Contents

SAFETY PRECAUTIONS
CONDITIONS OF USE FOR THE PRODUCT
INTRODUCTION
REVISIONS
CONTENTS
COMPLIANCE WITH THE EMC AND LOW VOLTAGE DIRECTIVES
RELEVANT MANUALS
MANUAL PAGE ORGANIZATION
TERMS
PACKING LIST
Section 1 Product Specifications and Handling
- Chapter 1 Product Outline
  - 1.1 Positioning control
    - 1.1.1 Features of LD77MS
    - 1.1.2 Purpose and applications of positioning control
    - 1.1.3 Mechanism of positioning control
    - 1.1.4 Overview of positioning control functions
    - 1.1.5 Outline design of positioning system
    - 1.1.6 Communicating signals between LD77MS and each module
  - 1.2 Flow of system operation
    - 1.2.1 Flow of all processes
    - 1.2.2 Outline of starting
    - 1.2.3 Outline of stopping
    - 1.2.4 Outline for restarting
- Chapter 2 System Configuration
  - 2.1 General image of system
  - 2.2 Component list
  - 2.3 Applicable system
  - 2.4 How to check the function version and SERIAL No.
  - 2.5 Restrictions by the SERIAL No. and version
- Chapter 3 Specifications and Functions
  - 3.1 Performance specifications
  - 3.2 List of functions
    - 3.2.1 LD77MS control functions
    - 3.2.2 LD77MS main functions
    - 3.2.3 LD77MS sub functions
    - 3.2.4 LD77MS common functions
    - 3.2.5 Combination of LD77MS main functions and sub functions
  - 3.3 Specifications of input/output signals with PLC CPU
    - 3.3.1 List of input/output signals with PLC CPU
    - 3.3.2 Details of input signals (LD77MS PLC CPU)
    - 3.3.3 Details of output signals (PLC CPU LD77MS)
  - 3.4 Specifications of interfaces with external devices
    - 3.4.1 Electrical specifications of input signals
    - 3.4.2 Signal layout for external input connection connector
    - 3.4.3 List of input signal details
    - 3.4.4 Interface internal circuit
  - 3.5 External circuit design
- Chapter 4 Installation, Wiring and Maintenance of the Product
  - 4.1 Outline of installation, wiring and maintenance
    - 4.1.1 Installation, wiring and maintenance procedures
    - 4.1.2 Names of each part
    - 4.1.3 Handling precautions
  - 4.2 Installation
    - 4.2.1 Precautions for installation
  - 4.3 Wiring
    - 4.3.1 Precautions for wiring
  - 4.4 Confirming the installation and wiring
    - 4.4.1 Items to confirm when installation and wiring are completed
  - 4.5 Maintenance
    - 4.5.1 Precautions for maintenance
    - 4.5.2 Disposal instructions
- Chapter 5 Data Used for Positioning Control
  - 5.1 Types of data
    - 5.1.1 Parameters and data required for control
    - 5.1.2 Setting items for positioning parameters
    - 5.1.3 Setting items for HPR parameters
    - 5.1.4 Setting items for expansion parameters
    - 5.1.5 Setting items for servo parameters
    - 5.1.6 Setting items for positioning data
    - 5.1.7 Setting items for block start data
    - 5.1.8 Setting items for condition data
    - 5.1.9 Types and roles of monitor data
    - 5.1.10 Types and roles of control data
  - 5.2 List of parameters
    - 5.2.1 Basic parameters 1
    - 5.2.2 Basic parameters 2
    - 5.2.3 Detailed parameters 1
    - 5.2.4 Detailed parameters 2
    - 5.2.5 HPR basic parameters
    - 5.2.6 HPR detailed parameters
    - 5.2.7 Expansion parameters
    - 5.2.8 Servo parameters
  - 5.3 List of positioning data
  - 5.4 List of block start data
  - 5.5 List of condition data
  - 5.6 List of monitor data
    - 5.6.1 System monitor data
    - 5.6.2 Axis monitor data
  - 5.7 List of control data
    - 5.7.1 System control data
    - 5.7.2 Axis control data
- Chapter 6 Sequence Program Used for Positioning Control
  - 6.1 Precautions for creating program
  - 6.2 List of devices used
  - 6.3 Creating a program
    - 6.3.1 General configuration of program
    - 6.3.2 Positioning control operation program
  - 6.4 Positioning program examples
  - 6.5 Program details
    - 6.5.1 Initialization program
    - 6.5.2 Start details setting program
    - 6.5.3 Start program
    - 6.5.4 Continuous operation interrupt program
    - 6.5.5 Restart program
    - 6.5.6 Stop program
- Chapter 7 Memory Configuration and DataProcess
  - 7.1 Configuration and roles of LD77MS memory
    - 7.1.1 Configuration and roles of LD77MS memory
