MELSEC iQ-R Series

iQ Platform-compatible PAC

Bridging the next generation of automation

 Revolutionary, next-generation
controllers building a new era in
automation

As the core for next-generation automation environment,

realizing an automation controller with added value while reducing TCO*
To succeed in highly competitive markets, it’s important to build automation systems that ensure high productivity
and consistent product quality. The MELSEC iQ-R Series has been developed from the ground up based on common
problems faced by customers and rationalizing them into seven key areas: Productivity, Engineering, Maintenance,
Quality, Connectivity, Security and Compatibility. Mitsubishi Electric is taking a three-point approach to solving these
problems: Reducing TCO*, increasing Reliability and Reuse of existing assets.

As a bridge to the next generation in automation,

the MELSEC iQ-R Series is a driving force behind
revolutionary progress in the future of manufacturing.
*TCO: Total cost of ownership

Productivity Maintenance
Improve productivity through Reduce maintenance costs
advanced performance/ and downtime utilizing easier
functionality maintenance features
• New high-speed system bus realizing shorter production • Visualize entire plant data in real-time
cycle • Extensive preventative maintenance functions embedded
• Super-high-accuracy motion control utilizing advanced into modules
multiple CPU features
• Inter-modular synchronization resulting in increased
processing accuracy

Engineering Quality
Reducing development costs Reliable and trusted MELSEC
through intuitive engineering product quality

• Intuitive engineering environment covering the product • Robust design ideal for harsh industrial environments
development cycle • Improve and maintain actual manufacturing quality
• Simple point-and-click programming architecture • Conforms to main international standards
• Understanding globalization by multiple language
support

01
 Mitsubishi Electric PAC MELSEC iQ-R
Promotion Movie

Connectivity Compatibility
Seamless network reduces Extensive compatibility with
system costs existing products

• Seamless connectivity within all levels of manufacturing • Utilize existing assets while taking advantage of
• High-speed and large data bandwidth ideal for cutting-edge technology
large-scale control systems • Compatible with most existing MELSEC-Q Series I/O
• Easy connection of third-party components utilizing
device library

Security
Robust security that
can be relied on

• Protect intellectual property

• Unauthorized access protection across distributed
control network

02
 Productivity
Improve productivity through
advanced performance/functionality
Integrating high-performance capabilities based on the high-end iQ-R system bus,
high-speed network, and an advanced motion control system;
applications requiring these characteristics can be easily realized using
the MELSEC iQ-R Series as the core of the automation system.

Multiple CPUs High-speed data

communication High-speed system bus
(approx. 40x faster)

Inter-module sync
High-speed modular
synchronization

High-speed network sync

High-speed synchronization
across nodes within
CC-Link IE Field and
SSCNET 3/H

New high-speed system bus Multi-CPU system realizes

realizes improved production cycle very accurate motion control
The newly developed high-speed system bus is By supporting synchronized data communications
40-times faster compared to existing models, realizing between the programmable controller CPU and motion
very fast and large-capacity data processing between CPU via the high-speed system bus, performance
modules (network, I/O, multi- is improved by up to four times
High-speed Synchronized data
CPU, etc.), enabling the optimum system bus compared to existing models, easily exchange
utilization of MELSEC iQ-R Series realizing super-high motion control with motion CPU
performance and functionality. 40x faster*1 accuracy. 4x faster*2
*1: Compared to MELSEC-Q Series.
*2: Compared to Q173DSCPU/Q172DSCPU.

03
 Mitsubishi Electric PAC MELSEC iQ-R
"Productivity" Movie

Inter-modular synchronization realizes increased processing accuracy

More flexible control over performance
Realizing high processing accuracy could not (both CC-Link IE Field and SSCNET 3/H) is now
be any simpler when utilizing the inter-modular possible, realizing deterministic performance by
synchronization feature, which enables precise data ensuring synchronization between nodes without being
synchronization between controller CPUs and various influenced by varying network transmission delays.
interface modules via the high-speed system bus
(backplane). In addition, network level synchronization

New controller performance architecture further reduces H/W costs

High-speed processing of structured Built-in database eliminates the need
programs for a PC-based database server
The processing performance of the controller CPU Recipe data and production results data, previously
has been substantially enhanced thanks to the newly managed using a database server, can now be
designed CPU engine. The memory consumption for managed via the database in the programmable
program and internal devices used in function block controller. Use of dedicated commands for the built-in
(FB) and structured text (ST) programs have been database makes it easy to search, add and update
improved. This results in one CPU being able to do data on the fly.
the job that used to require several CPUs in order to Furthermore, the import/export correlation with
achieve the expected performance level and memory spreadsheet software is made easier.
capacity.

Realize high-speed system performance

Approx. 8x faster than QCPU*3 Data management realized with

built-in database

• Recipe
• Production data

• Realizes high-speed control • Easy to switch between recipes

performance
• Realize product batch control
• Inherits MELSEC-Q Series functions
• Efficiently switch between systems
• Large-capacity memory ideal
for large-scale control

LD instruction PC MIX*4 Fixed-cycle ST instruction Program

speed (instructions/ interrupt (IF text, bit capacity
μs) program condition)
0.98 ns 419 50 μs 8 ns 1200K
steps
*3: Based on a typical application example, the system benchmark test measures the CPU scan time, taking into consideration the network refresh time and
monitoring processing time with external devices as compared to Universal model QCPU (QnUDEHCPU).
*4: Average number of instructions such as for basic instructions and data processing executed in 1μs (the larger the value, the faster the processing speed).

04
 Engineering
Reducing development costs
through intuitive engineering
The engineering software is sometimes considered a fundamental part of the control system in addition to
the hardware components. The core of the system, it includes various steps of the product life cycle, from the
design stage all the way to commissioning and maintenance of the control system. Today, intuitive, easy-to-use
software suites are expected as a standard for modern manufacturing needs. GX Works3 is the latest generation
of programming and maintenance software offered by Mitsubishi Electric specifically designed for the MELSEC
iQ-R Series control system. It includes many new features and technologies to ensure a trouble-free engineering
environment solution.

Intuitive engineering software covering the product development cycle

Graphic-based configuration Integrated motion-control Conforms to IEC 61131-3
realizing easier programming system configuration
Various intuitive features such as From setting simple motion module GX Works3 realizes structured
graphic-based system configuration parameters and positioning data programming such as ladder and
and an extensive module library setup to servo amplifier configuration, ST, making project standardization
(module label/FB) provided as everything is packaged into an easy- across multiple users even easier.
standard. to-use engineering environment.

Simple point and click

programming architecture Simple motion setting tool
Easily configure the simple motion module with this
System design Programming Debug/maintenance convenient integrated tool.
Straightforward graphic based system
configuration design Tab view multiple editors
• Simply drag and drop from the module list to easily Conveniently work on multiple
create system configuration editors without having to switch
• Directly setup parameters for each module between software screens.

• Automatically reflect changes in the layout to the

module parameters

System design Programming Debug/maintenance

MELSOFT library enables efficient
programming through “Module Label/FB”
Module configuration
• Assign convenient label names to internal devices, Easily parameterize each module
rather than manually entering a device name every directly from the configuration
time. editor.

• Simply drag & drop module FBs from the MELSOFT

Library directly into the ladder program, making
programming even easier.

System design Programming Debug/maintenance

Extensive version control features
Module list
• Flexibly register program change (historical) save
Simply drag & drop modules
points
directly into the module
• Easily visualize and confirm program changes configuration.

05
 Mitsubishi Electric PAC MELSEC iQ-R
"Engineering" Movie

One Software, Many Possibilities

Reduce engineering time by 60%*1

Global realization
by multi-language support
To adhere to today’s global production needs, GX Works3
supports multi-language features at various levels, from the
multiple language software menu system to device comment
language switching features.

Module label/FB
Automatically generate module
function blocks simply by selecting
one and placing it directly into the
ladder editor.

*1 Based on new project test benchmarks between GX Works2 and GX Works3.

06
 Maintenance
Reduce maintenance costs and downtime
utilizing easier maintenance features
A manufacturing plant is seldom stopped or taken offline and continuously
produces the desired product or component. However, the control
system occasionally requires maintenance; for example, at the time of
a faulty product or system upgrade for manufacturing a new or updated
component. At that time, thanks to the extensive maintenance functions
embedded in the hardware and software, the user can trust the control
system to handle transition into/out of the maintenance period for both
preventive and post maintenance.

Contro
l Room

ly
mb
se
ain
s
ea
rtr En
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we
Po
ng
ini
ch
Ma

Preventive Preventive
maintenance CPU module maintenance MES interface module

Visualize manufacturing data in real-time Direct access to enterprise level

• Monitor live manufacturing • Registers device values

process data across the directly into database
MES
plant • Visible shop floor data
• Very easy setup using the enables actions before
dedicated GX LogViewer event occurs Equipment/Machine
operating status, etc.
monitoring tool

Real-time monitor

Preventive Corrective
maintenance Output module maintenance CPU module
Prevent system downtime Memory dump enables confirmation of
with relay monitoring operation problems
• Monitors relay switching • Saves block of device data
amount when error occurs
• Check relay condition from • Root cause analysis by
GOT (HMI) confirming data on device
• Plan module maintenance monitor screen
prior to malfunction of
relay
Memory dump results

07
 Mitsubishi Electric PAC MELSEC iQ-R
"Maintenance" Movie

Contro
l Room

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Pr int ting Et
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or The MELSEC iQ-R Series is a unique control system equipped with

eri
Int
innumerable functions. It works to ensure that the “down-time” of the
system is kept to a minimum, which improves productivity and helps
to maintain the efficiency of the overall plant.

Corrective Corrective
maintenance CPU module maintenance GX Works3

Efficient diagnostics Multi-language software

with extensive event logging improves global support
• Logging of program • Comment/label names can
change events, errors and be registered in multiple
when the power is turned languages
off • Easy to switch between Japanese English
• Event logging displayed in languages
list form • No need for multiple
• Quickly detect problems programs to satisfy Switch between device comment
languages
due to operating mistakes regional requirements
Event log list
by multiple users

Corrective Corrective
maintenance GX Works3 maintenance GX Works3
Simple troubleshooting, even for novice
Quickly find network errors
users
• Visualize error location • Start diagnostics screen
from network system on GX Works3 just by
image connecting via USB
• Easy network error • Display detailed error
USB
corrective measures information and corrective
procedures

Automatically start diagnostics

CC-Link IE Control Network

08
 Quality
Reliable and trusted
MELSEC product quality
The MELSEC iQ-R Series is based on two fundamental aspects of quality.
“Quality of product”
“Quality for application”
These two characteristics are part of the main principle behind the MELSEC iQ-R Series. This new
control system includes various features designed-in to provide a solution that not only improves the
overall manufacturing productivity, but also maintains a high level of industrial quality that is ideal for
the harsh and rugged environments that it is subjected to on a daily basis.

1 2 3

Electromagnetic compatibility (EMC) testing room

(simulated test) Earth rail

Robust design ideal for harsh industrial 1. Conforms to stringent quality evaluations
environments and tests that are based on robust
industrial environments including EMC, LSI,
Synonymous with the Mitsubishi Classification according to temperature, vibration and HALT tests.
Electric name, the MELSEC IEC 60721-3-3 Class 3C2 2. High manufacturing quality control through
iQ-R Series is designed with For protection against aggressive
QR code based quality management
high quality and reliability, which system.
atmosphere and gases, products
is a prerequisite for industrial 3. The front face has a wide and open design
with a conformal coating with an easy-to-use front cover.
applications. In addition, the
(IEC 60721-3-3 Class 3C2) are 4. The base rack design includes a dedicated
overall aesthetics and usability
available on request*1 earth rail to prevent noise interference in
enable easier maintenance that *1: Please contact your local Mitsubishi Electric office or repre-
low power supply conditions and a robust
customers routinely expect. sentative for further details.
structure that enables easy installation
without extensive damage to bus
connectors.

09
 Mitsubishi Electric PAC MELSEC iQ-R
"Quality" Movie

Conforms to main international quality standards

The MELSEC iQ-R Series conforms to most of the main international standards that realizes applications requiring
multiple global locations.

5 6
Synchronized processing

Interrupt
program

Network
transmission
cycle (link scan)

Output module

Positioning
module

7
· Parts inventory
· Production data
· Operations log
· Inspection record
· Quality data

Improve and maintain actual 5. Graph showing the signal synchronization

manufacturing quality between several modules.
6. Data required for traceability is collected on
Maintains product quality during manufacturing the SD memory card.
7. Collected data is analyzed using a
With inter-module synchronization, it is now possible to precisely synchronize
dedicated viewer.
interrupt programs with the network communications cycle (link scan).
Any variations in data transmission response time (network transmission
delay time) between the controller and other devices on the network are eliminated, realizing high integrity between
manufacturing processes that are dependent on each other, ensuring high performance and processing.

Realizes traceability through data logging

Simple settings enable the collection of production data needed for traceability. Furthermore, collected data can be
analyzed easily using a dedicated viewer. Analyzing various data on production processes provides an indicator for
quality improvements and manufacturing cost reductions, thereby supporting optimization of the production system.

10
 Connectivity
Seamless network reduces system costs
The MELSEC iQ-R Series is part of a family of products all interconnected across various levels of
automation. Based on the seamless message protocol (SLMP*1), data flows transparently between
the sensor level and the management level across multiple industry-standard automation networks.
CC-Link IE, Asia’s No. 1 industrial network, realizes fast gigabit data transmission speeds, further
optimizing the manufacturing cycle. In addition, the SSCNET 3/H high-speed motion control
network further enhance the factory-wide connectivity solution. In parallel to this, production data is
visible from the shop floor directly into MES database servers via the MES interface.

MES (Manufacturing execution system)

Computer level
(production
management/
data system) MELSEC
GOT
(HMI) iQ-R Series
Production quality data, energy consumption, equipment operating data, etc. C Controller

MODE
RUN
ERR
USER
BAT

MELSEC- MELSEC
BOOT

PULL

PULL

USB

Q Series iQ-R Series

Control level Industrial-use switching hub

(control system)

Seamless data
coordination Ethernet Analog Analog Remote I/O
input module GOT MELSEC- Personal High-speed Inverter
adapter output
module (HMI) L Series computer counter module Servo
module
interface board amplifier

Ethernet

Field level
(device system)
CC-Link− Remote
Vision sensor GOT Wireless LAN Personal computer Personal MELSEC-F
CC-Link/LT I/O module
(HMI) adapter computer Series
Bridge module
(access point)

AnyWire DB A20
ALT27XB-02G-P

ADDRESS
No.

Poka-yoke
Remote I/O module
terminal

Seamless connectivity within all High-speed and large bandwidth

levels of manufacturing ideal for large-scale control
Utilizing SLMP*1, it is possible to access production systems
management systems, programmable controllers and The Ethernet-based open network CC-Link IE is an
other devices seamlessly using the same method industry-leading 1 Gbps high-speed, large-capacity
without having to worry about network hierarchies or network. The division of 1 Gbps broadband into uses for
boundaries. Monitoring machines and collecting data distributed control and field data communications secures
can be performed easily from virtually anywhere on the the reliability of control communications and realizes real-
network. time data collection, which can be difficult with standard
*1: Seamless Message Protocol (SLMP): A simple client–server common protocol that enables
communication between Ethernet products and CC-Link IE-compatible machines. Ethernet.
11
 Mitsubishi Electric PAC MELSEC iQ-R
"Connectivity" Movie

Optimal network proposals for each level

AnyWire
CC-Link IE Control is a high-reliability distributed control network designed to handle very large data AnyWire is a sensor level distributed control network
communications (128K word) over a high-speed (1 Gbps) dual-loop optical cable topology. that is designed to reduce installation costs by utilizing
general-purpose wiring and robot cables.

CC-Link IE Field is a versatile gigabit Ethernet-based network integrating controller, I/O control, safety control, and SSCNET 3/H is a dedicated high-speed, high-
motion control in a flexible wiring topology supporting star, ring, and line configurations. performance, highly reliable servo system control
network that offers flexible long-distance wiring
capabilities based on optical-fiber cable topology.

CC-Link is a high-speed and highly reliable deterministic I/O control network that realizes reduced wiring while
offering multi-vendor compatible products. This open field network is a global standard, originating from Japan and
Asia. In addition, CC-Link Safety, is a dedicated fail-safe network that is used as a safety risk management solution.
CC-Link/LT is a sensor-level network that is ideal for compact and complicated wiring installations.

Programmable controller engineering software

GX Works3

LAN(Ethernet)

Personal computer
interface board

(twisted-pair cable)

Industrial-use
switching hub
MELSEC MELSEC
iQ-R Series iQ-R Series
MELSEC iQ-R Series
motion CPU
MELSEC Ethernet module
module or
iQ-R Series (built-in CC-Link IE)
simple motion
Process CPU module
MELSEC
iQ-R Series

Industrial-use
switching hub

Remote I/O Remote I/O MELSEC

MELSEC Remote I/O module module
Servo Servo iQ-F Series
iQ-F Series
PULL

( )
simple motion
PULL

CC-Link IE amplifier amplifier

USB

module
Field CC-Link IE Bridge MELSEC-QS Series
connectivity Field− module safety programmable controller
Future support AnyWire
ASLINK
Bridge module

Remote I/O Safety Remote I/O Safety remote

CC-Link−AnyWire module remote module I/O module
DB A20 Bridge module I/O module

Servo Servo Servo Servo Servo

Mapping Photoelectric sensor Proximity Photo Robot Warning light Emergency amplifier amplifier amplifier amplifier amplifier
terminal (diffuse reflection type) sensor interrupter stop switch

Simple connection to external CC-Link IE Control (twisted-pair cable)

devices using MELSOFT library Utilizing a system architecture that has no constraints and
enables one to choose freely such as star/line/ring topologies,
Utilizing the GX Works3 Predefined Protocol support adding and removing equipment is easier. Moreover, compatibility
function, simply select the protocol to be used and with standard twisted-pair cabling means that wiring costs can be
reduced.
the data to transmit/receive to communicate easily
with external devices such as vision sensors and Connect to two different types of networks with
temperature controllers. Engineering time can be the same module
substantially reduced as it is no longer necessary to Ethernet and CC-Link IE network communications can be realized
create separate communications programs. with the same network module. Since multiple network types can
use one module, equipment costs can be further reduced.

