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Selection Guide Edition 19 • Revised April 1, 2019

The RD77GF, RD77MS, QD77MS, LD77MS, and FX5-40SSC-S/FX5-80SSC-S Simple Motion Modules are the easiest way to add motion control to your iQ-R, iQ, L, or FX5 Series PLC. The easy to use function block library provides a simple interface for positioning, interpolated moves, and synchronous control including camming, encoder following, and registration. Program development and troubleshooting are faster and easier than ever before with both motion and logic are implemented on the same PLC CPU.

RD77GF System Configuration

Simple Motion Modules

RD77GF

MR-J4-GF-RJ MR-J4-GF-RJ MR-J4-GF-RJ

Rotary servo motor

Linear servo motor

Direct drive motor

Remote input/output module

High-speed counter module

Analog module

RD77GF16ERRRUN

AX1-16D LINKSD/RDL ERR

L ER

LINK

Simple Motion Module RD77GF for iQ-R PLC Parts ListModel Number Description Stocked ItemsRD77GF32 32 Axis Simple Motion Module for iQ-R with CC-Link IE Field SRD77GF16 16 Axis Simple Motion Module for iQ-R with CC-Link IE Field SRD77GF8 8 Axis Simple Motion Module for iQ-R with CC-Link IE Field SRD77GF4 4 Axis Simple Motion Module for iQ-R with CC-Link IE Field S

Model Number RD77GF4 RD77GF8 RD77GF16 RD77GF32

Number Of Control Axes 4 axes 8 axes 16 axes 32 axesOperation Cycle 0.5 ms/1.0 ms/2.0 ms/4.0 msInterpolation Function 2-, 3-, or 4-axis linear interpolation; 2-axis circular interpolation; 3-axis helical interpolation

Control Method PTP (Point To Point) control, path control (linear, and arc can be set), speed control, speed-position switching control, position-speed switching control, speed-torque control

Control Unit mm, inch, degree, pulsePositioning Data 600 data/axis (All the data points can be set with the buffer memory.)Execution Data Backup Function Parameters, positioning data, and block start data can be saved on flash ROM. (battery-less backup)

Positioning

Positioning System

PTP control: Incremental system/absolute systemSpeed-position switching control: Incremental system/absolute systemPosition-speed switching control: Incremental systemPath control: Incremental system/absolute system

Positioning Range

In absolute system-214748364.8 to 214748364.7 (µm); -21474.83648 to 21474.83647 (inch); 0 to 359.99999 (degree); -2147483648 to 2147483647 (pulse)In incremental system-214748364.8 to 214748364.7 (µm); -21474.83648 to 21474.83647 (inch); -21474.83648 to 21474.83647 (degree); -2147483648 to 2147483647 (pulse)In speed-position switching control (INC mode)/position-speed switching control0 to 214748364.7 (µm); 0 to 21474.83647 (inch); 0 to 21474.83647 (degree); 0 to 2147483647 (pulse)In speed-position switching control (ABS mode) (*1)0 to 359.99999 (degree)

Speed Command 0.01 to 20000000.00 (mm/min); 0.001 to 2000000.000 (inch/min); 0.001 to 2000000.000 (degree/min) (*2) 1 to 1000000000 (pulse/s)Acceleration/Deceleration Process Trapezoidal acceleration/deceleration, S-curve acceleration/deceleration

Acceleration/Deceleration Time 1 to 8388608 (ms) (Four patterns can be set for each of acceleration time and deceleration time.)

Sudden Stop Deceleration Time 1 to 8388608 (ms)

Manual Pulse Generator

Signal Input Form Link device1 Pulse Input Magnification 1 to 10000 times

Flash ROM Write Count Max. 100000 timesNumber of Occupied I/O points 32 points (I/O assignment: Intelligent function module 32 points)Internal Current Consumption (5 VDC) 1.1 AExternal Dimensions (W x H x D) mm (inch) 106 x 27.8 x 110 (4.17 x 1.09 x 4.33)

Weight (kg) 0.23

Notes: 1. The speed-position switching control (ABS mode) can be used only when the control unit is “degree”.2. When “Speed control 10 times multiplier setting for degree axis function” is valid, the setting range is 0.01 to 20000000.00 (degree/min).

