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 MELSEC L LD77MS User's Manual

Mitsubishi Electric MELSEC L LD77MS manual cover

Pages 1048

Year 2017

Language(s)

of 1048

Mitsubishi Electric MELSEC L LD77MS Specification

The Mitsubishi Electric MELSEC L LD77MS series is a sophisticated motion controller designed to enhance automation processes by providing precise and efficient motion control capabilities. This series integrates seamlessly with the MELSEC L series programmable logic controllers (PLCs), offering a compact and scalable solution suitable for various industrial applications. The LD77MS motion controllers are equipped with advanced features to handle complex motion tasks such as synchronous control, interpolation, and multi-axis coordination.

These controllers support up to 16 axes, making them ideal for high-performance motion systems. They offer a maximum pulse output frequency of 200 kHz, ensuring precise control over servo and stepper motors. The LD77MS series uses a high-speed bus connection to the PLC, facilitating fast data communication and reducing response times. This results in improved machine performance and productivity.

A key feature of the LD77MS is its compatibility with Mitsubishi’s MR-J4 series servo amplifiers, which enhances system integration and reliability. The controllers also support various positioning commands, including linear and circular interpolation, speed control, and torque control, providing flexibility for diverse applications. With built-in functions for error detection and diagnostics, the LD77MS ensures robust and reliable operation.

The programming of the LD77MS is simplified through Mitsubishi’s intuitive software platforms, which offer user-friendly interfaces and comprehensive programming tools. This enhances ease of use and reduces setup times, making it accessible to engineers and technicians with varying levels of expertise. Overall, the Mitsubishi Electric MELSEC L LD77MS series offers a powerful, efficient, and user-friendly solution for motion control applications in industries seeking enhanced automation capabilities.

Mitsubishi Electric MELSEC L LD77MS F.A.Q.

How can I update the firmware on my Mitsubishi Electric MELSEC L LD77MS?

To update the firmware on your MELSEC L LD77MS, first download the latest firmware version from the Mitsubishi Electric website. Connect your PLC to a PC using the appropriate cable, and use the GX Works2 software to perform the firmware update. Always ensure to back up existing configurations before proceeding with the update.

What should I do if my MELSEC L LD77MS is not communicating with the peripheral devices?

Check all physical connections to ensure cables are properly connected. Verify that the communication settings in GX Works2 match the settings of the peripheral devices. If the problem persists, check for any error codes on the PLC and refer to the manual for troubleshooting specific errors.

How do I perform a factory reset on the MELSEC L LD77MS?

To perform a factory reset, turn off the PLC, then press and hold the reset button located on the front panel while turning the power back on. Keep the button pressed for about 10 seconds until you see the status LEDs indicate a reset has been performed. Note that this will erase all configurations.

What are the power supply requirements for the MELSEC L LD77MS?

The MELSEC L LD77MS requires a power supply of 24V DC. Ensure the power supply can provide sufficient current as specified in the manual to prevent performance issues. Use a regulated power supply to ensure stable operation.

How can I back up the program and settings from my MELSEC L LD77MS?

Use the GX Works2 software to connect to your PLC. Navigate to the project menu and select 'Backup Project'. This will save your program and settings to a file on your computer, which can be restored later if needed.

What steps should I follow to troubleshoot an unexpected shutdown of the MELSEC L LD77MS?

First, check the power supply to ensure it is stable and within the required voltage range. Inspect all wiring and connections for any signs of damage or loose connections. Review the error codes displayed and refer to the manual to diagnose specific issues.

How do I configure the network settings on the MELSEC L LD77MS?

Open the GX Works2 software and connect to the PLC. Go to the 'Network Configuration' section and enter the desired IP address, subnet mask, and gateway information. Apply the settings and restart the PLC to ensure changes take effect.

Can I expand the I/O capabilities of the MELSEC L LD77MS?

Yes, the MELSEC L LD77MS supports expansion through additional I/O modules. These modules can be added by following the instructions in the manual to connect and configure them using GX Works2 software. Ensure compatibility with your current system setup.

What maintenance practices should I follow for my MELSEC L LD77MS?

Regularly inspect the PLC for dust and clean using a dry, soft cloth. Check connections for any wear and ensure they are secure. Update firmware and software regularly to the latest versions, and periodically back up the configurations.

How can I ensure the MELSEC L LD77MS is correctly grounded?

Ensure that the grounding terminal of the MELSEC L LD77MS is connected to a grounding rod or a common ground point with a resistance of less than 100 ohms. Use a wire of appropriate gauge as specified in the manual to ensure a good ground connection.