12
 Security
Robust security that can be relied on
As technology becomes more complex and the distribution of manufacturing systems more
global, the protection of intellectual property is even more significant. When shipping a
finished product overseas, the last thing an OEM needs to consider is unauthorized copying
or changing of the original project data. In addition to this, unauthorized access to the control
system can have very serious implications to the control system and the end user, which can
compromise the overall safety of the plant.

The MELSEC iQ-R Series has a number of embedded features that

help to maintain these requirements, such as hardware and software
Mitsubishi Electric PAC MELSEC iQ-R
keys to protect intellectual property, and multi-level user access "Security" Movie
password hierarchy to protect the project at the design stage.

Powerful security features protecting intellectual property

Security key authentication protecting project data
The security key authentication prevents programs from
being opened on personal computers where the security
key has not been registered. Furthermore, because
programs cannot be executed by CPU modules where
the security key has not been registered, the integrity of
customer technologies and other intellectual property is not
compromised. The security key can also be registered on
an extended SRAM cassette. Therefore, when replacing the
CPU module, there is no need to re-register the security key,
making replacement very simple.

Extended SRAM cassette

with registered
security key

Prevent unauthorized access across the network

The IP filter can be used to register the IP addresses
of devices permitted to access the CPU module. As
a result, access from non-registered devices can be
blocked, thereby lowering the risk of program hacking
Ethernet and unauthorized access by a third party.
Another feature is a remote password function for
password-based security. Passwords of up to 32
characters can be set to prevent unauthorized access
to the CPU module via networks such as Ethernet.

Device with registered IP address Device without registered IP address

(access permitted) (access denied)

13
 Compatibility
Extensive compatibility
with existing products
Whenever introducing a new system or technology into an existing manufacturing
plant or control system, utilization of existing assets as much as feasibly possible is a
mandatory requirement with today’s manufacturing needs. The MELSEC iQ-R Series
addresses these subtle but substantial needs with various system hardware support
and engineering project compatibility to achieve an easy path to higher
technology and improved performance capabilities.

Mitsubishi Electric PAC MELSEC iQ-R

"Compatibility" Movie

Utilize existing MELSEC-Q Series assets

Current programs can be fully utilized
A simply conversion process*1 is all it takes to enable
the use of MELSEC-Q Series programs with the
MELSEC iQ-R Series. Customers can effectively use
the program assets they have accumulated, thereby
reducing the overall engineering time.
*1: For detailed information about converting to GX Works3 programs,
please refer to the "GX Works3 Operating Manual".

Variety of compatible modules

By utilizing the dedicated extension base, most
MELSEC-Q Series modules*2 can be re-used. This
makes it possible to introduce the high-performance
MELSEC iQ-R Series while controlling the cost of
supplementary equipment.
*2: For further details, please refer to the "MELSEC iQ-R Module Configuration Manual".

Possible to divert external device wiring

The MELSEC iQ-R Series I/O module, analog module,
and counter module pin layouts and connectors are the
same as those of the MELSEC-Q Series. Accordingly,
existing external device wiring (connectors, terminal
blocks) can be diverted without changes and wiring
costs can be reduced.

14
 iQ Platform for maximum return on investment
Minimize TCO, Seamless integration, Maximize productivity, Transparent communications: these are common items
that highlight the benefits of the iQ Platform. Enhanced further with the arrival of the new iQ-R Series Programmable
Automation Controller (PAC), reducing costs and improving productivity can be realized even easier.

The iQ Platform minimizes TCO at all phases of the automation life cycle by improving development times, enhancing
productivity, reducing maintenance costs, and making information more easily accessible. Seamless integration is the
core part of the iQ Platform, having a highly intelligent controller platform that caters to different aspects of control all
on the same base rack, and maximizing productivity by taking advantage of the high-speed iQ-R system bus, which
further reduces operation cycle times. Transparent communications are achieved by supporting the industry-leading
gigabit Ethernet-based open network, CC-Link IE. Seamless data flow is realized no matter what point on the
network, ensuring the free flow of production data across the manufacturing site.

Taking these aspects and applying the new iQ-R Series controller into the mix, the iQ Platform raises processing
capabilities to the next level for future intelligent manufacturing plants.

ERP (Enterprise resource planning)

ERP
Transparent
connectivity
MES (Manufacturing execution system)
ME
S
Au
to
Co mati
ntr on
olle
r
Int
e
Ne grate
tw d
ork
In
En tegr
gin ate
ee d
rin
g

15
 PAC & HMI
 The new high-speed MELSEC iQ-R Series system bus is
40-times faster realizing improved system performance
 Program standardization through function blocks and
module labels
 Powerful and robust security features

Network
 CC-Link IE, 1Gbps high-speed and large bandwidth
communications network (40-times faster link refresh)
 Seamless connectivity within all levels of manufacturing
with SLMP

Engineering
 Automatic generation of network configuration diagram
 Share parameters across multiple engineering software
via MELSOFT Navigator
 Changes to system labels shared between PAC and HMI

Mitsubishi Electric
FA Integrated Controller

16
 Lineup

Power supply P.19 CPU P.21 I/O P.35

R61P.................................... AC input Programmable controller CPU AC input
NEW R04CPU ..........................40K steps RX10 ..................................16-point
R62P.................................... AC input R08CPU ..........................80K steps DC input
(inc. 24 V DC output) R16CPU ........................160K steps RX40C7 .............................16-point
R64P.......... AC input (large capacity) R32CPU ........................320K steps RX41C4 .............................32-point
R120CPU ....................1200K steps RX42C4 .............................64-point
R63P....................................DC input

Base P.19 Motion CPU Relay output

Main base R16MTCPU......................... 16-axis RY10R2 .............................16-point
R35B ...................................... 5-slot R32MTCPU......................... 32-axis Transistor (sink) output
R38B ...................................... 8-slot RY40NT5P .........................16-point
R312B .................................. 12-slot Process CPU NEW
RY41NT2P .........................32-point

Extension base R08PCPU .......................80K steps RY42NT2P .........................64-point

R65B ...................................... 5-slot R16PCPU .....................160K steps Transistor (source) output

R68B ...................................... 8-slot R32PCPU .....................320K steps RY40PT5P .........................16-point

R612B .................................. 12-slot R120PCPU .................1200K steps RY41PT1P .........................32-point

RY42PT1P .........................64-point
RQ extension base (MELSEC-Q Series) C Controller
RQ65B ................................... 5-slot R12CCPU-V.........Memory capacity I/O combined module
RQ68B ................................... 8-slot 256 MB DC Input, transistor (sink) output
RQ612B ............................... 12-slot RH42C4NT2P ......32-point/32-point
Extension cable
RC06B ...................................0.6 m
RC12B ...................................1.2 m
RC30B ......................................3 m
RC50B ......................................5 m

17
 Analog P.38 Motion, Positioning, Network P.49
Analog input High-speed counter P.43 Ethernet
R60AD4 .......................... 4-channel Simple motion RJ71EN71....... 1 G/100 M/10 Mbps
(voltage or current) RD77MS2 ............................. 2-axis Multiple network type
R60ADV8 ......... 8-channel (voltage) RD77MS4 ............................. 4-axis (Ethernet/CC-Link IE)
R60ADI8 .......... 8-channel (current) RD77MS8 ............................. 8-axis

NEW
RD77MS16 ......................... 16-axis CC-Link IE Control network
Analog input (channel isolated)
RJ71GP21-SX ........Control/Normal
R60AD8-G ...................... 8-channel
Positioning station optical cable
(voltage or current)
Transistor output
R60AD16-G .................. 16-channel
RD75P2 ................................ 2-axis CC-Link IE Field network
(voltage or current)
RD75P4 ................................ 4-axis RJ71GF11-T2 ............ Master/Local
Temperature input Differential driver output station
R60TD8-G........................ 8-channel RD75D2 ................................ 2-axis
(thermocouple) RD75D4 ................................ 4-axis CC-Link
R60RD8-G ........... 8-channel (RTD) RJ61BT11 .......Master/Local station
High-speed counter CC-Link Ver.2
Analog output
DC input/Transistor (sink) output
R60DA4 .......................... 4-channel
RD62P2 .......................... 2-channel Serial communication
(voltage or current)
DC input/Transistor (source) output RJ71C24 ....... RS-232, RS-422/485
R60DAV8 ......... 8-channel (voltage)
RD62P2E ........................ 2-channel RJ71C24-R2 .............. RS-232 x2ch
R60DAI8 .......... 8-channel (current)
Differential input/Transistor (sink) RJ71C24-R4 ....... RS-422/485 x2ch
NEW
Analog output (channel isolated) output
R60DA8-G ...................... 8-channel RD62D2 .......................... 2-channel
(voltage or current)
R60DA16-G .................. 16-channel
(voltage or current)

18
 System configuration

Flexible, interchangeable system architecture

The MELSEC iQ-R Series is a modular control system equipped with various modules such as CPUs, power
supply, digital I/O, analog I/O and base unit and intelligent function modules, each having its own responsibility
in the system. The core of the system is a base unit that interconnects all of the modules together and enables
high-speed communications between each module. From small to large systems, scalability is simple. Up to seven
extension bases can be connected and a maximum of 64 modules installed at any one time. An RQ extension
base is also available, ensuring compatibility with existing MELSEC-Q Series modules.

Multiple CPU modules Base units

Install up to four CPU modules together • Main base unit
• Programmable controller CPU module
• Motion CPU module
• Process CPU module
• C Controller module

• Extension base unit

Max. 4 An extension base strictly for I/O and intelligent function modules.
CPU modules

• RQ extension base unit

An extension base for MELSEC-Q Series modules (further
extensions requiring the MELSEC-Q Series extension base
version).

Power supply module

• Power supply module

7
Max. n bases
sio
exten
I/O & Intelligent function modules
• Input module • Ethernet interface module
• Output module • CC-Link IE Control
• I/O combined module Network module
• Analog input module • CC-Link IE Field Network
• Temperature input module master/local module
• Analog output module • CC-Link system
• Simple motion module master/local module
• Positioning module • Serial communication
• High-speed counter module module

19
Highly accurate synchronization
The MELSEC iQ-R Series system provides highly accurate synchronization between modules on the control
system, which is realized through inter-modular synchronization. Additionally, use of the CC-Link IE Field Network
realizes network-level synchronization, providing node-level synchronization that ensures deterministic data flow
void of any influence from data transmission delays. This is ideal for applications such as "cutting and folding"
inside an offset printer, which requires synchronization between the printing quality sensor, high-speed rotary
cutter, folding roller and conveyor.

Drying/cooling
Paper feed Printing

Cutter

Printing quality Folder

configuration
sensor
Feeder

System
Cutting/folding

Crank folder

Positioning module

CPU
High-speed counter module
High-speed counter module
Input module
CC-Link IE Field Network
module

Reject mechanism

I/O
Output module
CC-Link IE Field Network module

Analog
Power supply module
Item R61P R62P R64P R63P
High-speed counter
Motion, Positioning,

100...240 V AC 100...240 V AC 100...240 V AC 24 V DC

Input power supply voltage
(85...264 V AC) (85...264 V AC) (85...264 V AC) (15.6...31.2 A DC)
Input frequency 50/60 Hz ±5% 50/60 Hz ±5% 50/60 Hz ±5% -
Max. input apparent power (VA) 130 120 160 -
Max. input power (W) - - - 50
Rated output current (5 V DC) 6.5 A 3.5 9 6.5 A
Rated output current (24 V DC) - 0.6 - -

Main base unit

Item R35B R38B R312B
Network

Number of I/O modules installed 5 8 12

DIN rail mounting adapter type R6DIN1 R6DIN1 R6DIN1
External dimensions (H x W x D, mm) 101 x 245 x 32.5 101 x 328 x 32.5 101 x 439 x 32.5

Extension base unit/RQ extension base unit

Extension base unit RQ extension base unit
Item
R65B R68B R612B RQ65B RQ68B RQ612B
Software

Number of I/O modules installed 5 8 12 5 8 12

Applicable module MELSEC iQ-R Series module MELSEC-Q Series module
DIN rail mounting adapter type R6DIN1 R6DIN1 R6DIN1 Q6DIN2 Q6DIN1 Q6DIN1
External dimensions (H x W x D, mm) 101 x 245 x 32.5 101 x 328 x 32.5 101 x 439 x 32.5 98 x 245 x 44.1 98 x 328 x 44.1 98 x 439 x 44.1

Extension cable
Item RC06B RC12B RC30B RC50B
Cable length*1 (m) 0.6 1.2 3.0 5.0
*1: Overall cable distance 20 m. 13.2 m with the RQ extension base.

20
 CPU

The MELSEC iQ-R Series includes a wide range of programmable automation controllers capable of catering
to diversified automation control needs. Concentrating on two fields, the lineup consists of a high-performance,
general-purpose controller capable of variable memory capacities and a high-precision motion controller with
variable controllable axes. The architecture has been redesigned around the new MELSEC iQ-R high-speed
system bus to ensure high performance and intelligent processing power. In addition, application-specific CPUs
have been added; the Process Control CPU (supporting up to 500 PID loops and hot-swap of I/O modules) and
the C Controller CPU, which provides C language programming ideal for converting from personal computer or
micro-controller based systems.

Focus points
Program capacity of up to 1200K steps
ff
Choose between 16- and 32-axis motion controller
ff
Internal DB for simple batch recipe control
ff
Improved multi-CPU controller architecture
ff
Security embedded in hardware SRAM cassette
ff
Various motion control possible (position, speed, torque, advanced sync, etc.)
ff
High-speed medium to large-scale process controller CPUs
ff
Improved PID loop capacity and hot-swap I/O capability
ff
C/C++ programming ideal for PC/micro-controller based systems
ff

Improved performance
Controller performance has been improved, resulting in increased RnCPU

processing power and the ability to handle larger amounts of data.

RnPCPU
The multi-CPU architecture has been further improved, enabling x6
faster data exchange across the backplane. The core instruction QnUDVCPU
x8
processing speed has also been improved tenfold, helping to
QnUDEHCPU x2
reduce the production cycle time. High-speed and large process
x7
control systems can be realized, supporting up to 500 PID loops. QnPH/
QnUDPVCPU

x5
Finely balanced control
1
k*
en tem

ar

Balancing of various different control needs can be balanced

m
ys

s
ch

µ
S

s/
n
io
b

effectively by utilizing the multi-CPU feature of the MELSEC iQ-R

*2

ct
IX

ru
M

st
C

in

Series. Up to 96 servo axes can be controlled by incorporating

P

9
41

o of
lo r
e

s
ID b

three separate motion CPUs on the base unit, with a spare CPU
P m
u
N

slot required for controlling the general aspects of the system.

*1: Based on a typical application example, the system benchmark test measures the CPU scan time taking into consideration the
network refresh time and processing time using external devices, and as compared to universal model QCPU (QnUDEHCPU).
*2: Average number of instructions, such as for basic instructions and data processing, executed in 1 μs (the larger the value, the faster the processing speed).
21
 Programmable Controller CPU Modules
R04CPU
Program capacity 40K steps

R08CPU
Program capacity 80K steps

R16CPU
Program capacity 160K steps

R32CPU
Program capacity 320K steps

R120CPU
Program capacity 1200K steps

SD memory card slot

configuration
SRAM cassette connector

System
CPU
USB port
High-speed USB2.0 (miniB)

I/O
Extended SRAM cassette

Ethernet port Analog

100BASE-TX/10BASE-T
High-speed counter
Motion, Positioning,

At the core of the MELSEC iQ-R Series is a programmable controller CPU. This CPU is the heart of the control
system and includes various features for different applications. The most common CPU is the programmable
controller CPU, into which various features are embedded, enabling it to perform a wide range of control tasks.
The different CPUs are highly scalable with five types available, based on program capacity needs (40K to 1200K
steps).
Network

Built-in hardware features

Programmable controller CPUs are equipped with a built-in USB port (high-speed Ver. 2.0 Mini-B) and an Ethernet
port (up to 100 Mbps) as standard, enabling connection to a general LAN network*1 or MELSOFT software.
Two memory options are included as well, an external SRAM cassette that enables device/label memory to be
Software

increased and doubling up as a hardware security key, and an SD memory card which can be used for logging
data, troubleshooting device values or as a memory database for recipe storage.
*1: General LAN connection supported by the Ethernet port only.

22
 CPU

Flexible, large-capacity data storage

The MELSEC iQ-R Series programmable controller CPU is designed to allow an external SRAM cassette to
be installed directly into the CPU module. This option makes it possible to increase internal device memory to
an impressive 5786K words, expanding device/label memory even further. An SD memory card can be used
at the same time, expanding data logging memory and the capacity of the internal database, which is ideal for
large-scale systems. In general, management of programmable controller internal data is quite flexible, making
programming even easier by allowing various data area allocations to be changed within the CPU memory and
SRAM cassette.

Continuous access

Device area

Internal memory
(max. 1690K word*1)
Flexible memory SD memory card
Label area
allocation (Max. 32 GB)
• Boot data
• Comment data
• Logging data
File register area • Database

Extended SRAM cassette

(max. 4096K word*2)

*1: Based on R120CPU.

*2: Based on NZ2MC-8MBS (8 MB).

Data management utilizing internal database (DB)

The CPU includes an internal database that can be installed into the SD memory card. This feature allows, for
example, a selection of database commands that can add/delete/change records to be utilized for simple recipe
functions. It is also much easier to import/export Unicode files for use in spreadsheets. This is a very useful
feature, especially for the food and beverage industry where multiple product variations are produced using the
same machine process.

