Contents

SAFETY PRECAUTIONS
INTRODUCTION
REVISIONS
CONTENTS
COMPLIANCE WITH THE EMC AND LOW VOLTAGE DIRECTIVES
RELEVANT MANUALS
MANUAL PAGE ORGANIZATION
TERMS
PACKING LIST
Chapter 1 Outline of Synchronous Control
- 1.1 Outline of synchronous control
- 1.2 Performance specifications
- 1.3 Restrictions by the SERIAL No. and version
- 1.4 Operation method of synchronous control
  - 1.4.1 Synchronous control execution procedure
  - 1.4.2 Starting/ending for synchronous control
  - 1.4.3 Stop operation of output axis
Chapter 2 Input Axis Module
- 2.1 Servo input axis
  - 2.1.1 Overview of servo input axis
  - 2.1.2 Servo input axis parameters
  - 2.1.3 Servo input axis monitor data
- 2.2 Command generation axis
  - 2.2.1 Overview of command generation axis
  - 2.2.2 Command generation axis parameters
  - 2.2.3 Command generation axis control data
  - 2.2.4 Command generation axis monitor data
  - 2.2.5 Command generation axis positioning data
  - 2.2.6 Write/read method for command generation axis parameter and positioning data
- 2.3 Synchronous encoder axis
  - 2.3.1 Overview of synchronous encoder axis
  - 2.3.2 Setting method for synchronous encoder
  - 2.3.3 Synchronous encoder axis parameters
  - 2.3.4 Synchronous encoder axis control data
  - 2.3.5 Synchronous encoder axis monitor data
Chapter 3 Cam Function
- 3.1 Control details for cam function
- 3.2 Create cam data
  - 3.2.1 Memory configuration of cam data
  - 3.2.2 Cam data operation function
  - 3.2.3 Cam auto-generation function
Chapter 4 Synchronous Control
- 4.1 Main shaft module
  - 4.1.1 Overview of main shaft module
  - 4.1.2 Main shaft parameters
  - 4.1.3 Main shaft clutch parameters
  - 4.1.4 Main shaft clutch control data
- 4.2 Auxiliary shaft module
  - 4.2.1 Overview of auxiliary shaft module
  - 4.2.2 Auxiliary shaft parameters
  - 4.2.3 Auxiliary shaft clutch parameters
  - 4.2.4 Auxiliary shaft clutch control data
- 4.3 Clutch
  - 4.3.1 Overview of clutch
  - 4.3.2 Control method for clutch
  - 4.3.3 Smoothing method for clutch
  - 4.3.4 Use example of clutch
- 4.4 Speed change gear module
  - 4.4.1 Overview of speed change gear module
  - 4.4.2 Speed change gear parameters
- 4.5 Output axis module
  - 4.5.1 Overview of output axis module
  - 4.5.2 Output axis parameters
- 4.6 Synchronous control change function
  - 4.6.1 Overview of synchronous control change function
  - 4.6.2 Synchronous control change control data
- 4.7 Synchronous control monitor data
- 4.8 Phase compensation function
- 4.9 Output axis sub functions
Chapter 5 Synchronous Control Initial Position
- 5.1 Synchronous control initial position
- 5.2 Synchronous control initial position parameters
- 5.3 Cam axis position restoration method
  - 5.3.1 Cam axis current value per cycle restoration
  - 5.3.2 Cam reference position restoration
  - 5.3.3 Cam axis feed current value restoration
- 5.4 Synchronous control analysis mode
- 5.5 Cam position calculation function
  - 5.5.1 Cam position calculation control data
  - 5.5.2 Cam position calculation monitor data
- 5.6 Method to restart synchronous control
Chapter 6 Troubleshooting (Synchronous Control)
- 6.1 Error and warning details
- 6.2 Error and warning of input axis
  - 6.2.1 List of input axis errors
  - 6.2.2 List of input axis warnings
- 6.3 Error and warning of output axis
  - 6.3.1 List of output axis errors
  - 6.3.2 List of output axis warnings
- 6.4 Warning of cam operation
  - 6.4.1 List of cam data operation warnings
  - 6.4.2 List of cam auto-generation warnings
  - 6.4.3 List of cam position calculation warnings
Appendices
- Appendix 1 Comparisons with the Motion controller SV22
- Appendix 2 Sample program of synchronous control
- Appendix 3 Lists of buffer memory addresses for synchronous control
WARRANTY
TRADEMARKS