Simple Motion Module RD77GF Control Specifications

Mitsubishi Electric Automation | Motion Controllers 2Selection Guide Edition 19 • Revised April 1, 2019

CC-Link IE Field Network Performance SpecificationsModel Number RD77GF4 • RD77GF8 • RD77GF16 • RD77GF32

Maximum Number of Link Points per Network

RX 16K points (16384 points, 2K bytes)RY 16K points (16384 points, 2K bytes)RWr 8K points (8192 points, 16K bytes)RWw 8K points (8192 points, 1 6K bytes)

Maximum Number of Link Points per Station

Master Station

RX 16K points (16384 points, 2K bytes)RY 16K points (16384 points, 2K bytes)RWr 8K points (8192 points, 16K bytes)RWw 8K points (8192 points, 16K bytes)

Local Station (*1)

RX 2K points (2048 points, 256 bytes)RY 2K points (2048 points, 256 bytes)RWr 256 points (512 bytes)RWw 256 points (512 bytes)

Inter-module Synchronization Cycle (*2) (With Synchronization Communication) 0.50 ms/1.00 ms/2.00 ms/4.00 ms

Transient Transmission 1: N communication (such as monitor, program upload/download) Dedicated instructions from sequence programsTransient Transmission Capacity 1920 bytes maximumMaximum Number of Transient Transmissions per Link Scan 4

Communication Speed 1 GbpsNetwork Topology Line topology, star topology (*3)Communication Cable Ethernet cable which satisfies 1000BASE-T standard: Category 5e or higher, straight cable (double shielded, STP); RJ45 connectorMaximum Station-to-Station Distance 100 m (conforms to ANSI/TIA/EIA-568-B (Category 5e))Overall Cable Distance

Single Master Configuration Line topology: 12000 m (when 121 stations are connected) Star topology: Depends on the system configuration.

Number of Cascade Connections 4 levels maximumMaximum Number of Connectable Stations

Single master Configuration 121 stations (master station: 1, slave station: 120)

Maximum Number of Networks 239Communication Method Token passing

Notes: 1. The maximum number of points that a master station can assign to one station. A local station can receive the range assigned to other stations using the cyclic transmission function.2. The cycle that each module performs the synchronous control via a network using the synchronous communication function.3. A switching hub supporting synchronous communication is required for the star topology.

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Selection Guide Edition 19 • Revised April 1, 2019

CC-Link IE Field PC Based Motion Module

MR-J4-GF-RJ MR-J4-GF-RJ MR-J4-GF-RJ

Rotary servo motor

Linear servo motor

Direct drive motor

Remote input/output module

High-speed counter module

Analog module

Simple Motion Board SpecificationsModel Number MR-EM340GFServo Amplifier Connection System CC-Link IE Field NetworkMaximum Distance Between Stations (m (ft.)) 100 (328.08)Peripheral I/F Ethernet (100BASE)

Forced Stop Input Signal (EMI)

Number of Input Points 1 point

Input Method Positive Common/ Negative Common Shared Type (Photocoupler isolation)Rated Input Voltage/Current 24 VDC / approx. 2.4 mAOperating Voltage Range 20.4 to 26.4 VDC (24 VDC +10 %/−15 %, ripple ratio 5 % or less)ON Voltage/Current 17.5 VDC or more / 2.0 mA or moreOFF Voltage/Current 1.8 VDC or less / 0.18 mA or lessInput Resistance Approx. 10 kΩResponse Time 1 ms or less (OFF to ON, ON to OFF)Recommended Wire Size (mm²) 0.08 to 0.5 (AWG 20 to AWG 28)

Number of Simple Motion Boards for One Computer 4

Bus Specification

Specification PCI Express® 2.0 × 1Size mm (inch) Short sized version: 167.65 x 111.15 (6.60 x 4.38)