Database (recipe table)

Mix A Mix B Mix C ID Mix A Mix B Mix C
ID Name
(%) (%) (%) Unicode text Recipe data 0001H 20% 60% 20%
0001H Red 20 60 20 file import retrieved from DB

DBIMPORT DBSELECT
0002H Blue 50 30 20
0002H 50% 30% 20%

Database (reporting tool)

Serial no. ID Date/time Amount

DD/MM/20YY DBEXPORT DBINSERT

00001234H 0001H 81
15 : 40 : 30

Export from DB Actual

DD/MM/20YY production data
00001235H 0002H 79
15 : 41 : 15
added to DB

23
High-speed, event driven programs
Further improvements to CPU performance have resulted in the interval time between event driven programs
(interrupt programs) reduced to 50 us. This has been realized by having multiple event driven programs able
to be nested within other event driven programs and being triggered from already executing programs. This
kind of performance is available with a standard input module and programmable controller CPU, without
requiring a dedicated interrupt type input module, which helps to further reduce hardware costs while realizing a
high-precision control system.
Execute Execute Execute Execute
Constant cycle Constant cycle Constant cycle

I49
High

Interrupt
program

I48
Interrupt
Priority program

configuration
I31

System
Interrupt
program
Low

Scan
execution END
program

CPU
I/P module + ABS encoder
accurately detect variable
high-speed I/P signals.

I/P (detect) O/P (process)

I/O
CPU program management data

Analog
Operation and system historical events are automatically recorded in the CPU module, allowing quick root cause
analysis of system errors or management of program changes. Actual changes to the program, parameters
and system errors are viewable using GX Works3 or can be exported as a CSV file for use by other third-party
High-speed counter
Motion, Positioning,

software.
Network
Software

View operations and system events with corresponding Corresponding explanatory text
event/error codes, data can be sorted according to
various attributes.

24
 CPU

Intuitive root cause analysis

When the SD memory card is installed, device data is saved automatically to the SD memory at the time of
system failure. This data is useful for investigating the cause of the failure, enabling various data collected before
and during the event to be analyzed. The data can be used in a situation such as when the origin of a machine
is different than where the machine was actually being used, and the data can simply be sent by e-mail (for
example) as a data file for analysis.

 Overseas production site  Domestic development dept.

Easy setup just by setting trigger conditions Visual representation of data when error occurs
Data sent
via email
Data logged automatically Quicker root cause
when an error occurs analysis

SD memory card

Easily collect manufacturing data

Utilizing the installed SD memory card or a direct live connection to the CPU module, logging data can be easy
realized just by simply registering the parameters. Logged data can be utilized in a number of ways, such as using
third-party spreadsheet software or as a real-time feed of data for analyzing various manufacturing processes.
The real-time feature enables live feeds showing data has they happen in addition to historical trending. Logged
historical trend files support the Unicode text file format, which is especially useful for Asian based applications as
most languages in the region require Unicode compatibility for information to be legible.

Real-time monitoring Logging

Logging files

Monitoring data

Direct connection to the Displays logging file data saved

programmable controller in the SD memory card
via Ethernet or USB

25
Programmable controller CPU module specifications
Item R04CPU R08CPU R16CPU R32CPU R120CPU
Control method Stored program cyclic operation
I/O control mode Refresh mode (Direct access I/O is available by specifying direct access I/O (DX, DY). )
Programming language Ladder diagram (LD), structured text (ST)
Extended programming language Function block (FB), label programming (system/local/global)
Program execution type Initial, scan, fixed scan, interrupt, standby type
Number of I/O points [X/Y] (point) 4096 4096 4096 4096 4096
Constant scan (ms) 0.2...2000
(Function for keeping regular scan time) (Setting available in 0.1 ms increments)
Memory size
Program size (step) 40K 80K 160K 320K 1200K
Program memory (byte) 160K 320K 640K 1280K 4800K
Device/label memory*1 (byte) 400K 1188K 1720K 2316K 3380K
Data memory (byte) 2M 5M 10M 20M 40M
Instruction processing time
LD instruction (ns) 0.98 0.98 0.98 0.98 0.98
MOV instruction (ns) 1.96 1.96 1.96 1.96 1.96
E + instruction (floating-point addition) (ns) 9.8 9.8 9.8 9.8 9.8
Structured text IF instruction*2 (ns) 1.96 1.96 1.96 1.96 1.96
Structured text FOR instruction*2 (ns) 1.96 1.96 1.96 1.96 1.96
PC MIX value*3 (instructions/μs) 419 419 419 419 419
Interface connection port
USB 2.0 High Speed (miniB) ● ● ● ● ●
Ethernet (100 BASE-TX/10 BASE-T)

configuration
● ● ● ● ●

System
Memory interface
SD memory card ● ● ● ● ●
Extended SRAM cassette ● ● ● ● ●
Function
Multiple interrupt ● ● ● ● ●
Standard PID control ● ● ● ● ●
Internal database ● ● ● ● ●
Memory dump ● ● ● ● ●
Data logging ● ● ● ● ●

CPU
Real-time monitor ● ● ● ● ●
Security ● ● ● ● ●
Inter-modular synchronization ● ● ● ● ●
SLMP communication ● ● ● ● ●
*1: An extended SRAM cassette expands the device/label memory area.
*2: The IF or FOR sentence of the structured text consists of several instructions, which may increase the processing time period.
*3: Average number of instructions such as for basic instructions and data processing executed in 1 µs. The larger the value, the faster the processing speed.

SD memory card specifications

I/O
Item NZ1MEM-2GBSD NZ1MEM-4GBSD NZ1MEM-8GBSD NZ1MEM-16GBSD
Type SD memory card SDHC memory card SDHC memory card SDHC memory card
Capacity (byte) 2G 4G 8G 16G

Extended SRAM cassette specifications

Item NZ2MC-1MBS NZ2MC-2MBS NZ2MC-4MBS NZ2MC-8MBS

Analog
Capacity (byte) 1M 2M 4M 8M

High-speed counter
Motion, Positioning,
Network
Software

26
 CPU

Motion CPU Modules

R16MTCPU
Up to 16-axis control

R32MTCPU
Up to 32-axis control

Mode select
rotary switch

Dot-matrix LED

RUN/STOP switch

SSCNET 3/H
connector

SD memory card slot

Peripheral I/F
connector

The motion CPU module is a dedicated high-precision control CPU module, designed solely for applications that
require advanced motion control such as positioning control, synchronous control, and speed-torque control at
a very high accuracy. The motion CPU is incorporated into the multiple CPU architecture of the MELSEC iQ-R
Series complimenting the programmable controller CPU.

High-speed data communication between CPUs

High-speed communication is realized between the two CPUs via a large bandwidth data buffer memory
exchange. There are two types of buffer memory for data exchange: one that provides cyclic exchange at a
cycle time as fast as 0.222 ms; and one for direct data exchange of event-driven buffer memory, which is useful
for large data bandwidth requirements. High-speed communications are very useful when there is a need to
instantaneously transfer a large amount of information such as cam data, thereby simplifying programming even
further.

Programmable controller CPU module Motion CPU module

Sequence programs Motion SFC program

CPU buffer memory
START
512K word
F10
Direct (event driven)
K100
CPU buffer memory
G10
2M word
END

Advanced synchronous control/cam control

CPU buffer memory CPU buffer memory
(deterministic cycle) (deterministic cycle)
24K word 24K word

Data communications 4x faster*1

*1: As compared to current Mitsubishi Electric products.

27
Various different applications easily realized
Tension control can be maintained The combination of a machine Synchronization between different
constantly enabling the unwinding vision system and high-speed print heads has been achieved by
of various rolled sheets, for motion control enables highly speed and advanced synchronous
example, with line synchronization accurate positional alignment. control.
realized via speed and advanced
synchronous control.

Converting equipment Positional alignment Offset printing

Multiple machine processes by SFC programming

The motion CPU module is programmed using the SFC (Sequential Function Chart) type language which enables

configuration
programming in clearly identifiable steps. This is extremely useful where multiple machine processes have to be

System
performed simultaneously.
■ Motion SFC Program
Reduced Comment display Enlarged display
Seal processing
display
[F 30]
P10
//1 axis real processing data calculation
F30 IF #100==#102
F10 Data calculation #100 = #102 + 20

CPU
ELSE
F20 G200 #100 = #102+10
Work ready I END
G100 #0L = LONG((SIN(#100)+#110F)*300)
K100 //Processing status set
F30 Operation start SET M100 = X12 + M120

G200 G300 [G 200]

Start accept OFF confirmation PX0 //Work ready completion sensor ON?
K100
[K 100 : Real]
G300 F Operation control step: Arithmetic operations and I/O control, etc., 1 ABS-2 (Vector speed)
Axis 1
are carried out.

I/O
Address # 100 µm
F150 G Transition (condition wait): The transition conditions are judged. Axis 2
K Motion control step: Servomotor positioning control Address # 200 µm
P10 Vector speed # 300 mm/min
and speed control are carried out.

Motion CPU module specifications

Item R16MTCPU R32MTCPU
Number of control axes 16 axes 32 axes (16 axes x 2 lines)

Analog
Operation cycle (ms) 0.222, 0.444, 0.888, 1.777, 3.555, 7.111 0.222, 0.444, 0.888, 1.777, 3.555, 7.111
Programming language Motion SFC, dedicated instruction Motion SFC, dedicated instruction
Servo program capacity (step) 32K 32K
Number of positioning points (point) 6400 (positioning data can be designated indirectly) 6400 (positioning data can be designated indirectly)
Servo amplifier network SSCNET 3/H (1 line) SSCNET 3/H (2 lines)
Max. distance between stations (m) 100 100
High-speed counter
Motion, Positioning,

Interpolation
Linear interpolation (axis) 2, 3, 4 2, 3, 4
Circular interpolation (axis) 2 2
Helical interpolation (axis) 3 3
Control mode
PTP (Point To Point) control ● ●
Speed-position switching control ● ●
Continuous path control ● ●
Position follow-up control ● ●
Advanced synchronous control ● ●
Network

Speed-torque control ● ●
Acceleration/deceleration control
Trapezoidal acceleration/deceleration ● ●
S-curve acceleration/deceleration ● ●
Advanced S-curve acceleration/
● ●
deceleration
Interface
PERIPHERAL I/F ● ●
Software

SD memory card ● ●
Function
Absolute positioning system*1 ● ●
Mark detection function ● ●
Security function ● ●
Digital oscilloscope function ● ●
Driver communication function ● ●
*1: A battery needs to be installed in the servo amplifier for home position backup.

28
 CPU

Process CPU Modules

R08PCPU NEW
Program capacity 80K steps

R16PCPU NEW
Program capacity 160K steps

R32PCPU NEW
Program capacity 320K steps

R120PCPU NEW
Program capacity 1200K steps

SD memory card slot

SRAM cassette connector

USB port
USB2.0 High Speed (miniB)

Ethernet port
100BASE-TX/10BASE-T

The Process CPU module is part of the application-specific range in the MELSEC iQ-R Series and has four CPUs
available with memory sizes from 80K to 1200K steps. Designed specifically for medium- to large-scale process
control systems requiring high-speed performance coupled with the handling of large PID loops. General control is
possible with these modules, however, this range of CPUs also enables the hot-swapping of I/O modules, which
adds further reliability to the control system.

DCS style features in a cost-efficient automation control system

The specialized CPU inherits its high performance from the MELSEC iQ-R Series when used together with the
centralized programming suite GX Works3 and iQ Works. The process control system incorporates a dedicated
instruction set (such as two-degree-of-freedom PID, sample PI, and auto-tuning) realizing algorithmic PID and
highly reliable features such as being able to interchange (hot-swap) I/O modules while the system is still online.
The maximum amount of PID loops has been increased to an impressive 500 loops, closely bringing it in line with
DCS capabilities without the financial burdens.

29
High-capacity, high-speed loop control realizing the cost lower than DCS
When large-scale process control is required, the MELSEC iQ-R Series Process CPU offers a high-performance
CPU module that has a programming memory of 1200K steps and is capable of handling up to 500 PID loops,
nearly five-fold that of the MELSEC-Q Series. Based on standard modules that are highly scalable as compared
to DCS systems, the MELSEC automation system enables the control system to be streamlined. Utilizing the
MELSEC iQ-R Series platform, the processing time has been improved as well.

SCADA GT SoftGOT2000

High-capacity loop control

500 loops

configuration
Benchmark*1

System
Process control DCS 3X faster

MELSEC iQ-R Series

*1: Based on a typical application example, the benchmark test measures the scan time taking into consideration the network refresh time and processing time of basic instructions and loop control, etc.,

CPU
and as compared to MELSEC-Q Series Process CPU (QnPHCPU).

Hot-swapping of I/O modules ensures highly reliable system

Utilizing the Process CPU, the MELSEC iQ-R Series supports the interchangeability (hot-swap) of I/O modules
without having to initiate a hot-swap with GX Works3. In addition, new modules can be easily added to an
operating system by uploading the new parameters from the GX Works3 programming software. This kind of

I/O
feature is essential in process control, where the entire control system cannot be stopped even if a module
develops a fault and must be changed.

Module access error

(continuous operation error)

Analog
High-speed counter
Motion, Positioning,

Reheating furnace
Network

Operation continues even with a module failure

or a system change
Software

The module is replaced

without using a computer

30
 CPU

Process CPU module specifications

Item R08PCPU R16PCPU R32PCPU R120PCPU

Control method Stored program cyclic operation

I/O control mode Refresh mode (Direct access I/O is available by specifying direct access I/O (DX, DY). )
Programming language Ladder diagram (LD), structured text (ST), function block diagram (FBD)
Extended programming language Function block (FB), label programming (system/local/global)
Program execution type Initial, scan, fixed scan, interrupt, standby type
Number of I/O points [X/Y](point) 4096 4096 4096 4096
Constant scan (ms) 0.2...2000
(Function for keeping regular scan time) (Setting available in 0.1 ms increments)
Memory size
Program size (step) 80K 160K 320K 1200K
Program memory (byte) 320K 640K 1280K 4800K
Device/label memory (ECC type)*1 (byte) 1188K 1720K 2316K 3380K
Data memory (byte) 5M 10M 20M 40M
Instruction processing time
LD instruction (ns) 0.98 0.98 0.98 0.98
MOV instruction (ns) 1.96 1.96 1.96 1.96
E + instruction (floating-point addition) (ns) 9.8 9.8 9.8 9.8
Structured text IF instruction*2 (ns) 1.96 1.96 1.96 1.96
Structured text FOR instruction*2 (ns) 1.96 1.96 1.96 1.96
PC MIX value*3 (instructions/μs) 419 419 419 419
Interface connection port
USB2.0 High Speed (miniB) ● ● ● ●
Ethernet (100BASE-TX/10BASE-T) ● ● ● ●
Memory interface
SD memory card ● ● ● ●
Extended SRAM cassette ● ● ● ●
Function
Multiple interrupt function ● ● ● ●
Standard PID control function ● ● ● ●
Process control function ● ● ● ●
Database function ● ● ● ●
Data logging function ● ● ● ●
Security function ● ● ● ●
Inter-modular synchronization function ● ● ● ●
SLMP communication function ● ● ● ●
Online module change ● ● ● ●
*1: An extended SRAM cassette expands the device/label memory area. (NZ2MC-8MBSE expands the device/label memory area conforming to ECC type memory.)
*2: The IF or FOR sentence of the structured text consists of several instructions, which may increase the processing time period.
*3: Average number of instructions such as for basic instructions and data processing executed in 1 μs. The larger the value, the faster the processing speed.

SD memory card specifications

Item NZ1MEM-2GBSD NZ1MEM-4GBSD NZ1MEM-8GBSD NZ1MEM-16GBSD

Type SD memory card SDHC memory card SDHC memory card SDHC memory card
Capacity (byte) 2G 4G 8G 16G

Extended SRAM cassette specifications

Item NZ2MC-1MBS NZ2MC-2MBS NZ2MC-4MBS NZ2MC-8MBS(E)*4

Capacity (byte) 1M 2M 4M 8M
*4: NZ2MC-8MBSE is for Process CPU modules only.

31
 C Controller Module
R12CCPU-V NEW
Memory capacity 256 MB

Dot-matrix LED
SD memory card slot (user settable display, error code, CH1 or CH2 IP address, hardware diagnosis)

configuration
System
CPU
RS-232 connector

I/O
Ethernet port

Analog
1000BASE-T/ USB connector
100BASETX/ (Type A)
10BASE-T Future support
High-speed counter
Motion, Positioning,

The C Controller module is part of the application-specific range in the MELSEC iQ-R Series. The multi-core
ARM®-based controller pre-installed with VxWorks® Version 6.9, realizes the simultaneous execution of programs,
thereby providing a robust and deterministic alternative to computer based systems. Utilizing a fan-less hardware
design, the C Controller is ideal for clean fab-based applications where dust circulation can be detrimental to
the production environment. The C Controller utilizes the high-performance, flexible, and robust features of the
MELSEC iQ-R Series to provide an industrial-grade automation control system.
Network

Easy setup using three simple tools

Setup of the C Controller couldn’t be simpler as the CPU is shipped with a pre-installed real-time OS with various
drivers embedded. This eliminates the need to setup and install a separate OS and develop drivers, which can
substantially add to the cost of implementation. The C Controller allows C language programming by using
Software

CW Workbench programming software, easy configuration using MELSOFT CW Configurator, and VxWorks®
emulation using CW-Sim.

32
 CPU

Programming without considering MPU

C Controller dedicated functions (CCPU functions) and MELSEC communication functions (MD functions) realize
easy access to the C Controller, I/O, intelligent function, network, and programmable controller/motion CPU
modules. Applications involving programmable controllers can be easily created using these functions.

MD
func
tion
s CC
ontr
olle
r

CCP
U fu
nctio
ns CC
ontr
olle
r

C/C++ Easy access

to modules using dedicated functions

Parameter setup/diagnosis/monitoring with CW Configurator

CW Configurator enables parameter setup, module diagnosis and monitoring of various MELSEC iQ-R/Q Series
intelligent, network and I/O modules*1 modules including the C Controller module. Using CW Configurator is as
easy as using the MELSEC iQ-R engineering software GX Works3, which shares similar interfaces.
*1: For supported modules, please refer to the relevant manual of that module.

Ethernet

rator
onfigu
CW C

Computer for development

33
Application development in simple steps
Developing applications with the MELSEC C Controller is easy as no additional driver development is required,
whilst providing a full-scale embedded development environment at a relatively low cost. CW Workbench is used
as the main programming software in C/C++ with a VxWorks® emulator, CW-Sim/CW-Sim standalone, which
allows debugging without requiring any hardware.