Mitsubishi LD77MH4 User's Manual V2

Mitsubishi LD77MH4 Motion Module manual cover

Pages 276

Year 2022

Language(s)

of 276

Mitsubishi LD77MH4 Motion Module Specification

The Mitsubishi LD77MH4 Motion Module is an advanced motion control device designed for high-precision automation applications. This module is part of the MELSEC iQ-R series and integrates seamlessly with Mitsubishi's PLC systems, providing robust and flexible motion control capabilities. It features four axes of control, allowing for complex motion tasks such as interpolation, synchronous control, and high-speed positioning. The LD77MH4 is equipped with a high-speed bus communication interface that ensures rapid data transfer and real-time response, essential for high-performance industrial environments.

The module supports a variety of feedback devices, including incremental and absolute encoders, enhancing its versatility in different applications. It is capable of executing sophisticated motion profiles with precision, thanks to its advanced trajectory planning and control algorithms. The LD77MH4 offers extensive programming capabilities through Mitsubishi's GX Works3 software, which facilitates easy setup, configuration, and monitoring. Safety is a priority, with integrated features that include safe torque off (STO) and other safety protocols to ensure secure operation in compliance with international standards.

The module's compact design allows for efficient use of space in control panels, and its robust construction ensures reliability in demanding conditions. Additionally, the LD77MH4 supports network connectivity options, including Ethernet, which enables remote monitoring and integration into larger automation systems. Its compatibility with various servo amplifiers and motors makes it a versatile choice for manufacturers looking to implement precise and efficient motion control solutions. Overall, the Mitsubishi LD77MH4 Motion Module is engineered to deliver high performance, flexibility, and safety for modern industrial automation needs.

Mitsubishi LD77MH4 Motion Module F.A.Q.

How do I connect the Mitsubishi LD77MH4 to a PLC system?

To connect the LD77MH4 Motion Module to a PLC system, ensure that the module is correctly seated in the base unit and that all necessary connections, such as power supply and communication cables, are securely attached. Configure the module through the PLC programming software by setting the appropriate parameters for communication and operation.

What are the basic steps for configuring the LD77MH4 Motion Module?

Configuration of the LD77MH4 involves setting parameters through the PLC programming software. This includes defining the axis parameters, motion control settings, and communication settings. Refer to the user manual for specific configuration details and use the GX Works3 or compatible software for programming.

How can I troubleshoot communication errors with the LD77MH4?

To troubleshoot communication errors, first check all physical connections and ensure the module is properly inserted into the base unit. Verify that communication parameters match between the module and the PLC. Use diagnostic tools in the programming software to identify error codes and consult the user manual for further troubleshooting steps.

What maintenance is required for the LD77MH4 Motion Module?

Regular maintenance for the LD77MH4 includes checking the physical condition of the module and its connections, ensuring it is free from dust and debris, and verifying that firmware is up to date. Regularly review the system logs for any anomalies and perform diagnostics as needed.

How do I update the firmware on the LD77MH4?

Firmware updates for the LD77MH4 are done through the PLC programming software. Connect the module to the software, select the firmware update option, and follow the on-screen instructions. Ensure that the power supply is stable during the update process to prevent interruptions.

What should I do if the LD77MH4 module is not recognized by the PLC?

If the LD77MH4 is not recognized, check that it is properly installed in the base unit. Verify the module configuration in the software matches the physical setup. Inspect the connections and cables for any damage or loose connections. Restart the PLC and module if necessary.

Can the LD77MH4 be used in a networked environment?

Yes, the LD77MH4 can be used in a networked environment. It supports communication protocols that allow integration with other devices on the network. Configure the network settings in the PLC programming software to ensure compatibility and proper communication.

How do I perform a factory reset on the LD77MH4?

To perform a factory reset on the LD77MH4, use the PLC programming software to access the module settings. Locate the reset option and follow the instructions to revert the module to its default factory settings. Ensure that all important data is backed up before performing a reset.

What are common error codes for the LD77MH4 and their meanings?

Common error codes for the LD77MH4 include E0 (communication error), E1 (parameter error), and E2 (hardware fault). Each code indicates a specific issue; refer to the user manual for a comprehensive list of error codes and their troubleshooting steps.

How can I optimize the performance of the LD77MH4 Motion Module?

To optimize performance, ensure the module is correctly configured for the specific application. Regularly update the firmware, perform maintenance checks, and use diagnostic tools to monitor performance. Adjust parameters such as speed and acceleration to match the system requirements.