    - 7.1.2 Buffer memory area configuration
  - 7.2 Data transmission process
Section 2 Control Details and Setting
- Chapter 8 HPR Control
  - 8.1 Outline of HPR control
    - 8.1.1 Two types of HPR control
  - 8.2 Machine HPR
    - 8.2.1 Outline of the machine HPR operation
    - 8.2.2 Machine HPR method
    - 8.2.3 HPR method (1): Proximity dog method
    - 8.2.4 HPR method (2): Count method 1)
    - 8.2.5 HPR method (3): Count method 2)
    - 8.2.6 HPR method (4): Data set method
    - 8.2.7 HPR method (5): Scale origin signal detection method
  - 8.3 Fast HPR
    - 8.3.1 Outline of the fast HPR operation
  - 8.4 Selection of the HPR setting condition
    - 8.4.1 Outline of the HPR setting condition
- Chapter 9 Major Positioning Control
  - 9.1 Outline of major positioning controls
    - 9.1.1 Data required for major positioning control
    - 9.1.2 Operation patterns of major positioning controls
    - 9.1.3 Designating the positioning address
    - 9.1.4 Confirming the current value
    - 9.1.5 Control unit "degree" handling
    - 9.1.6 Interpolation control
  - 9.2 Setting the positioning data
    - 9.2.1 Relation between each control and positioning data
    - 9.2.2 1-axis linear control
    - 9.2.3 2-axis linear interpolation control
    - 9.2.4 3-axis linear interpolation control
    - 9.2.5 4-axis linear interpolation control
    - 9.2.6 1-axis fixed-feed control
    - 9.2.7 2-axis fixed-feed control (interpolation)
    - 9.2.8 3-axis fixed-feed control (interpolation)
    - 9.2.9 4-axis fixed-feed control (interpolation)
    - 9.2.10 2-axis circular interpolation control with sub point designation
    - 9.2.11 2-axis circular interpolation control with center point designation
    - 9.2.12 1-axis speed control
    - 9.2.13 2-axis speed control
    - 9.2.14 3-axis speed control
    - 9.2.15 4-axis speed control
    - 9.2.16 Speed-position switching control (INC mode)
    - 9.2.17 Speed-position switching control (ABS mode)
    - 9.2.18 Position-speed switching control
    - 9.2.19 Current value changing
    - 9.2.20 NOP instruction
    - 9.2.21 JUMP instruction
    - 9.2.22 LOOP
    - 9.2.23 LEND
- Chapter 10 High-Level Positioning Control
  - 10.1 Outline of high-level positioning control
    - 10.1.1 Data required for high-level positioning control
    - 10.1.2 "Block start data" and "condition data" configuration
  - 10.2 High-level positioning control execution procedure
  - 10.3 Setting the block start data
    - 10.3.1 Relation between various controls and block start data
    - 10.3.2 Block start (normal start)
    - 10.3.3 Condition start
    - 10.3.4 Wait start
    - 10.3.5 Simultaneous start
    - 10.3.6 Repeated start (FOR loop)
    - 10.3.7 Repeated start (FOR condition)
    - 10.3.8 Restrictions when using the NEXT start
  - 10.4 Setting the condition data
    - 10.4.1 Relation between various controls and the condition data
    - 10.4.2 Condition data setting examples
  - 10.5 Multiple axes simultaneous start control
  - 10.6 Start program for high-level positioning control
    - 10.6.1 Starting high-level positioning control
    - 10.6.2 Example of a start program for high-level positioning control
- Chapter 11 Manual Control
  - 11.1 Outline of manual control
    - 11.1.1 Three manual control methods
  - 11.2 JOG operation
    - 11.2.1 Outline of JOG operation
    - 11.2.2 JOG operation execution procedure
    - 11.2.3 Setting the required parameters for JOG operation
    - 11.2.4 Creating start programs for JOG operation
    - 11.2.5 JOG operation example
  - 11.3 Inching operation
    - 11.3.1 Outline of inching operation
    - 11.3.2 Inching operation execution procedure
    - 11.3.3 Setting the required parameters for inching operation
    - 11.3.4 Creating a program to enable/disable the inching operation
    - 11.3.5 Inching operation example
  - 11.4 Manual pulse generator operation
    - 11.4.1 Outline of manual pulse generator operation
    - 11.4.2 Manual pulse generator operation execution procedure
    - 11.4.3 Setting the required parameters for manual pulse generator operation
    - 11.4.4 Creating a program to enable/disable the manual pulse generator operation