No need to generate OS or drivers.

This program does it all.

configuration
System
Engineering tool for C Controller
CW Workbench

CPU
C Controller module specifications
Item R12CCPU-V
Hardware
Endian format Little endian
MPU ARM® Cortex-A9 Dual Core
Working RAM 256 MB

I/O
ROM 12 MB
Backup RAM 4 MB
Software
OS VxWorks® Version 6.9
Programming language C language (C/C++)
Programming development environment CW Workbench/Wind River Workbench3.3
C Controller module setting/monitoring tool CW Configurator (SW1DND-RCCPU)
Communication interface

Analog
USB Future support

Ethernet 2CH (1000BASE-T/100BASE-TX/10BASE-T)

RS-232 1CH (9600...115200 bps)
SD memory card slot ●
High-speed counter
Motion, Positioning,
Network
Software

34
 I/O

Digital I/O modules are the senses of the automation system and provide an interface of various processes to the
controller. Devices such as switches, indicator lamps, and sensors can be easily connected to the control system.
The high-density terminal connections (up to 64 points) results in space-saving designs within the control cabinet
further reducing installation costs. In addition, input interrupt functions and output relay health diagnosis are
additional features embedded in this intelligent, yet small, compact module.

Output Input/output combined

Rating information

Input

64 points

32 points

Serial no. on the module front surface

16 points

Focus points
Cable tie hook
Input/output rating is printed at the front, reducing incorrect wiring
ff
Easy-to-use cable tie hook for tidy wiring*1
ff
Easy-to-use aesthetic design Existing 16-point terminal blocks are reusable, eliminating rewiring
ff
Simple confirmation by product serial no. printed on the front
ff
Alternating toggle switch used to display between 32-point LED signals*2
ff
Terminal signals are clearly labeled and color-coded*1
ff
Up to 32 LED signals clearly visible
ff
*1: Related to 16-point type modules
*2: Related to 64-point type modules

Clear and easily legible

White and red labels clearly differentiate the input and output modules from each other, further improving safety
awareness. The LED signal displays also labeled with clearly visible and easy to read I/O signal numbers printed
on the cover. The wiring terminals of the 16-point modules are labeled with signal names, further reducing the
possibility of wiring mistakes. Up to 32 LED signals can be displayed at one time, and a toggle switch enables
alternation between the first- and second-half signal displays for the high-density 64-point modules. The input and
output ratings are also clearly printed on the front and the serial number is at the bottom, making it easy to confirm
product model and version.

Simple wiring and high-density I/O

I/O modules are available in a wide range of densities (16-, 32- and 64-points) depending on the I/O requirements
and minimum use of space in the control cabinet. A module with a 40-pin connector is available for high-density
I/O wiring. The terminal block is interchangeable with MELSEC-Q Series I/O terminals and can save on the cost
of upgrading from existing control systems.

35
 Input Modules
AC input DC input

RX10 RX40C7
16 points 16 points
100 to 120 V AC (50/60 Hz) 24 V DC, 7.0 mA

RX41C4
32 points
24 V DC, 4.0 mA

RX42C4
64 points
24 V DC, 4.0 mA

Digital input modules like the 24 V direct-current (DC) power supply are among the most used input signals in the
control industry. The robust design of the various modules in this diversified lineup makes them ideal for industrial
use.

configuration
System
Multiple features integrated
A single MELSEC iQ-R input module can handle input response devices as fast as 0.1 ms, interrupt input devices
and can be wired using either positive or negative (sink or source) common terminals. Since multiple modules are
no longer required, a substantial reduction in overall footprint of up to 20% and a reduction in total system costs of

CPU
up to 60% can be realized.
 The RX42C4 module can be configured to use both sink and source wiring*1
Normal I/P (sink)
Normal I/P (source)
High-speed I/P (sink) RX42C4 All features integrated
High-speed I/P (source)
Interrupt I/P into one module!
MELSEC-Q Series MELSEC iQ-R Series

I/O
Occupied I/O slots

5 modules
reduced to 20%* 2

in one!
Hardware costs
reduced by 60%* 2

Analog
Sink wiring Source wiring

Sensor Sensor Sensor

Sensor (sink)
(interrupt, sink)
High-speed counter
Motion, Positioning,

Sensor Switch Switch

Switch (sink) (high-speed, source)

Sensor Switch Sensor Sensor Sensor Sensor

(source) (source) (high-speed, sink) (high-speed) (Interrupt) (high-speed)
Network

*1: The RX42C4 module can be configured to use both sink and source wiring (between the left and right sides of 32 point terminal).
*2: Based on a comparison with the MELSEC-Q Series

Input module specifications

AC input DC input
Item
RX10 RX40C7 RX41C4 RX42C4
Number of input points 16 16 32 64
Rated input voltage, frequency 100...120 V AC, 50/60 Hz 24 V DC 24 V DC 24 V DC
Software

8.2 mA (100 V AC, 60 Hz)

Rated input current 7.0 mA TYP. 4.0 mA TYP. 4.0 mA TYP.
6.8 mA (100 V AC, 50 Hz)
Response time (ms) ≤ 20 0.1...70 0.1...70 0.1...70
Common terminal arrangement
16 16 32 32
(points/common)
Interrupt function ● ● ● ●
External interface 18-point screw terminal block 18-point screw terminal block 40-pin connector 40-pin connector (2x)

36
 I/O

Output Modules
Relay output Transistor (source) output

RY10R2 RY40PT5P
16 points 16 points
24 V DC, 240 V AC 12 to 24 V DC, 0.5 A

Transistor (sink) output RY41PT1P

32 points
RY40NT5P 12 to 24 V DC, 0.1 A
16 points
12 to 24 V DC, 0.5 A
RY42PT1P
64 points
RY41NT2P 12 to 24 V DC, 0.1 A
32 points
12 to 24 V DC, 0.2 A

RY42NT2P
64 points
12 to 24 V DC, 0.2 A

A variety of digital output modules are available including relay, transistor sink (wired as positive common) and
transistor source (wired as negative common). Load voltages include 240 V AC and 12 V to 24 V DC, with various
current ratings.

Relay health diagnostics for preventive maintenance

Output modules keep track of how many times they're turned on and off. Utilizing this data, preventive
maintenance can be carried out based on the known service of the relay.

Output module specifications

Relay output Transistor (sink) output Transistor (source) output
Item
RY10R2 RY40NT5P RY41NT2P RY42NT2P RY40PT5P RY41PT1P RY42PT1P
Number of input points (point) 16 16 32 64 16 32 64
24 V DC/2 A
Rated switching voltage, current - - - - - -
240 V AC/2 A
Rated load voltage (V DC) - 12...24 12...24 12...24 12...24 12...24 12...24
Max. load current (A/point) - 0.5 0.2 0.2 0.5 0.1 0.1
Response time (ms) ≤ 12 ≤1 ≤1 ≤1 ≤1 ≤1 ≤1
Common terminal arrangement
16 16 32 32 16 32 32
(points/common)
Protection function
- ● ● ● ● ● ●
(overload, overheat)
18-point screw 18-point screw 40-pin 40-pin 18-point screw 40-pin 40-pin
External interface
terminal block terminal block connector connector (2x) terminal block connector connector (2x)

I/O Combined Module

I/O combined module specifications
DC input, transistor (sink) output
Item RH42C4NT2P
DC input
RH42C4NT2P Number of input points (point) 32
32 points (input) 24 V DC, 4.0 mA Rated input voltage (V DC) 24
32 points (output) 12 to 24 V DC, 0.2 A
Rated input current (mA) 4.0 TYP.
Response time (ms) 0.1...70
Common terminal arrangement
32
(points/common)
Interrupt function ●
In addition to dedicated digital input and output modules, Transistor (sink) output
Number of output points (point) 32
if only a few I/O points are required, a combined I/O
Rated load voltage (V DC) 12...24
module is available. This is an excellent alternative for Max. load current (A/point) 0.2
Response time (ms) ≤1
cost-sensitive applications.
Common terminal arrangement
32
(points/common)
Protection function (overload, overheat) ●
Common specification
External interface 40-pin connector (2x)

37
 Analog

Focus points
16-bit high resolution (1/32,000)
ff
Scaling and shifting operations using parameter settings
ff
Enhanced alarm and warning features
ff
Ideal for high-speed precision inspection applications
ff
Filtering of high-frequency noise
ff
Event driven performance asynchronous from main scan
ff
Generate or import pre-defined wave data
ff
Galvanic channel isolation
ff
Output

Input

configuration
System
CPU
Clear and easy-to-use
Cable tie hook terminal labeling

Similar to the digital I/O modules, analog modules are the main interface between the control process and the
MELSEC iQ-R Series automation system. The main differences are that they have been designed to interface
with sensors that process varying voltage and current signals instead of digital binary signals, and convert those

I/O
signals into binary data that the control system can use. The MELSEC iQ-R Series range of analog modules
includes features such as high-speed conversion (80 μs/ch) coupled with 16 bit high-resolution (1/32,000) digital
output signals, galvanic channel isolation and disconnection detection, thereby enabling highly precise and stable
analog signal processing.

Analog
Save on downtime cost with
‘channel disconnection detection’ High signal integrity using galvanic isolation
Channel input or output error threshold values are The “-G” suffix modules include internal galvanic
High-speed counter
Motion, Positioning,

easily settable within GX Works3 ensuring the detection channel isolation that can improve noise interference
of disconnected channel(s), reducing downtime and capabilities without requiring an additional signal
saving on maintenance costs. converter as well as protecting the internal module
components from a short circuit.

Analog input or output value

Without channel isolated analog module With channel isolated analog module

Control Control
Network

panel panel
6
Signal converter

Sensor 2-wire transmitter Sensor 2-wire transmitter

Threshold
2
value
Disconnection
Software

detected Electric disturbances such as current and noise can be isolated.

0
Standard analog input module Channel isolated analog module
Time

Isolated with
a transformer

38
 Analog

Analog Input Modules

R60AD4 R60AD8-G NEW
4-channel (voltage or current) 8-channel (voltage or current),
channel isolated

R60ADV8
8-channel (voltage) R60AD16-G NEW
16-channel (voltage or current),
channel isolated
R60ADI8
8-channel (current)
R60TD8-G NEW
8-channel, temperature input (thermocouple)
channel isolated

R60RD8-G NEW
8-channel, temperature input (RTD)
channel isolated

MELSEC iQ-R Series analog modules are ideal as the interface between external analog signals and the
control system. Various modules are available to cover a wide range of requirements, such as galvanic isolation,
thermocouple sensors, resistance temperature detectors (RTD), current, voltage and mixed channel applications.

High-frequency noise filtering

The analog modules include a first-order delay filter that eliminates high-frequency noise interference and
improves the accuracy of input analog signals. This feature can be easily setup using the module's dedicated
parameters, thereby improving the processing time as an additional setup program (ladder) is not required.

Without filtering With filtering

Voltage (V) Voltage (V)
A/D conversion time Filtering program time 10 High-frequency noise 10

A/D conversion time

Setting by parameters
Module filtering processing time reduces program scan time

In-line level monitor 0 0

High-frequency noise

Enhanced alarm and warning features

Preventive maintenance procedures are simplified with the +V
Warning output

enhanced alarm and warning capabilities. Regardless of Upper limit

the program scan time, when an event such as the change

rate of an analog signal exceeding the preset limit occurs, 0
corrective interrupt procedures can be triggered or an alarm
generated to notify responsible personnel or initiate proper −V

countermeasures. Warning output flag

(process alarm upper limit)
Event detection flag

Scan program

Interrupt program

39
Data logging faster than scan time
Analog modules are equipped with a data logging feature that's useful when a large amount of data (up to 10k
points) is required within a specified period of time. Coupled with the high-speed analog-to-digital conversion time,
event-driven triggers enable continuous logging even after an event occurrence and fast data logging sampling
that is asynchronous to the control scan time. Data logging can be used in applications such as a motor inspection
line, where motor performance can be logged at high speed and certain values such as voltage, current, torque
and rotational speed analyzed through comparisons with different test patterns.

Power supply Inverter Motor under inspection Torque Dynamometer

meter
Sensor Sensor
(voltage) (current)

Converter

Logging data

Buffer memory

configuration
System
1st data Voltage
2nd data
Current
3rd data
4th data
Torque
Number of rotations
9999th data
10000th data Inspection results (logging data)
are saved to the buffer memory

CPU
After saving 10,000 points,
overwriting starts from the
1st data area.

Scaling and shifting digital values without any programs

I/O
Scaling and shifting can be easily setup from only using the parameters. There is no need for additional
programming, thereby realizing reductions in engineering costs and overall program size.

32000 32000

Analog
31990 20000
Calculated digital value Upper scaling limit
(adjusted)

The converted value is shifted by "+ 10" 0

Digital output value −10000

(before) Lower scaling limit
High-speed counter
Motion, Positioning,

0 −32000
5 −10 0 10
−10 Input voltage (V) Input voltage (V)

Upper and lower limits of scaling can range from −32000 to 32000.
Network
Software

40
 Analog

Analog input module specifications

Item R60AD4 R60ADV8 R60ADI8 R60AD8-G R60AD16-G
Number of analog input points (ch) 4 8 8 8 16
Accuracy
Ambient temperature 25 ±5˚C ±0.1% ±0.1% ±0.1% ±0.1% ±0.1%
Ambient temperature 0...55˚C ±0.3% ±0.3% ±0.3% - -
Temperature coefficient - - - ±35 ppm/°C ±35 ppm/°C
Common
Conversion speed (ch) 80 µs 80 µs 80 µs 10 ms 10 ms
Channel isolation - - - Transformer isolation Transformer isolation
Absolute max. input ±15 V, 30 mA ±15 V 30 mA ±15 V, 30 mA ±15 V, 30 mA
18-point screw terminal 18-point screw terminal 18-point screw terminal
External interface 40-pin connector 40-pin connector (2x)
block block block
Voltage input
Analog input voltage (V DC) –10...10 –10...10 - –10...10 –10...10
Digital output value –32000...32000 –32000...32000 - –32000...32000 –32000...32000
Current input
Analog input current (mA DC) 0...20 - 0...20 0...20 0...20
Digital output value 0...32000 - 0...32000 0...32000 0...32000

Temperature input module specifications

Item R60TD8-G R60RD8-G
Number of analog input points (ch) 8 8
Cold junction temperature compensation
±1.0°C -
accuracy
Usable thermocouple B, R, S, K, E, J, T, N -
Pt100 (JIS C 1604-1997, IEC 751 1983)
JPt100 (JIS C 1604-1981)
Usable RTD -
Ni100 (DIN 43760 1987)
Pt50 (JIS C 1604-1981)
B, R, S, N: 0.3°C
Resolution 0.1°C
K, E, J, T: 0.1°C
Conversion speed (ch) 30 ms 10 ms
Channel isolation Transformer isolation Transformer isolation
Wire break detection ● ●
External interface 40-pin connector 40-pin connector
Output
Measured temperature value (16-bit
–2700...18200 –2000...8500
signed binary data)
Scaling value (16-bit signed binary data) ● ●
Measured temperature range
B 0...1820°C -
R –50...1760°C -
S –50...1760°C -
K –270...1370°C -
E –270...1000°C -
J –210...1200°C -
T –270...400°C -
N –270...1300°C -
Pt100 - –200...850°C
JPt100 - –180...600°C
Ni100 - –60...250°C
Pt50 - –200...650°C

41
 Analog Output Modules
R60DA4 R60DA8-G NEW
4-channel (voltage or current) 8-channel (voltage or current),
channel isolated

R60DAV8
8-channel (voltage) R60DA16-G NEW
16-channel (voltage or current),
channel isolated
R60DAI8
8-channel (current)

MELSEC iQ-R Series analog output modules reliably deliver accurate analog values to points where
high-resolution digital inputs are required. A variety of modules (voltage, current, or mixed) are available to cover a
wide range of application requirements, such as high-speed drive control or variable-speed control of the pressure
applied to materials being fed into some kind of forming mechanism.

configuration
System
Faster, smoother predefined wave signal output
The analog output module enables pre-registration of waveforms easily using MELSOFT GX Works3, realizing a
smoother continuous output that closely matches the precision required for the application, such as torque control
for a press or injection molding machine. Registering the waveform in the module is simple and easy, and does
not require a dedicated analog output program, such as for continuous line control, further reducing programming

CPU
time.

GX Works3 wave output data setup

Pressure control of injection molding

I/O
Hopper

Heater

Analog output

Analog
Screw Heating cylinder Mold

Shift operation and scaling without programs

High-speed counter
Motion, Positioning,

Shift operation and scaling can be used without creating programs; they can be simply set on parameters. This
simple setting minimizes program development cost as well as the program size.

Analog output module specifications

Item R60DA4 R60DAV8 R60DAI8 R60DA8-G R60DA16-G
Number of analog output points (ch) 4 8 8 8 16
Accuracy
Network

Ambient temperature 25 ±5°C ±0.1% ±0.1% ±0.1% ±0.1% ±0.1%

Ambient temperature 0...55°C ±0.3% ±0.3% ±0.3% - -
Temperature coefficient - - - ±50 ppm/°C ±50 ppm/°C
Conversion speed (ch) 80 µs 80 µs 80 µs 1 ms 1 ms
Channel isolation - - - Transformer isolation Transformer isolation
Output short-circuit protection ● ● ● ● ●
External supply power (V DC) 24 24 24 - -
18-point screw terminal 18-point screw terminal 18-point screw terminal
External interface 40-pin connector 40-pin connector (2x)
Software

block block block

Voltage output
Digital input value –32000...32000 –32000...32000 - –32000...32000 –32000...32000
Analog output voltage (V DC) –10...10 –10...10 - –12...12 –12...12
Current output
Digital input value 0...32000 - 0...32000 0...32000 0...32000
Analog output current (mA DC) 0...20 - 0...20 0...20 0...20

42
 Motion, Positioning,
High-speed counter

Focus points
Wide range of modules for best-fit motion control needs
ff
Motion control programming simplified
ff
Software-based gear, shaft, transmission, and cam control
ff
3-axis helical interpolation for large-diameter thread milling
ff
Normal, fast or multi-axis startup
ff
High-accuracy pulse measurement
ff

MELSEC iQ-R Series simple motion, positioning, and

high-speed counter modules are a distinct set of high-accuracy
and fast control response intelligent modules that are ideal for
applications requiring high-speed and precision.