Power Supply Voltage 12 VDC / 3.3 VDC

Current Consumption (A)

12 VDC 0.43.3 VDC 0.6

Weight (kg) 0.13

Simple Motion Board – MR-EM340GF Parts ListModel Number Name Description Stocked ItemsMR-EM340GF Simple Motion Board MELSOFT EM Configurator (setting tool)

MELSOFT MR Configurator2API library (C++ motion class library)PCI Express® device driver (including the driver for interrupt)

Standard: CE, UL, KC

S

SW1DND-EMSDK-B MELSOFT EM Software Development Kit (*1) S

Note 1: MELSOFT EM Software Development Kit is sold separately.

Safety over CC-Link IE Field Network

Notes:1. See iQ-R section for controller selection and specifications2. MR-D30 needed for each axis with MR-J4-GF-RJ

Safety CPU (*1) R_SFCPU-SET

CC-Link IE Field Network safety remote I/O

Light curtainEmergency stop switch

Servo motor with functional safety

Magnetic contactor for preventing unexpected start is no longer required.

Simple motion module RD77GF

MR-J4-GF-RJ MR-D30 (*2)

Molded-case circuit breaker (MCCB)

Magnetic contactor for preventing unexpected start (MC)

System Configuration

Mitsubishi Electric Automation | Motion Controllers 4Selection Guide Edition 19 • Revised April 1, 2019

Simple Motion Module RD77MS for iQ-R PLC Parts ListModel Number Description Stocked ItemsRD77MS16 16 Axis Simple Motion Module for iQ-R with SSCNETIII/H SRD77MS8 8 Axis Simple Motion Module for iQ-R with SSCNETIII/H SRD77MS4 4 Axis Simple Motion Module for iQ-R with SSCNETIII/H SRD77MS2 2 Axis Simple Motion Module for iQ-R with SSCNETIII/H S

Category Model Number Description Stocked ItemManual Pulse Generator MR-HDP01 Manual Pulse Generator, 25PLS/rev S

Connector for User Made Cables

A6CON1 FCN, 40 Pin, Solder Type SA6CON2 FCN, 40 Pin, Crimp Type SA6CON3 FCN, 40 Pin, IDC Type SA6CON4 FCN, 40 Pin, Solder Type, Low-Profile -

Direct-Wire CablesLCBL40P-2M 2.0m I/O Pigtail Cable, 40 Pin SLCBL40P-5M 5.0m I/O Pigtail Cable, 40 Pin SLCBL40P-10M 10m I/O Pigtail Cable, 40 Pin S

Terminal Block Cables

FA-SCBL05FMV-M 0.5m Terminal Block Cable SFA-SCBL10FMV-M 1.0m Terminal Block Cable SFA-SCBL15FMV-M 1.5m Terminal Block Cable -FA-SCBL20FMV-M 2.0m Terminal Block Cable S

Terminal Block FA-LTB40P Terminal Block, 40 Pin S

Cables and Accessories

RD77MS System Configuration

Simple Motion module

Input module

PLC CPU

GOT

External input signal cable Connecting either a manual pulse generator or an incremental synchronous encoder

MR-J4-B-RJ

Rotaryservo motor

Serial absolutesynchronous

encodeQ171ENC-W8

Rotaryservo motor

Directdrive motor

Linearservo motor

Directdrive motor

MR-J4-B MR-J4W2-B MR-J4W3-B

[External input signals of servo amplifier] (Note-1)

FLS, RLS, DOG

[External input signals] (Note-1) 20 pointsFLS, RLS, DOG, Stop signal, Forced stop input (24VDC)

[External input signals via CPU] (Note-1)

FLS, RLS, DOG, Stop signal

Engineering environment

Programmable Controller Engineering Software

MELSOFT GX Works3

USBEthernet

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Simple Motion Module RD77MS Control SpecificationsModel Number RD77MS16 RD77MS8 RD77MS4 RD77MS2Stocked Item S S S SNumber Of Control Axes (Virtual Servo Amplifier Axis Included) Up to 16 axes Up to 8 axes Up to 4 axes Up to 2 axes

