, Bit devices)

Nesting/Block

Up to 32 levels

Descriptive

Expression

Operation Control Program

Calculation expression, Bit conditional expression and branches, Repetition process

Transition Program

Calculation expression, Bit conditional expression, Comparison conditional expression

Execute Specification

Number of Multi Executed Programs

Up to 256

Number of Multi Active Steps

Up to 256 steps per all programs

Normal Task

Executed in Motion main cycle

Event Task (Execution Can Be Masked)

Fixed Cycle

Executed in fixed cycle (0.222ms, 0.444ms, 0.888ms, 1.777ms, 3.555ms, 7.111ms, 14.222ms)

External Interrupt

Executes when the input set to the event task factor in the input module controlled by the Motion CPU 
(16 points) turns ON

PLC Interrupt

Executed with interrupt instruction (D(P).GINT, M(P).GINT) from PLC CPU

NMI Task

Executes when the input set to the NMI task factor in the input module controlled by the Motion CPU 
(16 points) turns ON

Number of Device Points

IO (X/Y)

12,288 points

Internal Relays (M)

12,288 points

Link Relays (B)

8,192 points

Annunciators (F)

2,048 points

Special Relays (SM)

4,096 points

Data Registers (D)

20,480 points

Link Registers (W)

8,192 points

Special Registers (SD)

4,096 points

Motion Registers (#)

12,288 points

CPU Buffer Memory (U3E_\G)

Up to 2,097,152 points

CPU Buffer Memory (Fixed-Cycle Communication Area)(U3E_\Hg)

Up to 12,288 points

Module Access(U_\G)

Up to 268,435,456 points

Number of Control Axes

Up to 32 axes

Up to 16 axes

Servo Amplifier Connection Method

SSCNET III/H (2 lines)

SSCNET III/H (1 line)

Maximum Overall Cable Distance m (ft)

1600 (5249.34)

Maximum Distance Between Stations m (ft)

100 (328.08)

SSCNET Communication

Number of SSCNET III/H Head Module

Up to 8 stations 
(Up to 4 stations per line)

Up to 4 stations

Peripheral I/F (Ethernet)

Data Transmission Speed

100Mbps/10Mbps

Transmission Method

Base band

Cable Length m (ft)

Up to 30 (98.43)

Memory Card Slot

SD/SDHC memory card compatible

Memory Capacity

Standard ROM

12 M bytes

SD Memory Card

Memory card capacity (Up to 32 GB)

Extension Base Unit

Memory card capacity (Up to 32 GB)

5VDC Internal Current Consumption (A)

1.20

Weight (kg)

0.28

Exterior Dimensions H x W x D mm (inch)

106.0 x 27.8 x 110.0 (4.17 x 1.09 x 4.33)

Stocked Item

S

S

S

S

Certification

UL • cUL • CE

Number of Controlled Axes

2 axes

4 axes

Interpolation Function

2-axis linear interpolation
2-axis circular interpolation

2-, 3-, or 4-axis linear interpolation
2-axis circular interpolation
3-axis helical interpolation

Control Method

PTP (Point To Point) control, path control (line, arc, and helix can be set), speed control, speed-position switching control, position-speed switching control

Control Unit

mm, inch, degree, pulse

Positioning Data

600 data/axis

Module Data Backup Function

Positioning data, and block start data can be saved on the flash ROM (battery-less backup)

Positioning

Positioning System

PTP control: Incremental system/absolute system

Speed-position switching control: Incremental system/absolute system

Position-speed switching control: Incremental system

Path control: Incremental system/absolute system

Positioning Range

In absolute system: -214748364.8 to 214748364.7µm; -21474.83648 to 21474.83647 inch
0 to 359.99999 degree; -2147483648 to 2147483647 pulse
In incremental system: -214748364.8 to 214748364.7m; -21474.83648 to 21474.83647 inch
-21474.83648 to 21474.83647 degree; -2147483648 to 2147483647 pulse
In speed-position switching control (INC mode)/position-speed switching control
0 to 214748364.7µm; 0 to 21474.83647 inches
0 to 21474.83647 degree; 0 to 2147483647 pulses
In speed-position switching control (ABS mode) (*2)
0 to 359.99999 degree

Speed Command

0.01 to 20000000.00mm/min; 0.001 to 2000000.000inch/min
0.001 to 3000000.000 degree/min; 1 to 5000000 pulse/s

Acceleration/Deceleration Processing

Trapezoidal acceleration/deceleration, S-curve acceleration/deceleration

Acceleration/Deceleration Time

1 to 8388608ms (Four patterns can be set for each of acceleration time and deceleration time)

Sudden Stop Deceleration Time

1 to 8388608ms

Start Time

1-Axis Linear Control

0.3ms (1.5ms) (*8)

1-Axis Speed Control

0.3ms (1.5ms) (*8)

2-Axis Linear Interpolation Control (Composite Speed)

0.45ms (1.5ms) (*8)

2-Axis Linear Interpolation Control (Reference Axis Speed)

0.45ms (1.5ms) (*8)

2-Axis Circular Interpolation Control

0.63ms (2.0ms) (*8)

2-Axis Speed Control

0.63ms (2.0ms) (*8)

3-Axis Linear Interpolation Control (Composite Speed)

0.93ms (1.7ms) (*8)

3-Axis Linear Interpolation Control (Reference Axis Speed)

0.93ms (1.7ms) (*8)

3-Axis Helical Interpolation Control

1.8ms (2.6ms) (*8)

3-Axis Speed Control

0.93ms (1.7ms) (*8)

4-Axis Linear Control

1.08ms (1.8ms) (*8)

4-Axis Speed Control

1.08ms (1.8ms) (*8)

Quick Start Function

Start With the Positioning Start Signal

8µs

Start With the External Command Signal

20µs

Start Time Adjustment Function

0.00 to 10000.00ms (0.01ms unit)

Start Time When the Inter-Module Synchronization Function is Used (*6)

8µs

External Connections

40-pin connector

Applicable Wire Size

When A6CON1 or A6CON4 is Used

0.088mm² to 0.3mm² (28 to 22 AWG) stranded wire

When A6CON2 is Used

0.088mm² to 0.24mm² (28 to 24 AWG) stranded wire

External Wiring Connector

A6CON1, A6CON2, A6CON4 (sold separately)

Maximum Output Pulse

200000 pulse/s

5000000 pulse/s

200000 pulse/s

5000000 pulse/s

Manual Pulse Generator Input Maximum Frequency

1000 pulse/s

Manual Pulse Generator 1 Pulse Input Magnification

1 to 10000 times

Maximum Connection Distance Between Servos

2m

10m

2m

10m

Number of Write Accesses to a Flash ROM

100000 times maximum

Number of Occupied I/O Points

32 points (I/O assignment: Intelligent 32 points)

Internal Current Consumption (5 VDC)

0.38A

0.54A

0.42A

0.78A

External Dimensions (H x W x D) mm

106 x 27.8 x 110

Weight (kg)

0.14

0.15

0.15

0.15