- Chapter 12 Expansion Control
  - 12.1 Speed-torque control
    - 12.1.1 Outline of speed-torque control
    - 12.1.2 Setting the required parameters for speed-torque control
    - 12.1.3 Setting the required data for speed-torque control
    - 12.1.4 Operation of speed-torque control
  - 12.2 Synchronous control
- Chapter 13 Control Sub Functions
  - 13.1 Outline of sub functions
    - 13.1.1 Outline of sub functions
  - 13.2 Sub functions specifically for machine HPR
    - 13.2.1 HPR retry function
    - 13.2.2 HP shift function
  - 13.3 Functions for compensating the control
    - 13.3.1 Backlash compensation function
    - 13.3.2 Electronic gear function
    - 13.3.3 Near pass function
  - 13.4 Functions to limit the control
    - 13.4.1 Speed limit function
    - 13.4.2 Torque limit function
    - 13.4.3 Software stroke limit function
    - 13.4.4 Hardware stroke limit function
    - 13.4.5 Forced stop function
  - 13.5 Functions to change the control details
    - 13.5.1 Speed change function
    - 13.5.2 Override function
    - 13.5.3 Acceleration/deceleration time change function
    - 13.5.4 Torque change function
    - 13.5.5 Target position change function
  - 13.6 Absolute position system
  - 13.7 Other functions
    - 13.7.1 Step function
    - 13.7.2 Skip function
    - 13.7.3 M code output function
    - 13.7.4 Teaching function
    - 13.7.5 Command in-position function
    - 13.7.6 Acceleration/deceleration processing function
    - 13.7.7 Pre-reading start function
    - 13.7.8 Deceleration start flag function
    - 13.7.9 Stop command processing for deceleration stop function
    - 13.7.10 Speed control 10 x multiplier setting for degree axis function
    - 13.7.11 Operation setting for incompletion of HPR function
  - 13.8 Servo ON/OFF
    - 13.8.1 Servo ON/OFF
    - 13.8.2 Follow up function
- Chapter 14 Common Functions
  - 14.1 Outline of common functions
  - 14.2 Parameter initialization function
  - 14.3 Execution data backup function
  - 14.4 External signal selection function
  - 14.5 External I/O signal logic switching function
  - 14.6 History monitor function
  - 14.7 Amplifier-less operation function
  - 14.8 Virtual servo amplifier function
  - 14.9 Driver communication function
  - 14.10 Mark detection function
  - 14.11 Optional data monitor function
  - 14.12 Module error collection function
  - 14.13 Connect/disconnect function of SSCNET communication
  - 14.14 LD77MH initial value setting function
  - 14.15 Hot line forced stop function
- Chapter 15 Dedicated Instructions
  - 15.1 List of dedicated instructions
  - 15.2 Interlock during dedicated instruction is executed
  - 15.3 ZP.PSTRT1, ZP.PSTRT2, ZP.PSTRT3, ZP.PSTRT4
  - 15.4 ZP.TEACH1, ZP.TEACH2, ZP.TEACH3, ZP.TEACH4
  - 15.5 ZP.PFWRT
  - 15.6 ZP.PINIT
- Chapter 16 Troubleshooting
  - 16.1 Checking errors using GX Works2
  - 16.2 Checking errors using a display unit
  - 16.3 Troubleshooting
  - 16.4 Error and warning details
  - 16.5 List of errors
    - 16.5.1 LD77MS detection error
    - 16.5.2 Servo amplifier detection error
  - 16.6 List of warnings
    - 16.6.1 LD77MS detection warning
    - 16.6.2 Servo amplifier detection warning
Appendices
- Appendix 1 List of buffer memory addresses
- Appendix 2 Connection with servo amplifiers
  - Appendix 2.1 SSCNET cables
  - Appendix 2.2 Serial absolute synchronous encoder cable
  - Appendix 2.3 SSCNET cable (SC-J3BUS_M-C) manufactured by Mitsubishi Electric System & Service
- Appendix 3 Connection with external device
  - Appendix 3.1 Connector
  - Appendix 3.2 External input signal cable
  - Appendix 3.3 Manual pulse generator (MR-HDP01)
- Appendix 4 Comparisons with LD77MH models
- Appendix 5 When using GX Works2
- Appendix 6 Compatible devices with SSCNET(/H)
  - Appendix 6.1 Servo driver VCII series/VPH series manufactured by CKD NIKKI DENSO CO., LTD.
  - Appendix 6.2 Inverter FR-A700 series
  - Appendix 6.3 AlphaStep/5-phase stepping motor driver manufactured by ORIENTAL MOTOR Co., Ltd.
  - Appendix 6.4 IAI electric actuator controller manufactured by IAI Corporation
  - Appendix 6.5 Connection with MR-JE-B(F)
- Appendix 7 External dimension drawing
WARRANTY
TRADEMARKS