Operation Cycle (Operation Cycle Settings) 0.444ms, 0.888ms, 1.777ms, 3.555msInterpolation Function Linear interpolation (Up to 4 axes), Circular interpolation (2 axes)

Control Modes PTP (Point To Point) control, Trajectory control (both linear and arc), Speed control, Speed-position switching control, Position-speed switching control, Speed-torque control

Acceleration/Deceleration Process Trapezoidal acceleration/deceleration, S-curve acceleration/decelerationCompensation Function Backlash compensation, Electronic gear, Near pass functionSynchronous Control Synchronous encoder input, Cam, Phase Compensation, Cam auto-generationControl Unit mm, inch, degree, pulseNumber Of Positioning Data 600 data (positioning data No. 1 to 600)/axis (Can be set with MELSOFT GX Works3 or a sequence program)Backup Parameters, positioning data, and block start data can be saved on flash ROM (battery-less backup)

Home Position Return

Home Position Return Method Proximity dog method, Count method 1, Count method 2, Data set method, Scale home position signal detection methodFast Home Position Return Control ProvidedSub Functions Home position return retry, Home position shift

PositioningControl

Linear Control 1-axis linear control, 2-axis linear interpolation control, 3-axis linear interpolation control, 4-axis linear interpolation control (*1) (Composite speed, Reference axis speed)

Fixed-Pitch Feed Control 1-axis fixed-pitch feed, 2-axis fixed-pitch feed, 3-axis fixed-pitch feed, 4-axis fixed-pitch feed2-Axis Circular Interpolation Sub point designation, center point designationSpeed Control 1-axis speed control, 2-axis speed control, 3-axis speed control, 4-axis speed controlSpeed-Position Switching Control INC mode, ABS modePosition-Speed Switching Control INC modeCurrent Value Change Positioning data, Start No. for a current value changingNOP Instruction ProvidedJump Instruction Unconditional JUMP, Conditional JUMPLoop, Lend ProvidedHigh-Level Positioning Control Block start, Condition start, Wait start, Simultaneous start, Repeated start

Manual Control

Jog Operation ProvidedInching Operation ProvidedManual Pulse Generator Possible to connect 1 module (Incremental), Unit magnification (1 to 10000 times)

Expansion Control Speed-Torque Control Speed control without positioning loops, Torque control, Tightening & press-fit control

Absolute Position System Made compatible by setting a battery to servo amplifierSynchronous Encoder Interface Up to 4 channels (Total of the internal interface, via PLC CPU interface, and servo amplifier interface)Encoder Internal Interface 1 channel (Incremental)

Functions That Limit Control

Speed Limit Function Speed limit value, JOG speed limit valueTorque Limit Function Torque limit value_same setting, torque limit value_individual settingForced Stop Valid/Invalid settingSoftware Stroke Limit Function Movable range check with current feed value, movable range check with machine feed valueHardware Stroke Limit Function Provided

Functions That ChangeControl Details

Speed Change Function ProvidedOverride Function 0 to 300 [%]Acceleration/Deceleration Time Change Function Provided

Torque Change Function ProvidedTarget Position Change Function Target position address and speed are changeable

Other Functions

M-Code Output Function WITH mode/AFTER modeStep Function Deceleration unit step, Data No. unit stepSkip Function Via PLC CPU, Via external command signalTeaching Function Provided

Parameter Initialization Function ProvidedExternal Input Signal Setting Function Via internal interface, CPU, servo amplifier (FLS, RLS, DOG, and DI can be assigned with parameters)Event History Function ProvidedAmplifier-Less Operation Function Provided

Mark Detection Function

Detection Continuous Detection mode, Specified Number of Detections mode, Ring Buffer modeMark Detection Signal Up to 20 points Up to 10 pointsMark Detection Setting 16 settings

Optional Data Monitor Function 4 points/axisDriver Communication Function ProvidedSSCNET Connect/Disconnect Function ProvidedDigital Oscilloscope Function (*2)

Bit Data 16CH

Word Data 16CH

Notes: 1. 4-axis linear interpolation control is enabled only at the reference axis speed.2. 8CH word data and 8CH bit data can be displayed in real time.