Simple motion module

Simple motion modules are easy to setup similar to positional modules and offer high-precision motion controller
performance. This is an easy-to-use module specifically designed for highly precise motion control applications in
a high-speed servo control network (SSCNET 3/H) over a fiber-optic cable.
Max. 16 axes • Positioning control
(sealant-glue applicator, etc.)
MR-J4-B MR-J4W2-B MR-J4W3-B MR-J4-B-RJ
• Synchronous control/electronic cam control
(Pick and place, packaging machine, etc.)
•Manual pulse • Speed-torque control
Rotary
generator servo motor (Press machine, injection molding, etc.)
•Synchronous • Speed/position control switching
encoder Rotary Linear
servo motor servo motor (semiconductor wafer production, etc.)
•External input signal Direct Direct Serial ABS
(mechanical input) drive motor drive motor synchronous encoder
Q171ENC-W8

Positioning module
Capable of high-speed transmission (5M pulses/s*1), the positioning module can control up to four axes. This
versatile module supports connection to a wide range of motion devices, such as pulse-train input servo amplifiers
or stepping motor with a transistor (open collector), or differential driver input interface.
*1: Differential driver output

Max. 4 axes • Positional control

(sealant-glue applicator, etc.)
Pulse-train input Pulse-train input
servo amplifier servo amplifier Stepping Stepping • Speed control
MR-J4-A MR-J4-A motor driver motor driver
Transistor/differential (Conveyor control, paper roller feed-in, etc.)
driver output • Linear, circular, helical interpolation
•Manual pulse (High-speed milling, etc.)
generator
•External input signal
(mechanical input) Rotary Rotary Stepping Stepping
servo motor servo motor motor motor

High-speed counter module

Capable of measurements at up to 8M pulses/s*2, the high-speed counter module is an ideal low-cost position
control solution that provides precise positional tracking when used in combination with an incremental encoder.
*2: Differential input

• Pulse measurement by an encoder

(conveyor control, etc.)
Pulse • PWM (pulse-width modulation) system drive control
Encoder
input

•External DC drive 2 channels

input signal
PWM output MODE SET

LOW HIGH DC motor

43
 Simple Motion Modules
RD77MS2
Up to 2-axis control

RD77MS4
Up to 4-axis control

RD77MS8
Up to 8-axis control

RD77MS16
Up to 16-axis control

Similar to positioning modules, simple motion modules are capable of a wide range of high-precision control such
as positional control, advanced synchronous control, cam control, and speed-torque control. The module line-up
includes 2-, 4-, 8-, and 16-axis models, with setup being done easily by parameters and programming.

configuration
System
Advanced synchronous control
Software-based synchronous control can be used as an alternative to mechanical control, such as gear, shaft,
transmission and cam. In addition, cam control is even easier with cam auto-generation. Synchronous control can
be simply operated (start/stop) for each axis, allowing synchronous and positional control axes within the same

CPU
program.

■ Synchronous control
All axes are synchronized using a synchronous encoder or servo input axes. Up to 16 control axes can be
synchronized when using the synchronous encoder, such as that used for packaging machines, for example.

I/O
Synchronous encoder axis

Analog
Motion, Positioning,
High-speed counter

■ Cam auto-generation
Cam data for a rotary cutter can be generated automatically simply by registering the sheet length, synchronization
width, rotary cutter axis dimensions, etc.
Synchronized axis length
(synchronized axis circumference) Sheet feeding
Network

Sheet
User-made GOT synchronizing
(Mitsubishi HMI) screen width

Sheet length
Cam axis
(synchronized axis)
speed
Sheet feeding speed
Software

Stroke ratio Sheet

synchronizing width

44
 Motion, Positioning, High-speed Counter

Mark detection
The actual position of the servo motor can be obtained based on the registration mark printed on the high-speed
moving film. Compensation of the cutter axis position, based on the registration marks, keeps the constant cutting
position.

Mark sensor ON Corner mark

Speed-torque control (press-fit control)

The motor can be switched to torque control (press-fit mode) without stopping it during positioning. The current
position is controlled during the speed/torque control. Therefore the positioning can be done smoothly even after
switching back to position control.

Cap

Bottle

Position the cap Switch to torque control Cap tightening with Position return after
constant torque tightening complete

Positional control Torque control, press-fit control Positional control

Current positional control during torque control

Simple motion module specifications

Item RD77MS2 RD77MS4 RD77MS8 RD77MS16
Number of control axes (axis) 2 4 8 16
Operation cycle (ms) 0.444, 0.888, 1.777, 3.555 0.444, 0.888, 1.777, 3.555 0.444, 0.888, 1.777, 3.555 0.444, 0.888, 1.777, 3.555
Control unit mm, inch, degree, pulse mm, inch, degree, pulse mm, inch, degree, pulse mm, inch, degree, pulse
Positioning data (data/axis) 600 600 600 600
Startup time
0.7 0.7 0.7 0.7
(operation cycle 0.444 ms, 1 axis) (ms)
Servo amplifier connection system SSCNET 3/H SSCNET 3/H SSCNET 3/H SSCNET 3/H
Max. distance between stations (m) 100 100 100 100
External interface 40-pin connector 40-pin connector (2x) 40-pin connector (2x) 40-pin connector (2x)
Interpolation function
Linear interpolation (axis) 2 2, 3, 4 2, 3, 4 2, 3, 4
Circular interpolation (axis) 2 2 2 2
Control system
PTP (Point To Point) control ● ● ● ●
Path control (linear, arc) ● ● ● ●
Speed control ● ● ● ●
Speed-position switching control ● ● ● ●
Position-speed switching control ● ● ● ●
Speed-torque control ● ● ● ●
Advanced synchronous control ● ● ● ●
Acceleration/deceleration process
Trapezoidal acceleration/deceleration ● ● ● ●
S-curve acceleration/deceleration ● ● ● ●
Function
Absolute positioning system*1 ● ● ● ●
Mark detection function ● ● ● ●
Digital oscilloscope function ● ● ● ●
Driver communication function ● ● ● ●
*1: A battery needs to be installed in the servo amplifier for home position backup.

45
 Positioning Modules
Transistor output Differential driver output
200k pulse/s 5M pulse/s

RD75P2 RD75D2
Up to 2-axis (linear/circular interpolation) Up to 2-axis (linear/circular interpolation)

RD75P4 RD75D4
Up to 4-axis (linear/circular/helical interpolation) Up to 4-axis (linear/circular/helical interpolation)

The MELSEC iQ-R Series offers a choice of two positioning modules, transistor output or differential drive output,
depending on the connected amplifier. The modules are capable of transmission speeds up to 5M pulses/s, and
the differential driver output module supports wiring up to a distance of 10 m. It can be used in positional control
or speed control, and features include linear, circular, and helical interpolation, which is a complex control required

configuration
for deep-thread milling applications.

System
Various positional control Multiple startup options
Various different positional control is performed by the Positioning modules are capable of multiple different
module, from manual control, advanced control, to position-start options such as normal startup where
zero return control where it is required for the process the starting trigger command is activated from the

CPU
position to return to its starting point. Automated command pulse; fast-start, where an event-driven
sealing and gluing applicators tend to require extensive trigger is asynchronous to the execution program data
positional control as the interpolation may require a analysis; and multi-axis startup, where multiple axes
profile consisting of linear and circular paths that need can be executed simultaneously from an output pulse.
to be followed accurately, such as in the automotive In addition, block-start is where multiple sequential

I/O
industry when glues are applied to the sealing portions positioning data are executed by a single start trigger,
of the doors. which is used in control that follows the same repetitive
path.
Z axis
r1
r2

Y Analog
X axis Motion, Positioning,
High-speed counter

X
Y axis
4 path profiles (P1...P4) being drawn in sequence.

Y
Network

P4 P3
Software

P1 P2
X

46
 Motion, Positioning, High-speed Counter

Realize helical interpolation

For applications that require the boring of deep, large holes, usually multiple interpolation control of three axes (X,
Y and Z) or more must be taken into consideration. In such cases, the actual milling is done in a circle, with the
X and Y axes synchronized to achieve the pre-set size. The depth of the hole is simultaneously controlled along
the Z axis, ensuring minimal deviation in the cutting bit position. This type of positioning is usually quite difficult as
the interpolation of the three axes can introduce some deviation when not utilizing a full-scale numerical control
system.

X, Y

Positioning module specifications

Transistor output Differential driver output
Item
RD75P2 RD75P4 RD75D2 RD75D4
Number of control axes (axis) 2 4 2 4
Control unit mm, inch, degree, pulse mm, inch, degree, pulse mm, inch, degree, pulse mm, inch, degree, pulse
Positioning data (data/axis) 600 600 600 600
Module backup function Positioning data, and block start data can be saved on flash ROM (battery-less backup)
Starting time (1 axis linear control) (ms) 0.3 0.3 0.3 0.3
Max. output pulse (pulse/s) 200,000 200,000 5,000,000 5,000,000
Max. connection distance
2 2 10 10
between servos (m)
External interface 40-pin connector 40-pin connector (2x) 40-pin connector (2x) 40-pin connector (2x)
Interpolation
Linear interpolation (axis) 2 2, 3, 4 2 2, 3, 4
Circular interpolation (axis) 2 2 2 2
Helical interpolation (axis) - 3 - 3
Control system
PTP (Point To Point) control ● ● ● ●
Path control (linear, arc, helical) ● ● ● ●
Speed control ● ● ● ●
Speed-position switching control ● ● ● ●
Position-speed switching control ● ● ● ●
Acceleration/deceleration process
Trapezoidal acceleration/deceleration ● ● ● ●
S-curve acceleration/deceleration ● ● ● ●
Fast-start function
Positioning start signal (µs) 8 8 8 8
External command signal (µs) 20 20 20 20

47
 High-Speed Counter Modules
DC input, DC input, Differential input,
transistor (sink) output transistor (source) output transistor (sink) output

RD62P2 RD62P2E RD62D2

2-channel 2-channel 2-channel

The MELSEC iQ-R Series counter modules are capable of 200k pulse/s for the DC input type, and 8M pulse/s for
differential input. When used with a high-accuracy incremental encoder, positional tracking can also be realized. It
also features a PWM output, which is ideal for applications requiring a measurement of pulse cycles.

Pulse measurement
The pulse measurement feature enables measuring of the pulse cycle, which is ideal for various applications such
as in the food and beverage industry where proximity sensors are used to control flask position on the conveyor,
or the renewable energy industry where the wind vane angle is controlled on a wind turbine.

configuration
System
Accurate detection of
products on the conveyor

CPU
Measurement
resolution Pulse width measurement
100 ns
Pulse input

I/O
High-speed PWM output
The PWM output frequency can support up to 200 kHz with a minimum 100 ns pulse width (proportion to 'on' time)
during the required duty cycle. The set values can be changed during operation without having to stop the system,
such as in industrial-scale fan control.

High-speed counter module specifications Analog

Item RD62P2 RD62P2E RD62D2
Number of channels (ch) 2 2 2
External interface 40-pin connector 40-pin connector 40-pin connector
Motion, Positioning,
High-speed counter

Count input signal

1-phase input (1 multiple/2 multiples) ● ● ●
2-phase input (1 multiple/2 multiples/4 multiples) ● ● ●
CW/CCW input ● ● ●
EIA Standard RS-422-A
Signal level (fA, fB) 2...5 mA at 5/12/24 V DC 2...5 mA at 5/12/24 V DC
Differential line driver level
Counter
Counting speed (pulse/s) 10k...200k 10k...200k 10k...8M
Counting range (32-bit signed binary) –2147483648...2147483647 –2147483648...2147483647 –2147483648...2147483647
External input
Network

Preset, function start 7...10 mA at 5/12/24 V DC 7...10 mA at 5/12/24 V DC 7...10 mA at 5/12/24 V DC

Digital filter (ms) 0, 0.1, 1, 10 0, 0.1, 1, 10 0, 0.1, 1, 10
Pulse measurement
Resolution*1 (ns) 100 100 100
Number of points per channel 1 1 1
External output
Transistor (sink type) output, Transistor (source type) output, Transistor (sink type) output,
Coincidence output (2 points/channel)
12/24 V DC, 0.5 A/point 12/24 V DC, 0.1 A/point 12/24 V DC, 0.5 A/point
Software

PWM output
Output frequency range (kHz) 0...200 0...200 0...200
Duty ratio Optional (in 0.1 µs increments) Optional (in 0.1 µs increments) Optional (in 0.1 µs increments)
Number of output points per channel 2 2 2
Setting change during operation ● ● ●
*1: Pulse measurement can be performed in the range of 2000 to 2147483647 (0.2 ms to approx. 214 s).

48
 Network

Focus points
Various network-specific modules available
ff
1 Gbps high-speed, large bandwidth of 128K word for CC-Link IE
ff
Connect to two separate networks using a single module
ff
Seamless networking (SLMP)
ff
Loop-back function ensures continuous communications
ff
Auto-return when faulty station is replaced
ff
Supports standard interfaces such as RS-232 and RS-422/485
ff

The network and interface modules of the MELSEC iQ-R Series ensure a vast selection of interconnectivity
possibilities with various protocols and network topologies providing the best-fit solution for various applications.
At the core of the Series is the CC-Link IE network family which is a high-speed 1 Gbps control level and field
level Ethernet topology industrial open network.

Seamless message protocol (SLMP*1) network communications

With SLMP, it is possible to seamlessly access production management systems, programmable controllers and
other devices using the same method, eliminating concerns about network hierarchies and boundaries. Tasks
such as machine monitoring, data collection and maintenance can be performed from virtually anywhere on the
network. Used together with the Ethernet module, SLMP-ready Ethernet devices such as a machine vision sensor
or RFID controller can be interfaced to the CC-Link IE Field Network without further adding another network.

Enterprise (IT) system

Enterprise level
(production Ethernet
management/
data system)

Control level Distributed control

(control system)

HUB

Ethernet
adapter

Field level
(device system)

Personal Vision Touch RFID Remote I/O L Series Inverter

computer sensor panel reader module remote I/O
Ethernet devices I/O control

*1: SLMP (Seamless Message Protocol): Is a client/server protocol that enables communications between Ethernet-ready and CC-Link IE compatible devices.

49
 Ethernet Interface Module
RJ71EN71
1 Gbps, 100/10 Mbps multiple network type

Ethernet port (P1)

The MELSEC iQ-R Series Ethernet module is equipped with two

ports that can be used as either a generic Ethernet, CC-Link IE
Ethernet port (P2)
Field or Control Network module. The module design incorporates
an easy-to-read display and a dot-matrix LED providing a quick way
to assess network conditions using the module.

Dual gigabit Ethernet ports

The number of connectable ports on the Ethernet module has been doubled and the number of connections

configuration
System
per channel increased. By increasing the number of ports the module can be used effectively as a gateway,
simultaneously connecting a generic Ethernet network to one port and using the second port for the CC-Link IE
Field or Control network. Additionally, the number of connections per channel has been increased from 64 to 128,
doubling the bandwidth for even more connectable devices.

CPU
1Gbps
Ethernet
Enterprise
system

I/O
Two ports can be connected
to two different networks*1.

Analog
Select network combination from within GX Works3.

■ Network combination*1

P1 C F E E E
High-speed counter
Motion, Positioning,

P2 C F C F E
C : CC-Link IE Control Network

F : CC-Link IE Field Network

E : Ethernet
*1: The CC-Link IE Field and CC-Link IE Control networks cannot be
used together.

Ethernet interface module specifications

Network

Item RJ71EN71*2
Transmission specifications
Data transmission speed 1 Gbps/100 Mbps/10 Mbps
Interface RJ45 connector (Auto MDI/MDI-X)
Max. frame size (byte) 1518/9022 (when jumbo frames are used)
IP version Compatible with IPv4
Sending/receiving data storage memory
Number of simultaneous open connections 128
Software

Fixed buffer 5K words x 16

• 5K words x 48 (when only P1 is used)
Socket communications
• 5K words x 112 (when only P1/P2 is used)
Random access buffer 6K words x 1
CC-Link IE Field/Control cable specifications
Ethernet cable that meets 1000 BASE-T standard:
Communication cable
Category 5e or higher, straight cable (double shielded, STP)
*2: The specifications differ for the Q Series compatible Ethernet mode.

50
 Network

CC-Link IE Control Network Module

RJ71GP21-SX
1 Gbps optical cable, control/normal station

Optical connector
CC-Link IE Control is a high-reliability distributed control network designed to
(IN connector)
handle very large data communications (128K word) over a high-speed
Optical connector
(1 Gbps) dual-loop optical cable topology.
(OUT connector)

Continuous communications even when cable or stations are faulty

Utilizing a high-speed, noise resistant
fiber-optic topology, the CC-Link IE
Control Network supports a loop-back
function that guarantees continuous
communications even when a cable
Total extension distance: Station-to-station distance:
is disconnected or a station falls into max. 66 km max. 550 m
Cable disconnection
a fault status. The dual-loop topology
of the cable ensures that the data will
find another route along the network
without affecting overall network 1Gbps
communications.
Continuous communication 128K
with loop-back function words

Extensive real-time network monitoring

The network status can be easily monitored directly from GX Works3
software enabling intuitive troubleshooting of network errors or viewing
the operation of the network while in communications. This makes
it possible to see the actual fault occurring in the network, thereby
helping to reduce the overall downtime. In addition, error messages
related to the faulty network module station can be viewed for further
network diagnosis. All stations within the network can be monitored
regardless of which station the software is connected too.