Mitsubishi Electric LD77MS2 LD77MS4 LD77MS16 User's Manual

Mitsubishi Electric LD77MS2 LD77MS4 LD77MS16 manual cover

Pages 1048

Year 2013

Language(s)

of 1048

Mitsubishi Electric LD77MS2 LD77MS4 LD77MS16 Specification

The Mitsubishi Electric LD77MS2, LD77MS4, and LD77MS16 are specialized high-performance motion control modules designed for seamless integration with Mitsubishi's iQ-R series PLCs. These modules are engineered to meet the demanding requirements of modern automated systems, providing precision control and enhanced operational efficiency. The LD77MS2 supports up to 2 axes, the LD77MS4 supports up to 4 axes, and the LD77MS16 supports up to 16 axes, offering scalable solutions to suit varying levels of complexity in motion applications.

Each module features a high-speed communication interface, enabling rapid data exchange and real-time motion control, which is crucial for high-speed manufacturing environments. The modules utilize Mitsubishi's advanced servo control algorithms, providing precise positioning, speed control, and torque control capabilities. This ensures optimal performance even in complex motion sequences. The modules are equipped with a built-in PLC CPU function, which offloads motion control tasks from the main PLC CPU, thus enhancing overall system efficiency.

Compatibility with Mitsubishi's MR-J4 servo amplifiers allows for seamless integration and simplified setup, while the modules' support for SSCNETIII/H network ensures robust communication and reduced wiring. They also feature easy-to-use programming environments, with support for the Mitsubishi Electric software suite, providing users with intuitive tools for configuration, monitoring, and diagnostics.

The modules include comprehensive safety features that align with international safety standards, ensuring reliable operation in industrial settings. These modules are designed for longevity and reliability, with features like vibration resistance and wide operating temperature ranges, making them suitable for various industrial environments. In summary, the LD77MS series offers a scalable, efficient, and reliable solution for advanced motion control tasks in modern automation systems.

Mitsubishi Electric LD77MS2 LD77MS4 LD77MS16 F.A.Q.

How do I initially set up the Mitsubishi Electric LD77MS2 module?

To set up the Mitsubishi Electric LD77MS2, first ensure it is properly installed in the PLC rack. Then, configure the parameters using the GX Works2 software. Refer to the manual for detailed steps on parameter settings specific to your application.

What should I do if the LD77MS4 module is not communicating with the PLC?

Check the physical connections first to ensure that the module is securely attached. Verify the settings in the GX Works2 software to ensure the communication parameters match. If the problem persists, perform a diagnostic check using the built-in tools within the software.

How can I troubleshoot error codes on the LD77MS16 module?

Refer to the error code section in the Mitsubishi Electric manual to decode the specific error. Common solutions include checking wiring, verifying parameter settings, and resetting the module. If issues continue, consult Mitsubishi technical support for further assistance.

What is the recommended maintenance schedule for the LD77MS series modules?

Perform regular inspections every 6 months, ensuring all connections are secure and free of debris. Annually, conduct a thorough check of all parameters and update firmware if necessary. Clean the modules using compressed air to remove dust and dirt.

How can I update the firmware on my LD77MS4 module?

Download the latest firmware version from the Mitsubishi Electric website. Connect your module to a PC with the GX Works2 software, and follow the firmware update instructions provided in the software help guide. Ensure power is stable during the update process.

What are the main differences in functionality between the LD77MS2, LD77MS4, and LD77MS16 modules?

The primary difference lies in the number of control axes. The LD77MS2 supports up to 2 axes, LD77MS4 up to 4 axes, and LD77MS16 supports up to 16 axes. Select the module based on your application's axis control requirements.

How do I perform a factory reset on the LD77MS16 module?

To reset the LD77MS16 module to factory settings, use the GX Works2 software to navigate to the reset options. Follow the on-screen instructions carefully to avoid unintended data loss. Backup all necessary data before proceeding.

Can the LD77MS2 module be used for high-speed operations?

Yes, the LD77MS2 is designed for high-speed operations. It features advanced motion control capabilities suitable for applications requiring precise and rapid movements. Ensure that your system configuration supports the desired speed settings.

How do I integrate the LD77MS4 module with existing automation systems?

Integration requires ensuring compatibility with existing PLCs and software systems. Use the GX Works2 software to configure the module settings, and employ standard communication protocols such as CC-Link or Ethernet for seamless integration.

What precautions should be taken when installing the LD77MS series modules in harsh environments?

Ensure the installation site is free from excessive dust, moisture, and extreme temperatures. Use protective enclosures if necessary. Regularly inspect the modules for any signs of wear or damage, and maintain a stable power supply to prevent malfunctions.