Mitsubishi Electric Automation | Motion Controllers 6Selection Guide Edition 19 • Revised April 1, 2019

Simple Motion Module RD77MS16/RD77MS8/RD77MS4/RD77MS2Model Number RD77MS16 RD77MS8 RD77MS4 RD77MS2Number Of Control Axes (Virtual Servo Amplifier Axis Included) Up to 16 axes Up to 8 axes Up to 4 axes Up to 2 axes

Servo Amplifier Connection Method SSCNET III/HMaximum Overall Cable Distance m (ft.) 1600 (5249.34)Maximum Distance Between Stations m (ft.) 100 (328.08)Peripheral I/F Via CPU module (USB, Ethernet)Manual Pulse Generator Operation Function Possible to connect 1 moduleSynchronous Encoder Operation Function Possible to connect 4 modules (Total of the internal interface, via PLC CPU interface, and servo amplifier interface)

Input Signals (SIN)

Number Of Input Points 20 points 10 pointsInput Method Positive common/Negative common shared (Photocoupler isolation)Rated Input Voltage/Current 24 VDC/ Approx. 5 mAOperating Voltage Range 19.2 to 26.4 VDC (24 VDC +10%/-20%, ripple ratio 5% or less)On Voltage/Current 17.5 VDC or more/ 3.5 mA or moreOff Voltage/Current 7 VDC or less/ 1.0 mA or lessInput Resistance Approx. 6.8 kΩResponse Time 1 ms or less (OFF – ON, ON – OFF)Recommended Wire Size AWG24 (0.2 mm²)

Forced Stop Input Signal (EMI)

Number Of Input Points 1 pointInput Method Positive common/Negative common shared (Photocoupler isolation)Rated Input Voltage/Current 24 VDC/ Approx. 5 mAOperating Voltage Range 19.2 to 26.4 VDC (24 VDC +10%/-20%, ripple ratio 5% or less)On Voltage/Current 17.5 VDC or more/ 3.5 mA or moreOff Voltage/Current 7 VDC or less/ 1.0 mA or lessInput Resistance Approx. 6.8 kΩResponse Time 1 ms or less (OFF – ON, ON – OFF)Recommended Wire Size AWG24 (0.2 mm²)

Manual Pulse Generator/ Incremental Synchronous Encoder Signal

Differential Output Type (26Ls31 Or Equivalent)

Input Pulse Frequency Up to 1 Mpulse/s (After magnification by 4, up to 4 Mpulse/s)Pulse Width 1μs or moreLeading Edge/Trailing Edge Time 0.25μs or less

Phase Difference 0.25μs or moreRated Input Voltage 5.5 VDC or lessHigh/Low-Voltage 2.0 to 5.25 VDC/0 to 0.8 VDCDifferential Voltage ±0.2VCable Length Up to 30m (98.43ft.)

Voltage Output/ Open Collector Type (5VDC)

Input Pulse Frequency Up to 200 kpulse/s (After magnification by 4, up to 800 kpulse/s)Pulse Width 5μs or moreLeading Edge/Trailing Edge Time 1.2μs or less

Phase Difference 1.2μs or moreRated Input Voltage 5.5 VDC or lessHigh/Low-Voltage 3.0 to 5.25 VDC/2 mA or less, 0 to 1.0 VDC/5 mA or moreCable Length Up to 10m (32.81ft.)

Number Of I/O Occupying Points 32 points (I/O allocation: Intelligent function module, 32 points)Number Of Module Occupied Slots 15VDC Internal Current Consumption (A) 1.0Weight (Kg) 0.23 0.22Exterior Dimensions mm (inch) (H x W x D) 106.0 x 27.8 x 110.0 (4.17 x 1.09 x 4.33)PLC CPU R04CPU, R08CPU, R16CPU, R32CPU, R120CPU