CC-Link IE Control monitoring window

CC-Link IE Control Network module specifications

Item RJ71GP21-SX
Communication speed 1 Gbps
Transmission path Duplex loop
Communication cable Optical fiber cable which satisfies 1000 BASE-SX standard: Multi-mode optical fiber (GI)
550 (when the core outer diameter is 50 µm)
Max. station-to-station distance (m)
275 (when the core outer diameter is 62.5 µm)
66,000 (when 120 stations are connected and the core outer diameter is 50 µm)
Overall cable distance (m)
33,000 (when 120 stations are connected and the core outer diameter is 62.5 µm)
Max. number of connectable stations 120 (control station: 1, normal station: 119)
Max. number of link points per network
Link relay (LB) 32K points (32768 points, 4K bytes)
Link register (LW) 128K points (131072 points, 256K bytes)
Link input (LX), link output (LY) 8K points (8192 points, 1K bytes)

51
 CC-Link IE Field Network Module
RJ71GF11-T2
1 Gbps, master/local station

Ethernet port (P1)

CC-Link IE Field is a versatile gigabit Ethernet-based network

integrating controller, I/O control, safety control, and motion control in a
Ethernet port (P2)
flexible wiring topology supporting star, ring, and line configurations.

Multiple topology variations

■ Star topology

configuration
Devices are connected via a switching

System
[Star connection]

hub allowing local stations to be added 1Gbps

easily.

■ Line topology
Continuous connection of devices along

CPU
the Ethernet line. [Ring connection]

■ Ring topology [Line connection]

Connection is done in a continuous loop,

which guarantees communications by
isolating the faulty network station.

I/O
Synchronized network communications
The control cycle of local stations on the network can be synchronized with the master station.
With sync With sync Without sync

Analog
communication communication communication
PW RUN MODE D LINK ERR. X0 1 2 3 X4 5 6 7 X8 9 A B XC D E F PW RUN MODE D LINK ERR. Y0 1 2 3 Y4 5 6 7 Y8 9 A B YC D E F I/O PW PW RUN MODE D LINK ERR. ALM O/G V I CH 1 2 3 4 OFFSET GAIN

L ER X10 X1 STATION NO. L ER X10 X1 STATION NO. L ER X10 X1 STATION NO.

0 1 0 0 1 0 0 1 0
O/G 2 9 1 O/G 2 9 1 O/G 2 9 1 SET
P1 TEST 3 8 2 P1 TEST 3 8 2 P1 TEST 3 8 2
12 4 12 4 12 4 SEL
11 5 7 3 11 5 7 3 11 5 7 3
LINK 10 6 6 5 4 LINK 10 6 6 5 4
LINK 10 6 6 5 4
987 987 987

L ER +24V L ER +24V L ER +24V

Master station Local station 1 Local station 2 Local station 3

1 3 5 7 9 11 13 15 17 1 3 5 7 9 11 13 15 17 1 3 5 7 9 11 13 15 17
P2 24G P2 24G P2 24G

LINK (FG) LINK (FG) LINK (FG)

2 4 6 8 10 12 14 16 18 2 4 6 8 10 12 14 16 18 2 4 6 8 10 12 14 16 18

Inter-module sync cycle  Input refresh

Station sync cycle
High-speed counter
Motion, Positioning,

 Event-driven program
Inter-modular sync interrupt
            Output refresh
programs from the CPU module 

Local station 1 Synchronized

Local station 2
Not synchronized
Local station 3

CC-Link IE Field Network module specifications

Network

Item RJ71GF11-T2
Transmission speed 1 Gbps
Network topology Line topology, star topology (both types can be on the same line), and ring topology
Ethernet cable that meets 1000 BASE-T standard:
Communication cable
Category 5e or higher, straight cable (double shielded, STP)
Max. station-to-station distance (m) 100
Line topology: 12,000 (when 121 stations are connected)
Overall cable distance (m) Star topology: Depends on the system configuration
Software

Ring topology: 12,100 (when 121 stations are connected)

Max. number of connectable stations 121 (master station: 1, slave station: 120)
Max. number of link points per network
Remote input (RX), remote output (RY) 16K points (16384 points, 2K bytes)
Remote register (RWw, RWr) 8K points (8192 points, 16K bytes)

52
 Network

CC-Link System Module

RJ61BT11
Max. 10 Mbps, master/local station (CC-Link Ver.2)

CC-Link is a high-speed and highly reliable deterministic I/O control

network that realizes reduced wiring while offering multi-vendor
compatible products.

Multiple connectivity of field devices Master station

MAX.

CC-Link incorporates many different field devices that 10Mbps

Max. 64 controlled stations
can be configured into a wire-saving communications
network. Using the remote device net mode, it is possible
to connect up to 64 remote devices, such as analog I/O
Local station Remote I/O Remote device Intelligent device
modules.
Max. 26 Max. 64 Max. 64 Max. 26
stations*1 stations stations*2 stations*1
*1: Remote network mode
*2: Remote device net mode

Item RJ61BT11
Transmission speed (bps) 156k/625k/2.5M/5M/10M
Network topology Bus (RS-485)
Communication cable Ver.1.10-compatible CC-Link dedicated cable
Overall distance (m) 100 (10 Mbps)...1200 (156 kbps)
Max. number of connected modules 65 stations (master station: 1, slave station: 64)
Max. number of link points per system (CC-Link Ver.2)
Remote I/O (RX, RY) 8192 points
Remote register (RWw, RWr) 2048 points

Serial Communication Module

RJ71C24
Max. 230.4 kbps, RS-232 (1 channel), RS-422/485 (1 channel)

CH1
RJ71C24-R2
Max. 230.4 kbps, RS-232 (2 channels)

RJ71C24-R4 CH2

Max. 230.4 kbps, RS-422/485 (2 channels)

RJ71C24 RJ71C24-R2 RJ71C24-R4

The serial communication module enables serial

devices with up to 230.4 kbps transmission speeds to 230.4 kbps
be connected per channel. Communications protocols
such as MODBUS® are supported via the pre-defined 230.4 kbps

protocol feature.
External connection device

Item RJ71C24 RJ71C24-R2 RJ71C24-R4

Transmission speed (bps) 1.2k/2.4k/4.8k/9.6k/14.4k/19.2k/28.8k/38.4k/57.6k/115.2k/230.4k
Interface
CH1 RS-232 RS-232 RS-422/485
CH2 RS-422/485 RS-232 RS-422/485
Overall transmission distance
RS-232 (m) 15 15 -
RS-422/485 (m) 1,200 - 1,200

53
 Software

FA Integrated Engineering Software MELSOFT iQ Works

MELSOFT iQ Works is an integrated software suite consisting of GX Works3, MT Works2, GT Works3,
RT ToolBox2 mini and FR Configurator2, which are programming software for each respective product. Integration
is further enhanced with MELSOFT Navigator as the central system configuration incorporating an easy-to-use,
graphical user interface with additional project-sharing features such as system labels and parameters. The
advantages of this powerful integrated software suite are that system design is made much easier with a
substantial reduction in repetitious tasks, cutting down on errors while helping to reduce the overall TCO.

configuration
System
System management software CPU
I/O
Analog

MELSOFT Navigator
Motion controller engineering software
High-speed counter
Motion, Positioning,

System level graphic-based configuration tool that simplifies the system MELSOFT MT Works2
design by providing a visual representation of the system. System
management features such as system-wide parameterization, labels This motion control design and maintenance software includes intuitive
and block reading of project data are also included. graphic-based programming together with a digital oscilloscope
simulator.
Programmable controller engineering software
Robot engineering software
MELSOFT GX Works3
MELSOFT RT ToolBox2 mini
Network

GX Works3 is the latest generation of programming and maintenance

software offered by Mitsubishi Electric specifically designed for the This robot setup software supports various steps from programming,
MELSEC iQ-R Series control system. It includes many new features to commissioning, evaluation, and maintenance. In addition, improved
such as graphic-based system configuration, integrated motion control preventative maintenance is realized through the use of an integrated
setup, multiple language support, providing an intuitive engineering 3D robot simulator.
environment solution.
Inverter setup software
Software

HMI/GOT screen design software MELSOFT FR Configurator2

MELSOFT GT Works3
This software simplifies the setup and maintenance of AC Inverters.
This graphic operation terminal (GOT) screen creation software is Parameters can be registered easily and distributed to multiple
designed with three main features—simplicity, graphics design and inverters when replacing, and activation of the PLC function all from
operation ease—that help to create graphic screens in fewer steps. one setup screen.

54
 Total system centralized configuration
The correlation between the system configuration feature of MELSOFT Navigator and GX Works3, MT Works2
has been further improved. The system design console works in a bidirectional method, enabling the system
configuration to be shared across all three software including network level integration without having to re-design
the configuration from within the product level programming software(s).

Generate system diagram Reflect changes to

from physical hardware configuration main system configuration

MT Works2

Navigator
GX Works3

• iQ-R modules Product level projects

• CC-Link IE (Control/Field) (GX Works3, MT Works2)

Effective parameter registration

Registration of module parameters within the system has been further enhanced with parameters being shared
bidirectionally between MELSOFT Navigator and GX Works3, MT Works2. Upward registration of parameters to
MELSOFT Navigator is also possible as changes are reflected from within the system configuration.

Reflect to system level Reflect to system level

Register Register
GX Works3 MT Works2

Unified system label database

The unified label database allows centralized management of global labels across both GX Works3 and
GT Works3. The dynamic labeling structure enables system label sharing, which ensures that labels can be
used without being conscious of the device associated with that label. The structure is also responsive to system
configuration changes without having to modify the labels within the product programming tools.
MELSOFT Navigator

System label editor

Register
GX Works3/MT Works2 GT Works3

Register Register
Global label editor System label editor
System label database

55
 Mitsubishi Electric
MELSOFT GX Works3
Promotion Movie

One Software, Many Possibilities

GX Works3 consists of various different components that help to simplify project creation and maintenance tasks.
A system design console that enables projects to be created at the system overview stage has been added.
Additionally, the main programming languages are supported and their labels (variables) are shared, further
simplifying programming. Various debug and maintenance features are also included.

configuration
System
CPU
I/O
Project lifecycle engineering
Various features have been consolidated into an integrated engineering environment that enables easier project

Analog
creation throughout the engineering process, ensuring consistency through every step.

System-wide design
• Easy system configuration with parts library
e
High-speed counter
Motion, Positioning,

• Direct module parameter registration

nanc Sy
ste
• Integrated simple motion module setup te
in

m
Ma

De

Multiple programming languages

sign

• Conforms to IEC 61131-3 MELSOFT

• Supports main programming languages
• Consistency between different programming tabs GX Works3
Network
De

Simple to debug
g
in
bu

• Various online monitoring g

m

m
• Hardware simulator (emulator) ra
• Data logging
Pro g
Software

Straightforward maintenance
• System monitoring
• Module and network diagnostics
• Multi-language commenting

56
 Software

nce Sy
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Ma

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sign
System Design
MELSOFT
GX Works3
De

g
in
bu

g
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m
ra
Pro g

System design with a convenient parts library

Most projects start from system design, so having a software application that caters to this initial stage is
important. GX Works3 incorporates a system design feature that enables system components to be assembled
directly in the programming software. It includes a parts library consisting of MELSEC iQ-R Series modules that
can be used to simplify system creation.

Simply drag & drop

when adding a module

Drag & Drop

Register module parameters on the fly

Another useful feature is the ability to register parameters automatically. Simply double-click on the desired
module and the corresponding parameters will be registered in the project. A window with an easy-to-use
parameter settings screen opens, enabling module parameters to be modified as needed.

Double click

Module parameter window appears

Parameters automatically added to navigation pane

57
Integrated motion setup tool
GX Works3 is equipped with a special motion setup tool that makes it easy to change simple motion module
settings such as module parameters, positioning data and servo parameters. Also, debugging is simplified using
the fine-tuning cam data generation feature.
Project window Servo amplifier information Servo amplifier setup
Easy to use navigation pane Quickly visualize type of servo Select the servo amplifier and operation mode for
amplifier and motor model each axis.

configuration
System
Assistant window Cam data CPU
I/O
Analog
Selective tools further Fine-tune cam curve data
simplifying setup
Synchronous
High-speed counter
Motion, Positioning,

Basic parameters parameters

Network
Software

58
 Software

nce Sy
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sign
Programming
MELSOFT
GX Works3
De

g
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Pro g

Central parts library

GX Works3 comes with an updated object library pre-installed in the software consisting of a module library with
current modules at time of software release although this can be added to as newer modules become available. A
variety of other objects are available such as third-party partner function blocks and an applications library (future
release). The library can be fully shared across multiple projects.

■ 3rd party partner FBs

FB FB FB

Vision sensor RFID Laser displacement sensor

■ Module FBs (Mitsubishi Electric products)

■ Applications library Coming soon!

Just "select" to create a program

Preventive
Energy saving
maintenance

Work flow Packaging machine

Reduce repetitive program tasks

Global and local variables (labels) are supported providing an easy way to share device names across multiple
projects, other MELSOFT software and third party SCADA. The variables can be registered into either the current
program, function block as a local variable or within the project as a global variable to share across multiple
programs within the same project. Variables specific to a particular module are also available, and can be used
immediately, further reducing engineering time and cost.

Global label editor

Module label

Local label editor

59
Main programming languages supported
The main IEC languages are supported by GX Works3. Various different programming languages can be used
within the same project simultaneously and can be viewed easily via the menu tab. The variables and devices
used in each program can be shared across multiple platforms, with user defined function blocks supported.

configuration
System
CPU
I/O
Analog
High-speed counter
Motion, Positioning,
Network
Software

60
 Software

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Debug
MELSOFT
GX Works3
De

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Pro g

Easy version management

Being able to visually see and manage different versions of the same project can help to reduce debugging
processes. Even with a number of engineers are working on the same project, changes made are easily
recognized directly from the program or as an automatically generated verification results list. This feature is
available for locally stored projects on the computer, and between the program stored in the programmable
controller CPU.
Online Data Operation Graphical representation of differences Future support
Source Target

Blue : Deleted Green : Addition Red : Modified

Verification results

Hardware simulation
GX Works3 features an integrated simulator which helps to visualize the operation of the program during the
debugging process. Motion control CPU hardware can be simulated as well.

Offline debugging without a control CPU required

Directly debugging on the computer

61
 nce Sy
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Ma

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sign
Maintenance
MELSOFT
GX Works3
De

g
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bu

g
m

m
ra
Pro g

Simplified troubleshooting reduces downtime even further

GX Works3 incorporates various maintenance features helping to reduce downtime and keep productivity high.
Various levels of maintenance are possible, from system-wide monitoring of errors an module status to monitoring
at the network level; for example, detailed operations that show where programs or parameters have been
changed in the CPU and the monitoring of system events, which also includes a useful historical function that can
be exported as a CSV file.
System monitor CC-Link IE Control diagnosis window

configuration
System
CPU
I/O
Detailed information including the cause
and respective countermeasures are
shown here

Event history

Analog
Multi-language menu, ideal for global support
The menu system can be switched between various languages, enabling different locations to work on the same
project with the same programming software version. In addition, device comments within the project can be
switched between various languages without having to create multiple copies of the same project to support the
High-speed counter
Motion, Positioning,

comments in different languages.

Network

Menu language switch

Language version of comments being switched

Software

62
 Extensive global support coverage
providing expert help whenever needed
■ Global FA centers

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MITSUBISHI ELECTRIC
@7 w CORPORATION !8
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China ASEAN America

