MELSEC iQ-R Series Motion Module (RD78G) - System start-up

MELSEC iQ-R Series Motion Module (RD78G) - System start-up


MELSEC iQ-R Series Motion Module (RD78G) - System start-up


It is the first article from the series  Melsec iQ-R Series Motion Module (RD78G) Quick Start Guide. 

In this part you will learn how to:
- create the PLC project,
- add the Motion Module to the Module Configuration, 
- configure the CC-Link IE TSN network with servo amplifiers and RIO station, 
- declare the axes on the Motion module side, 
- write the project to the PLC CPU and Motion module, 
- diagnose the network and confirm correct configuration. 

1. PLC project creation. 

Creating a New Project. 

(1) Select  Project  → New
      Select the model of the PLC CPU being used and a program language  to be used in the PLC CPU on the window below. 

In the sample program, the model is set to R04ENCPU and program language is set as FBD/LD.
      
After completing the selection click the  OK button. 














(2) When the following window appears set whether you would like to use the module label and sample comment. 
      To change this setting click the  Setting Change button.
      To open the project click the  OK button. 

















(3) Double-click  Module Configuration in the project tree. 
      When the window shown below appears, click the  OK button. 










After opening the Module Configuration screen, drag and drop a module to be used (Base, Power Supply and Motion) from the  Element Selection window.




















When Module Configuration diagaram is done, left-click on the screen and Select from the displayed list  Parameter   → Fix. 
Press OK to confirm. 






























When the following window appears check if the sample comment is set to  Use.
If  Not Use is set click  Setting Change button and change this setting in the displayed window. 
Press  OK button to confirm. 
















Setting the PLC module.

(1) Double-click  Parameter   → R04ENCPU → CPU Parameter in the project tree. 
(2) Expand  Memory/Device Setting and choose  Link Direct Device Setting from the list. 
(3) Check if the link direct deivce setting is set to  Expand Mode (iQ-R Series Mode) otherwise change it. 
      After the setting is completed, press the  Apply button on the lower right. 




















2. Setting the Motion module

Module Parameter (Motion)

(1) Double-click  Parameter   → Module Information → 0020:RD78G4 → Module Parameter (Motion) in the project tree. 

The label before the colon corresponds to the location on the Base Unit where the Motion module is connected. It will vary depending on the modules installation.  

In the Module Operation Setting (from the list on the left) the storage destination of the module expansion parameters can be changed from a built-in memory or SD card.
In the Refresh Setting set the timing to refresh the devices. 
If you do not need to change these settings keep the default one.
​
In this article are applied default settings of the Module Parameter (Motion). 

























Module Parameter (Network) 

Double-click  Parameter  → 0020:RD78G → Module Parameter (Network) in the project tree. 
In this section configure the setting for devices to be connected to the network and a link refresh. 

Network configuration setting
Select  Basic Settings in the setting item list and enter  Detailed Setting. 






















Add a module on the CC-Link IE TSN Configuration screen.
(1) Expand the  General Purpose AC Servo from the list on the left. 
(2) Drag and drop the servoamplifier you want to add. 





























Window with the module added:



Set default data of the PDO mapping in a batch. 

(1) Select  CC-Link IE TSN Configuration → Batch Setting of PDO Mapping. Press the  Yes button on the confirmation screen to set the default pattern of the PDO mapping in a batch. 


























The PDO mapping performs mapping (associating) of the data (object) which is sent/received between the controller and the slaves in cyclic communication (PDO communication). 

Setting a motion control station

(1) Select the checkboxes of  Motion Control Station of the modules controlled by the Motion module.
























Servo Parameter Setting

There are two methods for writing parameter to MR-J5-G servo amplifier:

1) Parameters are transfered from the controller during the initial communication. After that they are saved with project files of the PLC. 
2) Parameters are set and written to the axes from the project files in MR Configurator2. Using this method its necessary to write the parameters to each servo amplifier separately.

(1) Select the checkboxes of  Parameter Automatic Setting in the  CC-Link IE TSN Configuartion window to write parameters to the slave stations from the master station at the initial communication. When this item is selected parameters are sent to the servo amplifier during the initial communication. 
























(2) Double-click the servo amplifier illustration which you want to set and press the  Yes button on the confirmation screens. 




























(3) Set servo parameters on the  Parameter Setting screen.

When using MR-J5W3-G and MR-J5W2-G  servoamplifier it is possible to set the parameters for each axis in the same window. If other servoamplifiers are used it is necessary to set each of them separately. 
 














4) Close the Parameter Setting window and press  Yes button when the confirmation window appears.









