Controllers MELSEC iQ-R Series Product features -CPU-
Motion CPU module
The motion CPU module is incorporated into the multiple CPU configuration, separating the CPU load efficiently.
High-speed general control and high-accuracy motion control are achieved, thereby contributing to high-speed and high-accuracy machine processing.
Interface
Features<sup>High-response, large-capacity data sharing for flexible adaptation to high-mix production</sup>
- Large-capacity data communication
- G code
- The multi-CPU configuration with a programmable controller CPU and motion CPU enables high-speed, large-capacity shared memory communication
- Large data sets such as cam data can be transferred in a single operation, enabling efficient program creation and modification
- In variable-mix, variable-volume production, product recipes can be instantly reflected in the motor drive according to production instructions from a computer
- Can be used for various applications, such as alignment control coordinated with the vision system and machining using G-code analysis
Visually intuitive, flexible motion control programs
- Flowchart
- Event responsiveness
- Motion control programs can be written using flowchart-based motion SFC*1
- This format makes the processing flow easy to understand visually, resulting in high maintainability and flexibility for equipment modifications
- Motion SFC enables high event responsiveness, ensuring stable operation in equipment and line control
- *1.SFC: Sequential Function Chart
Motion SFC Program
Specifications
Motion CPU module specifications
MT SFC : Motion SFCINS : Dedicated instruction
| Item | R16MTCPU | R32MTCPU | R64MTCPU |
|---|---|---|---|
| Max. number of control axes | 16 | 32 (16 axes × 2 lines) | 64 (32 axes × 2 lines) |
| Operation cycle setting (ms) | 0.222, 0.444, 0.888, 1.777, 3.555, 7.111 |
0.222, 0.444, 0.888, 1.777, 3.555, 7.111 |
0.222, 0.444, 0.888, 1.777, 3.555, 7.111 |
| Programming language | MT SFCINS |
MT SFCINS |
MT SFCINS |
| Servo program capacity (step) | 64K | 64K | 64K |
| Number of positioning points | 6400 (positioning data can be designated indirectly) | 6400 (positioning data can be designated indirectly) | 6400 (positioning data can be designated indirectly) |
| Servo amplifier network | SSCNETⅢ/H (1 line) | SSCNETⅢ/H (2 lines) | SSCNETⅢ/H (2 lines) |
| Max. distance between stations (m) | 100 | 100 | 100 |
| Interpolation | |||
| Linear interpolation (axis) | Max. 4 | Max. 4 | Max. 4 |
| Circular interpolation (axis) | 2 | 2 | 2 |
| Helical interpolation (axis) | 3 | 3 | 3 |
| Control mode | |||
| Positioning control | ● | ● | ● |
| Continuous path control | ● | ● | ● |
| Position follow-up control | ● | ● | ● |
| Advanced synchronous control | ● | ● | ● |
| Speed-torque control | ● | ● | ● |
| G-code control*2 | ● | ● | ● |
| Acceleration/deceleration control | |||
| Trapezoidal acceleration/deceleration | ● | ● | ● |
| S-curve acceleration/deceleration | ● | ● | ● |
| Advanced S-curve acceleration/deceleration | ● | ● | ● |
| Interface | |||
| PERIPHERAL I/F | ● | ● | ● |
| SD memory card | ● | ● | ● |
| Function | |||
| Absolute position system*3 | ● | ● | ● |
| Mark detection function | ● | ● | ● |
| Digital oscilloscope function | ● | ● | ● |
| Driver communication function | ● | ● | ● |
- *2.G-code control is available by additionally installing the G-code control add-on library. For more information, please contact your local Mitsubishi Electric sales office or representative.
- *3.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.