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MITSUBISHI ELECTRIC AUTOMATION (CHINA) MITSUBISHI ELECTRIC ASIA PTE. LTD. MITSUBISHI ELECTRIC AUTOMATION, INC.
LTD. 307, Alexandra Road, Mitsubishi Electric Building, 500 Corporate Woods Parkway, Vernon Hills, IL 60061,
No.1386 Hongqiao Road, Mitsubishi Electric Automation Singapore 159943 U.S.A.
Center, Shanghai, China Tel: +65-6470-2480 / Fax: +65-6476-7439 Tel: +1-847-478-2469 / Fax: +1-847-478-2253
Tel: +86-21-2322-3030 / Fax: +86-21-2322-3000
w Beijing FA Center Indonesia Mexico
MITSUBISHI ELECTRIC AUTOMATION (CHINA)
LTD. Beijing Branch !0 Indonesia FA Center !9 Mexico FA Center
Unit 901, 9F, Office Tower 1, Henderson Centre, 18 PT. MITSUBISHI ELECTRIC INDONESIA MITSUBISHI ELECTRIC AUTOMATION, INC.
Jianguomennei Avenue, Dongcheng District, Beijing, Cikarang Office Mexico Branch
China Jl. Kenari Raya Blok G2-07A Delta Silicon 5, Lippo Mariano Escobedo #69, Col. Zona Industrial,
Tel: +86-10-6518-8830 / Fax: +86-10-6518-2938 Cikarang-Bekasi 17550, Indonesia Tlalnepantla Edo, C.P.54030, Mexico
Tel: +62-21-2961-7797 / Fax: +62-21-2961-7794 Tel: +52-55-3067-7511
e Tianjin FA Center
MITSUBISHI ELECTRIC AUTOMATION (CHINA)
LTD. Tianjin Branch Vietnam Brazil
Room 2003 City Tower, No.35, Youyi Road, Hexi District,
Tianjin, China !1 Hanoi FA Center @0 Brazil FA Center
Tel: +86-22-2813-1015 / Fax: +86-22-2813-1017 MITSUBISHI ELECTRIC VIETNAM COMPANY MITSUBISHI ELECTRIC DO BRASIL COMÉRCIO E
LIMITED Hanoi Branch SERVIÇOS LTDA.
r Guangzhou FA Center
6-Floor, Detech Tower, 8 Ton That Thuyet Street, My Rua Jussara, 1750-Bloco B Anexo, Jardim Santa
MITSUBISHI ELECTRIC AUTOMATION (CHINA) Dinh 2 Ward, Nam Tu Liem District, Hanoi, Vietnam Cecilia, CEP 06465-070, Barueri-SP, Brasil
LTD. Guangzhou Branch Tel: +84-4-3937-8075 / Fax: +84-4-3937-8076 Tel: +55-11-4689-3000 / Fax: +55-11-4689-3016
Room 1609, North Tower, The Hub Center, No.1068,
Xingang East Road, Haizhu District, Guangzhou, China !2 Ho Chi Minh FA Center @1 Brazil Boituva FA Center
Tel: +86-20-8923-6730 / Fax: +86-20-8923-6715 MITSUBISHI ELECTRIC VIETNAM COMPANY MELCO CNC DO BRASIL COMÉRCIO E SERVIÇOS S.A.
LIMITED Acesso Jose Sartorelli, KM 2.1 CEP 18550-000 Boituva-
Unit 01-04, 10th Floor, Vincom Center, 72 Le Thanh Ton SP, Brasil
Taiwan Tel: +55-15-3363-9900 / Fax: +55-15-3363-9911
Street, District 1, Ho Chi Minh City, Vietnam
Tel: +84-8-3910-5945 / Fax: +84-8-3910-5947
t Taichung FA Center
MITSUBISHI ELECTRIC TAIWAN CO.,LTD. Europe
No.8-1, Industrial 16th Road, Taichung Industrial Park, India
Taichung City 40768, Taiwan, R.O.C. @2 Europe FA Center
Tel: +886-4-2359-0688 / Fax: +886-4-2359-0689 !3 India Pune FA Center MITSUBISHI ELECTRIC EUROPE B.V. Polish
MITSUBISHI ELECTRIC INDIA PVT. LTD. Branch
y Taipei FA Center
Pune Branch ul. Krakowska 50, 32-083 Balice, Poland
SETSUYO ENTERPRISE CO., LTD. Tel: +48-12-630-47-00 / Fax: +48-12-630-47-01
Emerald House, EL-3, J Block, M.I.D.C Bhosari, Pune-
3F, No.105, Wugong 3rd Road, Wugu District, New 411026, Maharashtra, India
Taipei City 24889, Taiwan, R.O.C. @3 Germany FA Center
Tel: +91-20-2710-2000 / Fax: +91-20-2710-2100
Tel: +886-2-2299-9917 / Fax: +886-2-2299-9963 MITSUBISHI ELECTRIC EUROPE B.V. German
!4 India Gurgaon FA Center Branch
MITSUBISHI ELECTRIC INDIA PVT. LTD.
Korea Gothaer Strasse 8, D-40880 Ratingen, Germany
Gurgaon Head Office Tel: +49-2102-486-0 / Fax: +49-2102-486-1120
u Korea FA Center 2nd Floor, Tower A & B, Cyber Greens, DLF Cyber City, @4 UK FA Center
DLF Phase-3, Gurgaon-122002 Haryana, India
MITSUBISHI ELECTRIC AUTOMATION KOREA MITSUBISHI ELECTRIC EUROPE B.V. UK Branch
Tel: +91-124-463-0300 / Fax: +91-124-463-0399
CO., LTD. Travellers Lane, Hatfield, Hertfordshire, AL10 8XB, U.K.
7F-9F, Gangseo Hangang Xi-tower A, 401, Yangcheon-ro, !5 India Bangalore FA Center Tel: +44-1707-28-8780 / Fax: +44-1707-27-8695
Gangseo-Gu, Seoul 157-801, Korea MITSUBISHI ELECTRIC INDIA PVT. LTD.
Tel: +82-2-3660-9605 / Fax: +82-2-3663-0475 Bangalore Branch @5 Czech Republic FA Center
Prestige Emerald, 6th Floor, Municipal No. 2, Madras Bank
MITSUBISHI ELECTRIC EUROPE B.V. Czech Branch
Road (Lavelle Road), Bangalore-560001, Karnataka, India Avenir Business Park, Radlicka 751/113e, 158 00
Thailand Praha5, Czech Republic
Tel: +91-80-4020-1600 / Fax: +91-80-4020-1699
Tel: +420-251-551-470 / Fax: +420-251-551-471
i Thailand FA Center !6 India Chennai FA Center
MITSUBISHI ELECTRIC FACTORY AUTOMATION MITSUBISHI ELECTRIC INDIA PVT. LTD. @6 Russia FA Center
(THAILAND) CO., LTD. Chennai Branch MITSUBISHI ELECTRIC EUROPE B.V. Russian
12th Floor, SV.City Building, Office Tower 1, No. 896/19 “Citilights Corporate Centre” No.1, Vivekananda Road,
Branch St. Petersburg office
and 20 Rama 3 Road, Kwaeng Bangpongpang, Khet Srinivasa Nagar, Chetpet, Chennai-600031, Tamil Nadu, Piskarevsky pr. 2, bld 2, lit "Sch", BC "Benua", office
Yannawa, Bangkok 10120, Thailand India 720; 195027, St. Petersburg, Russia
Tel: +66-2682-6522 / Fax: +66-2682-6020 Tel: +91-44-4554-8772 / Fax: +91-44-4554-8773 Tel: +7-812-633-3497 / Fax: +7-812-633-3499

!7 India Ahmedabad FA Center @7 Turkey FA Center

MITSUBISHI ELECTRIC INDIA PVT. LTD. MITSUBISHI ELECTRIC TURKEY A.Ş Ümraniye
Ahmedabad Branch Branch
B/4, 3rd Floor, Safal Profitaire, Corporate Road, Serifali Mahallesi Nutuk Sokak No:5, TR-34775
Prahaladnagar, Satellite, Ahmedabad, Gujarat-380015, India Umraniye, Istanbul, Turkey
Tel: +91-79-6512-0063 Tel: +90-216-526-3990 / Fax: +90-216-526-3995

63
 General specifications
Item Specification
Operating ambient temperature 0...55°C
Storage ambient temperature –25...75°C
Operating ambient humidity 5...95% RH, non-condensing
Storage ambient humidity 5...95% RH, non-condensing
- Frequency Constant acceleration Half amplitude Sweep count
Compliant with Under intermittent 5...8.4 Hz - 3.5 mm 10 times each in
Vibration resistance JIS B 3502 and vibration 8.4...150 Hz 9.8 m/s2 - X, Y, Z directions
IEC 61131-2 Under continuous 5...8.4 Hz - 1.75 mm
-
vibration 8.4...150 Hz 4.9 m/s2 -
Shock resistance Compliant with JIS B 3502 and IEC 61131-2 (147 m/s2, 3 times each in directions X, Y, Z)
Operating atmosphere No corrosive gases*4, no flammable gases, no excessive conductive dust
Operating altitude*1 0...2000 m*5
Installation location Inside a control panel
Overvoltage category*2 ≤2
Pollution degree*3 ≤2
Equipment class Class 2*6
*1: Do not use or store the programmable controller under pressure higher than the atmospheric pressure of altitude 0 m. Doing so may cause malfunction.
When using the programmable controller under pressure, please consult your local Mitsubishi Electric representative.
*2: This indicates the section of the power supply to which the equipment is assumed to be connected between the public electrical power distribution network and the machinery within premises.
Category 2 applies to equipment for which electrical power is supplied from fixed facilities. The surge voltage withstand level for up to the rated voltage of 300 V is 2500 V.
*3: This index indicates the degree to which conductive material is generated in terms of the environment in which the equipment is used.
Pollution level 2 is when only non-conductive pollution occurs. A temporary conductivity caused by condensing must be expected occasionally.
*4: The special coated product, which meets the regulation (JIS C 60721-3-3/IEC 60721-3-3 3C2) related to corrosive gas, is available for the use in a corrosive gas environment.
For more details on the special coated product, please consult your local Mitsubishi Electric representative.
*5: When used at an altitude higher than 2000 m, the upper limits of the permissible voltage and the operating ambient temperature become lower. Please consult your local Mitsubishi Electric representative.
*6: Class 1 when the RQ extension base unit is used.

Software operating environment

Item MELSOFT GX Works3, CW Configurator CW Workbench, CW-Sim, CW-Sim Standalone
Personal computer Windows® supported personal computer
CPU Intel® Core™ 2 Duo Processor 2 GHz or more
Available hard disk capacity 5 GB 4 GB or more
Display Resolution 1024 x 768 pixels or higher
Communication interface Ethernet port
USB port, Ethernet port
(When a CPU module is directly connected.) (1000BASE-T/100BASE-TX/10BASE-T)
Required memory
64-bit edition 2 GB or more recommended 2 GB or more
32-bit edition 1 GB or more recommended 1 GB or more (2 GB or more recommended)
OS (English version)
Microsoft® Windows® 8.1 Operating System ● ●*7
Microsoft® Windows® 8.1 Pro Operating System ● ●*7
Microsoft® Windows® 8.1 Enterprise Operating System ● ●*7
Microsoft® Windows® 8 Operating System ● ●*7
Microsoft® Windows® 8 Pro Operating System ● ●*7
Microsoft® Windows® 8 Enterprise Operating System ● ●*7
Microsoft® Windows® 7 Starter Operating System ● -
Microsoft® Windows® 7 Home Premium Operating System ● -
Microsoft® Windows® 7 Professional Operating System ● ●*8
Microsoft® Windows® 7 Ultimate Operating System ● ●*8
Microsoft® Windows® 7 Enterprise Operating System ● ●*8
Microsoft® Windows Vista® Home Basic Operating System ●*9 -
Microsoft® Windows Vista® Home Premium Operating System ●*9 -
Microsoft® Windows Vista® Business Operating System ●*9 -
Microsoft® Windows Vista® Ultimate Operating System ●*9 -
Microsoft® Windows Vista® Enterprise Operating System ●*9 -
Microsoft® Windows® XP Professional Operating System SP3 ●*9 ●*9
Microsoft® Windows® XP Home Edition Operating System SP3 ●*9 -
*7: Windows Touch is not supported. *9: The 64-bit edition is not supported.
*8: Windows® XP Mode is not supported.

MELSOFT GX Works3-supported CPU modules CW Workbench,

Item Model CW-Sim, CW-Sim Standalone,
Programmable controller CPU R04CPU
MELSOFT CW Configurator-supported CPU modules
R08CPU
R16CPU Item Model
C Controller R12CCPU-V
R32CPU
R120CPU
Process CPU R08PCPU
R16PCPU
R32PCPU
R120PCPU

64
 Product List
CPU modules
Type Model Outline
R04CPU Program capacity, 40K steps; basic operation processing speed (LD instruction), 0.98 ns
R08CPU Program capacity, 80K steps; basic operation processing speed (LD instruction), 0.98 ns
Programmable controller CPU R16CPU Program capacity, 160K steps; basic operation processing speed (LD instruction), 0.98 ns
R32CPU Program capacity, 320K steps; basic operation processing speed (LD instruction), 0.98 ns
R120CPU Program capacity, 1200K steps; basic operation processing speed (LD instruction), 0.98 ns
R16MTCPU Up to 16-axis control; operation cycle, ≤0.222 ms; SSCNET 3/H connectivity
Motion CPU
R32MTCPU Up to 32-axis control; operation cycle, ≤0.222 ms; SSCNET 3/H connectivity
R08PCPU NEW Program capacity, 80K steps; basic operation processing speed (LD instruction), 0.98 ns
R16PCPU NEW Program capacity, 160K steps; basic operation processing speed (LD instruction), 0.98 ns
Process CPU
R32PCPU NEW Program capacity, 320K steps; basic operation processing speed (LD instruction), 0.98 ns
R120PCPU NEW Program capacity, 1200K steps; basic operation processing speed (LD instruction), 0.98 ns
C Controller R12CCPU-V NEW Endian format, little endian; OS, VxWorks® Version 6.9
NZ1MEM-2GBSD NEW SD memory card, 2G bytes
NZ1MEM-4GBSD NEW SDHC memory card, 4G bytes
SD memory card*1
NZ1MEM-8GBSD NEW SDHC memory card, 8G bytes
NZ1MEM-16GBSD NEW SDHC memory card, 16G bytes
NZ2MC-1MBS 1M bytes
NZ2MC-2MBS 2M bytes
Extended SRAM cassette NZ2MC-4MBS 4M bytes
NZ2MC-8MBS 8M bytes
NZ2MC-8MBSE*2 NEW 8M bytes
Q6BAT Replacement battery
Battery Q7BAT Replacement large-capacity battery
Q7BAT-SET Large-capacity battery with holder for mounting CPU
*1: Mitsubishi Electric shall not guarantee the operation of any third party products.
*2: ECC type for Process CPU modules only.

Base unit
Type Model Outline
R35B 5 slots, for MELSEC iQ-R Series modules
Main base R38B 8 slots, for MELSEC iQ-R Series modules
R312B 12 slots, for MELSEC iQ-R Series modules
R65B 5 slots, for MELSEC iQ-R Series modules
Extension base R68B 8 slots, for MELSEC iQ-R Series modules
R612B 12 slots, for MELSEC iQ-R Series modules
RQ65B 5 slots, for MELSEC-Q Series modules
RQ extension base RQ68B 8 slots, for MELSEC-Q Series modules
RQ612B 12 slots, for MELSEC-Q Series modules
RC06B 0.6 m cable for extension and RQ extension base units
RC12B 1.2 m cable for extension and RQ extension base units
Extension cable
RC30B 3 m cable for extension and RQ extension base units
RC50B 5 m cable for extension and RQ extension base units
R6DIN1 For main and extension base units
Q6DIN1 For RQ68B/RQ612B
DIN rail mounting adapter
Q6DIN2 For RQ65B
Q6DIN1A For RQ extension base units (with vibration-proofing bracket sets)
RG60 For I/O slots of main and extension base units
Blank cover
QG60 For I/O slots of RQ extension base units

Power supply module

Type Model Outline
R61P AC power supply; input, 100 to 240 V AC; output, 5 V DC/6.5 A
R62P NEW AC power supply; input, 100 to 240 V AC; output, 5 V DC/3.5 A, 24 V DC/0.6 A
Power supply
R64P NEW AC power supply; input, 100 to 240 V AC; output, 5 V DC/9 A
R63P DC power module; input, 24 V DC; output, 5 V DC/6.5 A

I/O modules
Type Model Outline
RX10 AC input, 16 points; 100...120 V AC (50/60 Hz)
RX40C7 DC input, 16 points; 24 V DC, 7.0 mA
Input
RX41C4 DC input, 32 points; 24 V DC, 4.0 mA
RX42C4 DC input, 64 points; 24 V DC, 4.0 mA
RY10R2 Relay output, 16 points; 24 V DC/2 A, 240 V AC/2 A
RY40NT5P Transistor (sink) output, 16 points; 12 to 24 V DC, 0.5 A
RY41NT2P Transistor (sink) output, 32 points; 12 to 24 V DC, 0.2 A
Output RY42NT2P Transistor (sink) output, 64 points; 12 to 24 V DC, 0.2 A
RY40PT5P Transistor (source) output, 16 points; 12 to 24 V DC, 0.5 A
RY41PT1P Transistor (source) output, 32 points; 12 to 24 V DC, 0.1 A
RY42PT1P Transistor (source) output, 64 points; 12 to 24 V DC, 0.1 A
DC input, 32 points; 24 V DC, 4.0 mA
I/O combined RH42C4NT2P
Transistor (sink) output, 32 points; 12 to 24 V DC, 0.2 A

65
 Analog modules
Type Model Outline
4 channels for voltage/current inputs
R60AD4
-10...10 V DC, -32000...32000; 0...20 mA DC, 0...32000; 80 μs/CH
8 channels for voltage inputs
R60ADV8
-10...10 V DC, -32000...32000; 80 μs/CH
8 channels for current inputs
Analog input R60ADI8
0...20 mA DC/0...32000; 80 μs/CH
8 channels for voltage/current input, channel isolated
R60AD8-G NEW
-10...10 V DC/-32000...32000, 0...20 mA DC/0...32000, 10 ms/CH
16 channels for voltage/current input, channel isolated
R60AD16-G NEW
-10...10 V DC/-32000...32000, 0...20 mA DC/0...32000, 10 ms/CH
R60TD8-G NEW Thermocouple (B, R, S, K, E, J, T, N), 8 channels for input, channel isolated, 30 ms/CH
Temperature input
R60RD8-G NEW RTD (Pt100, JPt100, Ni100, Pt50), 8 channels for input, channel isolated, 10 ms/CH
4 channels for voltage/current outputs
R60DA4
-32000...32000, -10...10 V DC; 0...32000, 0...20 mA DC; 80 μs/CH
8 channels for voltage outputs
R60DAV8
-32000...32000, -10...10 V DC; 80μs/CH
8 channels for current outputs
Analog output R60DAI8
0...32000, 0...20 mA DC; 80 μs/CH
8 channels for voltage/current output, channel isolated
R60DA8-G NEW
-32000...32000/-12...12 V DC, 0...32000/0...20 mA DC, 1 ms/CH
16 channels for voltage/current output, channel isolated
R60DA16-G NEW
-32000...32000/-12...12 V DC, 0...32000/0...20 mA DC, 1 ms/CH

Motion/Positioning/High-speed counter modules

Type Model Outline
RD77MS2 2 axes, linear/circular interpolation, advanced synchronous control, SSCNET3/H support
RD77MS4 4 axes, linear/circular interpolation, advanced synchronous control, SSCNET3/H support
Simple motion
RD77MS8 8 axes, linear/circular interpolation, advanced synchronous control, SSCNET3/H support
RD77MS16 16 axes, linear/circular interpolation, advanced synchronous control, SSCNET3/H support
RD75P2 Transistor output, 2 axes; max. output, 200k pulse/s; linear/circular interpolation
RD75P4 Transistor output, 4 axes; max. output, 200k pulse/s; linear/circular/helical interpolation
Positioning
RD75D2 Differential driver output, 2 axes; max. output, 5M pulse/s; linear/circular interpolation
RD75D4 Differential driver output, 4 axes; max. output, 5M pulse/s; linear/circular/helical interpolation
RD62P2 5/12/24 V DC input, 2 channels; counting speed, max. 200k pulse/s; external output, transistor (sink type)
High-speed counter RD62P2E 5/12/24 V DC input, 2 channels; counting speed, max. 200k pulse/s; external output, transistor (source type)
RD62D2 Differential input, 2 channels; max. counting speed, 8M pulse/s; external output, transistor (sink type)

Network modules
Type Model Outline
1 Gbps/100 Mbps/10 Mbps, 2 ports
Ethernet (built-in CC-Link IE) RJ71EN71
Multi-network connectivity (Ethernet/CC-Link IE)
CC-Link IE Control RJ71GP21-SX 1 Gbps, fiber-optic cable, control/normal station
CC-Link IE Field RJ71GF11-T2 1 Gbps, master/local station
CC-Link RJ61BT11 Max. 10 Mbps, master/local station, CC-Link Ver.2 supported
RJ71C24 Max. 230.4 kbps; RS-232, 1 channel; RS-422/485, 1 channel
Serial communication RJ71C24-R2 Max. 230.4 kbps; RS-232, 2 channels
RJ71C24-R4 Max. 230.4 kbps; RS-422/485, 2 channels

Software
Type Model Outline
FA engineering software*1
• System Management Software: MELSOFT Navigator
• Controller Programming Software: MELSOFT GX Works3*2, GX Works2, GX Developer
SW2DND-IQWK-E • Motion Programming Software: MELSOFT MT Works2
MELSOFT iQ Works
(DVD-ROM edition) • HMI Programming Software: MELSOFT GT Works3
• Robot Programing Software: MELSOFT RT ToolBox2 mini
• Inverter Setup Software: MELSOFT FR Configurator2
• MITSUBISHI ELECTRIC FA Library
SW1DND-GXW3-E • Controller Programming Software: MELSOFT GX Works3*2, GX Works2, GX Developer
MELSOFT GX Works3
(DVD-ROM edition) • MITSUBISHI ELECTRIC FA Library
SW1DND-CWWR-E NEW Engineering tool for C Controller module
CW Workbench SW1DND-CWWR-EZ NEW Additional license for R12CCPU-V
SW1DND-CWWR-EVZ NEW Update license for R12CCPU-V
CW-Sim SW1DND-CWSIMR-EZ NEW VxWorks® simulation environment for CW Workbench, additional license
CW-Sim Standalone SW1DNC-CWSIMSAR-E NEW VxWorks® simulation environment for CW Workbench, standalone type
MELSOFT CW Configurator SW1DND-RCCPU-E NEW Setting and monitoring tool for C Controller
*1: For detailed information about supported modules, refer to the manuals of the relevant software package.
*2: The MELSOFT GX Works3 menu is switchable between Japanese, English, and simplified Chinese. (Traditional Chinese and Korean will be supported soon.)