5) Click the  Close with Reflecting the Setting button to reflect the data. 





























Add a module on the CC-Link IE TSN Configuration screen.
(1) Expand the  General Purpose AC Servo from the list on the left. 
(2) Drag and drop the RIO station you want to add.
(3) Drag and drop the servo amplifiers which are connected to the station.  




Window with the module added:




Set default data of the PDO mapping in a batch. 

(1) Select  CC-Link IE TSN Configuration → Batch Setting of PDO Mapping. Press the  Yes button on the confirmation screen to set the default pattern of the PDO mapping in a batch.
After the configuration it is necessary to reflected the changes pressing the  Apply button (otherwise the changes made will be lost). Accept the changes. 

(2) Double-click  Detal Setting in the  PDO Mappin Setting section. 



(3) In the following window which will be displayed enter the  TPDO on the list to the left enter "60fd" as the Index value and "00" as the Sub-Index. The  Digital Inputs will be displayed in the entry name. 
(4) Press the  OK button to accept the changes. 



































Setting a motion control station

Refer to CC-Link IE TSN Configuration when not using RIO Station section of this article.

Servo Parameter Setting

Refer to  CC-Link IE TSN Configuration when not using RIO Station section of this article.


3. Setting a station address and axis type


Set the station address to link the axis information in the axis parameter to the servo amplifier set in the network configuration. 

(1) Right-click  Axis in the navigation window of the Motion Control Setting Function and select  Add New Data. 
      Enter the data name, axis number, station address setting and the axis type setting as shown below. Set  Axis Type Setting as the  Real Drive Axis.



(2) Confirm the changes using  OK button. 

Axis added to the configuration: 



Writing the project to the Motion module

Before writing the project it is necessary to rebuild it. 

(1) Press the  Rebuild All button on the top section of the Motion Control Setting Function.
(2) After  Rebuild all window shows up confirm rebuilding by pressing  OK button. 




To write the project to Motion module right-click the  Write to Module  button, select Parameter + program  on the top and confirm the operation by clicking Execute  button. 

 

When the writing is completed the prompt with the information will pop up. Press  OK. 




Writing the project to the PLC 


Before writing the project rebuild it. It is done simillary to the rebuilding the Motion module project. 

(1) Click the  Rebuild All button. Confirm rebuilding by pressing  OK on the window. 



It is recommended to initalizing the memory of the PLC before writing new project. This operation will delete all the old data of the controller.  To do it:

(1) Put the PLC in the STOP mode (using switch on the front of the controller). 
(2)  Right-click Online → CPU Memory Operation. 



(3) On the new displayed window press Initalization(F) and then confirm it. 



(4) Confirm the completion window. 




To write the project to the PLC right-click the  Write to PLC button,  select   Parameter + program  on the top and confirm the operation by clicking   Execute  button.   

4. Network diagnostics



Network diagnostics function gives a information about the correctness of the connection to the modules. We can use it to determine if the servo amplfiers are parametrized and connected properly. To use it:

(1) Right-click  Diagnostics → CC-Link IE TSN/CC-Link IE Field Diagnostics. 



(2) On the displayed window choose the right module (Motion) and press  OK. You will enter the  CC-Link IE TSB/CC-Link IE Field Diagnostics window. 





The window is devided in few columns:

(1) Select Diagnostic Destination - in this section you can change the module you want to monitor and which station is displayed ( yo u can also switch the stations by clicking their icons in the network map).
(2) Monitor Status - this column gives the information about status of the monitor. You can also stop the monitoring function or start it again. 
(3) Network Status - this section gives the information about number of stations on which the errors appear, the total number of connection stations and the number of stations set in parameters.
(4) Selected Station Communication Status Monitor - icon representing front panel of the module with LED indicators and  graphical representation of physical connections.

Various tests and operations can be performed by clicking the Operation Test or  Se lected Station Operation.

Communication Test


In order to carry out the communication test choose  Communication Test button in the  Operation Test tab on the bottom left of the CC-Link IE TSN/CC-Link IE Field Diagnostics window. 




On the window that will pop out the parameter of the test are to be set.

(1) Choose Communication Method as  IP Address and write the IP Address of the servo amplifier connected to Motion module. 
(2) Set the Data Length, Communication Count and Communication Timeout in the Communication Data Setting column. These are the values of the data packages sent to the servo amplifier.

After that right-click the  Execute Test button. 




After executing the test its result  will be displayed as shown below:



If the value of the  Communication Count set and obtained from the result is the same then the communcation is set correctly.