66
 FA Products

HMI Graphic Operation Terminal GOT2000 Series GT27 Model

To the top of HMIs with further user-friendly, satisfactory standard features.

◎Comfortable screen operation even if high-load processing (e.g. logging, device data transfer)
is running. (Monitoring performance is twice faster than GT16)
◎Actual usable space without using a SD card is expanded to 128MB for more flexible screen design.
◎Multi-touch features, two-point press, and scroll operations for more user-friendliness.
◎Outline font and PNG images for clear, beautiful screen display.
Product Specifications
Screen size 15", 12.1", 10.4", 8.4"
Resolution XGA, SVGA, VGA
Intensity adjustment 32-step adjustment
Touch panel type Analog resistive film
Built-in interface RS-232, RS-422/485, Ethernet, USB, SD card
Applicable software GT Works3
Input power supply voltage 100 to 240VAC (+10％, －15％), 24VDC (+25％, －20％)

Inverter FR-A800 Series

High-functionality, high-performance inverter

◎Realize even higher responsiveness during real sensor-less vector control or vector control, and achieve faster operating frequencies.
◎The latest automatic tuning function supports various induction motors and also sensor-less PM motors.
◎The standard model is compatible with EU Safety Standards STO (PLd, SIL2). Add options to support higher level safety standards.
◎Control and monitor inverters via CC-Link/CC-Link IE Field Network (option interface).
Product Specifications
Inverter capacity 200V class: 0.4kW to 90kW, 400V class: 0.4kW to 500kW
Control method High-carrier frequency PWM control (Select from V/F, advanced magnetic flux vector,
real sensorless vector or PM sensorless vector control), vector control (when using options)
Output frequency range 0.2 to 590Hz (upper limit is 400Hz when using advanced magnetic flux vector control,
real sensorless vector control, vector control or PM sensorless vector control)
Regenerative braking torque 200V class: 0.4K to 1.5K (150% at 3%ED) 2.2K/3.7K (100% at 3%ED) 5.5K/7.5K (100% at 2%ED)
(Maximum allowable duty) 11K to 55K (20% continuous) 75K or more (10% continuous), 400V class: 0.4K to 7.5K (100% at 2%ED)
11K to 55K (20% continuous) 75K or more (10% continuous)
Starting torque 200% 0.3Hz (3.7K or less), 150% 0.3Hz (5.5K or more) (when using real sensorless vector, vector control)

AC Servo Mitsubishi General-Purpose AC Servo MELSERVO-J4 Series

Industry-leading level of high performance servo

◎Industry-leading level of basic performance: Speed frequency response (2.5kHz), 4,000,000 (4,194,304p/rev) encoder
◎Advanced one-touch tuning function achieves the one-touch adjustment of advanced vibration suppression control Ⅱ, etc.
◎Equipped with large capacity drive recorder and machine diagnosis function for easy maintenance.
◎2-axis and 3-axis servo amplifiers are available for energy-conservative, space-saving, and low-cost machines.
Product Specifications
Power supply specifications 1-phase/3-phase 200V AC, 1-phase 100V AC, 3-phase 400V AC
Command interface SSCNET Ⅲ/H, SSCNET Ⅲ (compatible in J3 compatibility mode), CC-Link IE Field
Network interface with Motion, pulse train, analog
Control mode Position/Speed/Torque/Positioning function/Fully closed loop
Speed frequency response 2.5kHz
Tuning function Advanced one-touch tuning, advanced vibration suppression control Ⅱ, robust filter, etc.
Functional safety Conforms to functions of IEC/EN 61800-5-2, STO: Category 3 PL d, SIL 2
Conforms to Category 4 PL e, SIL 3 by a combination with MR-D30 functional safety unit
Compatible servo motor Rotary servo motor (rated output: 0.05 to 55kW), linear servo motor (continuous
thrust 50 to 3000N), direct drive motor (rated torque: 2 to 240N • m)

67
 Sensor-less Servo FR-E700EX Series, MM-GKR Series

Compact and high-function drive unit, low-inertial small capacity sensor-less PM motor
◎Use PM sensor-less vector control to control dedicated PM motors with high accuracy without an encoder.
◎High-accuracy speed control (speed fluctuation rate ±0.05%) and positioning control are supported.
◎The dedicated PM motor (MM-GKR) is quiet as it has no cooling fan. The compact and lightweight unit also supports reduction gears.
◎The standard model supports RS-485 communication. CC-Link communication is supported with an additional option.
Product Specifications
Drive unit / motor capacity 200V class: 0.1kW to 0.75kW
Control method PM sensor-less vector control (low speed range: high frequency superimposition control)
Rated speed 3000r/min
Speed fluctuation rate ±0.05% (at 0 to 100% load fluctuation)
Position control Command input method The point table method and zero point return enable position control with absolute position commands
Positioning accuracy ±1.8°(machine angle: equivalent to 200 [pulses/rev] resolution, input voltage 200V, wiring length within 5m)
Starting torque 200% (default value)
Communication specifications Built-in: RS-485 communication (Mitsubishi inverter protocol, Modbus-RTU protocol), option: CC-Link communication

Magnetic Starter MS-T Series

Exceed your expectations.

◎10A frame model is over 16% smaller with a width of just 36mm!!
◎New integrated terminal covers.
◎Reduce your coil inventory by up to 50%.
◎Be certified to the highest international levels while work is ongoing to gain other country.

Product specifications
Frame 10 A to 32 A
Applicable standards Certification to various standards including IEC, JIS, CE, UL, TÜV, CCC.
Terminal cover Standard terminal cover improves safety, simplifies ordering, and reduces inventory, etc.
Improved wiring Wiring and operability are improved with streamlining wiring terminal BC specifications.
Operation coil rating Wide range of operation coil ratings reduces number of coil types from 14 (N Series) to 7 types and simplifies selection.
Option units Diverse lineup includes Auxiliary Contact Block, Operation Coil Surge Absorber Unit, Mechanical Interlock Unit.

Low Voltage Circuit Breakers Mitsubishi WS-V Series Molded Case Circuit Breakers, Earth Leakage Circuit Breakers

Technologies based on long year experience realize more improved performance.

◎The new electronic circuit breakers can display various measurement items.
◎Improvement of breaking performance with new breaking technology“Expanded ISTAC”.
◎Compliance with global standard for panel and machine export.
◎Commoditization of internal accessories for shorter delivery time and stock reduction.
Product Specifications.
Frame 32-250A Frame
Applicable standard Applicable to IEC, GB, UL, CSA, JIS and etc.
Expansion of UL listed product line-up New line-up of 480VAC type with high breaking performance for SCCR requirement
Commoditization of internal accessories Reduction of internal accessory types from 3 to 1
Commoditization for AC and DC circuit use Common use of 32/63A frame in both AC and DC circuit
Compact size for easy to use Thermal adjustable and electronic circuit breakers are same size as 250AF fixed type
Measuring Display Unit (MDU) breakers MDU breakers measure, display and transmit energy date to realize energy management.

68
 Robot MELFA F Series

High speed, high precision and high reliability industrial robot

◎Compact body and slim arm design, allowing operating area to be expanded and load capacity increased.
◎The fastest in its class using high performance motors and unique driver control technology.
◎Improved flexibility for robot layout design considerations.
◎Optimal motor control tuning set automatically based on operating position, posture, and load conditions.
Product Specifications
Degrees of freedom Vertical:6 Horizontal:4
Vertical:Floor-mount, ceiling mount, wall mount (Range of motion for J1 is limited)
Installation
Horizontal:Floor-mount
Maximum load capacity Vertical:2-20ｋｇ Horizontal:3-20kg
Maximum reach radius Vertical:504-1503ｍｍ Horizontal:350-1,000mm

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 Microsoft, Windows, Excel are registered trademarks of Microsoft Corporation in the United States and other countries.
Ethernet is a registered trademark of Xerox Corporation.
SDHC logo is a trademark of SD-3C, LLC.
MODBUS is a registered trademark of Schneider Electric.
ARM is a registered trademark of ARM Limited (or its subsidiaries) in the EU and/or elsewhere.
QR Code is a trademark or registered trademark of DENSO WAVE INCORPORATED in JAPAN, the United States and/or other countries.
All other company names and product names used in this document are trademarks or registered trademarks of their respective companies.

Precautions before use For s a fe us e

This publication explains the typical features and functions of the products herein • To use the products given in this publication properly, always read the relevant
and does not provide restrictions or other information related to usage and module manuals before beginning operation.
combinations. Before using the products, always read the product user manuals. • The products have been manufactured as general-purpose parts for general
industries, and are not designed or manufactured to be incorporated in a device or
Mitsubishi Electric will not be held liable for damage caused by factors found not to system used in purposes related to human life.
be the cause of Mitsubishi Electric; opportunity loss or lost profits caused by faults in • Before using the products for special purposes such as nuclear power, electric
Mitsubishi Electric products; damage, secondary damage, or accident compensation, power, aerospace, medicine or passenger-carrying vehicles, consult with Mitsubishi
Electric.
whether foreseeable or not, caused by special factors; damage to products other • The products have been manufactured under strict quality control. However, when
than Mitsubishi Electric products; or any other duties. installing the products where major accidents or losses could occur if the products
fail, install appropriate backup or fail-safe functions in the system.

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 Country/Region Sales office Tel/Fax
USA MITSUBISHI ELECTRIC AUTOMATION, INC. Tel : +1-847-478-2100
500 Corporate Woods Parkway, Vernon Hills, IL 60061, U.S.A. Fax : +1-847-478-2253
Mexico MITSUBISHI ELECTRIC AUTOMATION, INC. Mexico Branch Tel : +52-55-3067-7500
Mariano Escobedo #69, Col. Zona Industrial, Tlalnepantla Edo, C.P.54030, Mexico
Brazil MITSUBISHI ELECTRIC DO BRASIL COMÉRCIO E SERVIÇOS LTDA. Tel : +55-11-4689-3000
Rua Jussara, 1750-Bloco B Anexo, Jardim Santa Cecilia, CEP 06465-070, Barueri-SP, Brasil Fax : +55-11-4689-3016
Germany MITSUBISHI ELECTRIC EUROPE B.V. German Branch Tel : +49-2102-486-0
Gothaer Strasse 8, D-40880 Ratingen, Germany Fax : +49-2102-486-1120
UK MITSUBISHI ELECTRIC EUROPE B.V. UK Branch Tel : +44-1707-28-8780
Travellers Lane, Hatfield, Hertfordshire, AL10 8XB, U.K. Fax : +44-1707-27-8695
Ireland MITSUBISHI ELECTRIC EUROPE B.V. Irish Branch Tel : +353-1-4198800
Westgate Business Park, Ballymount, IRL-Dublin 24, Ireland Fax : +353-1-4198890
Italy MITSUBISHI ELECTRIC EUROPE B.V. Italian Branch Tel : +39-039-60531
Centro Direzionale Colleoni-Palazzo Sirio Viale Colleoni 7, 20864 Agrate Brianza(Milano) Italy Fax : +39-039-6053-312
Spain MITSUBISHI ELECTRIC EUROPE, B.V. Spanish Branch Tel : +34-935-65-3131
Carretera de Rubí, 76-80-Apdo. 420, 08173 Sant Cugat del Vallés (Barcelona), Spain Fax : +34-935-89-1579
France MITSUBISHI ELECTRIC EUROPE B.V. French Branch Tel : +33-1-55-68-55-68
25, Boulevard des Bouvets, F-92741 Nanterre Cedex, France Fax : +33-1-55-68-57-57
Czech Republic MITSUBISHI ELECTRIC EUROPE B.V. Czech Branch Tel : +420-251-551-470
Avenir Business Park, Radlicka 751/113e, 158 00 Praha5, Czech Republic Fax : +420-251-551-471
Poland MITSUBISHI ELECTRIC EUROPE B.V. Polish Branch Tel : +48-12-630-47-00
ul. Krakowska 50, 32-083 Balice, Poland Fax : +48-12-630-47-01
Sweden MITSUBISHI ELECTRIC EUROPE B.V. (Scandinavia) Tel : +46-8-625-10-00
Fjelievägen 8, SE-22736 Lund, Sweden Fax : +46-46-39-70-18
Russia MITSUBISHI ELECTRIC EUROPE B.V. Russian Branch St. Petersburg office Tel : +7-812-633-3497
Piskarevsky pr. 2, bld 2, lit “Sch”, BC “Benua”, office 720; RU-195027 St. Petersburg, Russia Fax : +7-812-633-3499
Turkey MITSUBISHI ELECTRIC TURKEY A.Ş Ümraniye Branch Tel : +90-216-526-3990
Serifali Mahallesi Nutuk Sokak No:5, TR-34775 Umraniye, Istanbul, Turkey Fax : +90 -216-526-3995
Dubai MITSUBISHI ELECTRIC EUROPE B.V. Dubai Branch Tel : +971-4-3724716
Dubai Silicon Oasis, P.O.BOX 341241, Dubai, U.A.E. Fax : +971-4-3724721
South Africa ADROIT TECHNOLOGIES Tel : +27-11-658-8100
20 Waterford Office Park, 189 Witkoppen Road, Fourways, Johannesburg, South Africa Fax : +27-11-658-8101
China MITSUBISHI ELECTRIC AUTOMATION (CHINA) LTD. Tel : +86-21-2322-3030
No.1386 Hongqiao Road, Mitsubishi Electric Automation Center, Shanghai, China Fax : +86-21-2322-3000
Taiwan SETSUYO ENTERPRISE CO., LTD. Tel : +886-2-2299-2499
6F, No.105, Wugong 3rd Road, Wugu District, New Taipei City 24889, Taiwan, R.O.C. Fax : +886-2-2299-2509
Korea MITSUBISHI ELECTRIC AUTOMATION KOREA CO., LTD. Tel : +82-2-3660-9530
7F-9F, Gangseo Hangang Xi-tower A, 401, Yangcheon-ro, Gangseo-Gu, Seoul 157-801, Korea Fax : +82-2-3664-8372
Singapore MITSUBISHI ELECTRIC ASIA PTE. LTD. Tel : +65-6473-2308
307, Alexandra Road, Mitsubishi Electric Building, Singapore 159943 Fax : +65-6476-7439
Thailand MITSUBISHI ELECTRIC FACTORY AUTOMATION (THAILAND) CO., LTD. Tel : +66-2682-6522
12th Floor, SV.City Building, Office Tower 1, No. 896/19 and 20 Rama 3 Road, Fax : +66-2682-6020
Kwaeng Bangpongpang, Khet Yannawa, Bangkok 10120, Thailand
Vietnam MITSUBISHI ELECTRIC VIETNAM COMPANY LIMITED Hanoi Branch Tel : +84-4-3937-8075
6-Floor, Detech Tower, 8 Ton That Thuyet Street, My Dinh 2 Ward, Nam Tu Liem District, Hanoi, Vietnam Fax : +84-4-3937-8076
Indonesia PT. MITSUBISHI ELECTRIC INDONESIA Tel : +62-21-3192-6461
Gedung Jaya 11th Floor, JL. MH. Thamrin No.12, Jakarta Pusat 10340, Indonesia Fax : +62-21-3192-3942
India MITSUBISHI ELECTRIC INDIA PVT. LTD. Pune Branch Tel : +91-20-2710-2000
Emerald House, EL-3, J Block, M.I.D.C Bhosari, Pune-411026, Maharashtra, India Fax : +91-20-2710-2100
Australia MITSUBISHI ELECTRIC AUSTRALIA PTY. LTD. Tel : +61-2-9684-7777
348 Victoria Road, P.O. Box 11, Rydalmere, N.S.W 2116, Australia Fax : +61-2-9684-7245

HEAD OFFICE: TOKYO BUILDING, 2-7-3, MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN
NAGOYA WORKS: 1-14, YADA-MINAMI 5, HIGASHI-KU, NAGOYA, JAPAN

Mitsubishi Electric Corporation Nagoya Works is a factory certified for ISO14001 (standards for environmental
management systems) and ISO9001(standards for quality assurance management systems)

New publication, effective Feb. 2015.

L(NA)08298ENG-C 1502[IP] Specifications are subject to change without notice.