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MELSEC iQ-R Series


The MELSEC iQ-R series is provided with sophisticated dual engines: the PLC CPU engine for machine control and the Motion CPU engine for Motion control. The engines respectively process different types of control based on the characteristic of each engine while working together on data through a high-speed system bus. CPU loads are significantly distributed by these dual engines compared with a single engine, enabling any equipment to maximize its performance, even for a load change machine or multi-axis equipment.

The MELSERVO-J4 series servo amplifier is an environmentally and user friendly product, while offering industry-leading level of performance. Connecting the amplifiers to "SSCNETIII/H" optical network enables high-speed and high-accuracy control with the MR-J4 dedicated engine and high-resolution encoder.

Select the most suitable combination of CPU engines that can reduce cost and maximize machine performance to the fullest from our extensive product line. Efficiency in designing and debugging is also improved.

Programming efficiency matters when it comes to productivity. The MELSEC iQ-R series optimizes all procedures, from designing, debugging, to startup.

Equipped with advanced dual engines that are only possible with our cutting-edge iQ platform technology, the MELSEC iQ-R series takes a step further to accelerate the equipment revolution by collaborating with our partner companies. Now, a wide variety of SSCNETIII/H compatible partner products are available, such as stepping motors and direct drive motors.


  • Wide-range, sophisticated Motion controls, such as advanced synchronous control, cam control, speed-torque control (tightening & press-fit control) can be achieved just with sequence programs including function blocks.
  • All the functions of QD75MH are included in the Simple Motion module.
  • From programming to servo amplifier configuration, everything is packed into an easy-to-use engineering software (MELSOFT GX Works3).

Superb Functionality for Wide-range Applications

All-in-one Engineering ToolRevolutionary

Various features have been consolidated in one software (MELSOFT GX Works3), covering from programming to debugging for a servo system consisting of Simple Motion modules and servo amplifiers.

Basic Performance

Tact time is dramatically reduced by improving basic performance of the Simple Motion module.

High-speed Synchronous Network SSCNETIII/H


  • Communications speed is increased to 150 Mbps full duplex (equivalent to 300 Mbps half duplex), three times faster than the conventional speed.
    System response is dramatically improved.
  • Smooth control of a machine is possible using high-speed serial communications with a cycle time of 0.222 ms.
  • Synchronous communications are achieved with SSCNETIII/H, offering technical advantages for machines that require deterministic control.
  • Long distance wiring is possible up to 3200 m (10498.69 ft.) per system (maximum of 100 m (328.08 ft.) between stations x control axes up to 32 axes), suitable for large-scale systems.
  • SSCNETIII/H compatible and SSCNETIII compatible servo amplifiers can be used together.
    (The communications speed when SSCNETIII compatible products are used together in the same system: 150 Mbps full duplex)
  • (Note): SSCNET (Servo System Controller Network)

Positioning ControlProductivity

Positioning control is easily executed using a Motion profile table.

Basic Positioning ControlProductivity

  • To respond to various applications, the Simple Motion module offers various control methods such as linear interpolation, 2-axis circular interpolation, fixed-pitch feed, and continuous trajectory controls.
  • Automatic operation can be executed by setting the positioning addresses and speeds, etc., in a sequence program.
  • Powerful auxiliary functions are available such as M-codes, skip functions, speed change function, and the target position change function.

Advanced Synchronous Control ProductivityEngineering

The advanced synchronous control can be achieved using software instead of controlling mechanically with physical gears, shafts, clutches, speed change gears or cams etc. Additionally, a cam is easily created with the cam auto-generation function. The synchronous control is started/ended on an axis-by-axis basis, so axes in synchronous control and in positioning control can be used together in one project.

All axes are synchronized using a synchronous
encoder axis or a servo input axis. 

Application  Packing machines, printing machines,
Application      diaper manufacturing machines,
Application      tire molder, etc.

Only two axes are in synchronization. The other axes are in positioning control.

Application  Tandem configuration, etc.

Module configuration of synchronous control Engineering

The whole module configuration of the advanced synchronous control can be displayed in one screen, and monitoring of the target modules can be also viewed, which enables more efficient debugging.

Cam FunctionProductivityEngineering

The output axis for synchronous control is operated with a cam.
The following three operations can be performed with the cam functions: Linear operation, Two-way operation, and Feed
operation; therefore any of the three can be selected to suit your application.

Simulation Engineering

The MELSOFT GX Works3 can simulate the program on a personal computer without an actual machine during the debugging process, shortening startup time.

Multi-axis Adjustment Function QualityMaintenance

The multi-axis adjustment function enables simpler servo adjustment and quicker startup for machines executing multi-axis simultaneous operation, such as a tandem configuration.

  • Multi-axis simultaneous JOG operation by specifying speed and acceleration/deceleration time
  • Multi-axis simultaneous positioning
  • Multi-axis simultaneous tuning by the same settings

Helical interpolation Productivity

For applications that require the boring of deep, large holes, usually multiple interpolation control of three axes (X, Y and Z) or more is performed.

  • 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.

Control FlowProductivityEngineering

Various positioning controls such as linear interpolation can be performed just by writing positioning data to the buffer memory using a sequence program or a function block.

Functions List

  Simple Motion Module
RD77MS16 RD77MS8 RD77MS4 RD77MS2
Servo amplifier connection method SSCNETIII/H (150Mbps)
Maximum distance between stations [m(ft.)] 100(328.08)
Connectable servo amplifier MR-J4(W)-BMore details
Number of control axes
(Virtual servo amplifier axis included)
Up to 16 axes Up to 8 axes Up to 4 axes Up to 2 axes
Operation cycle[ms]
(Operation cycle settings)
0.444ms, 0.888ms, 1.777ms, 3.555ms
Engineering Environment MELSOFT GX Works3
Control modes Position control, Speed control, Torque control, Speed-torque control, Cam control,
Advanced synchronous control, Trajectory control (Linear, arc, and helical)
Control unit mm, inch, degree, pulse
Number of positioning data 600 data (positioning data No. 1 to 600)/axis
(Can be set with MELSOFT GX Works3 or a sequence program)
Acceleration/deceleration process Trapezoidal acceleration/deceleration, S-curve acceleration/deceleration
Positioning control Linear interpolation (Up to 4 axes), Circular interpolation (2 axes), Helical interpolation (3 axes),
Speed-position switching control (ABS/INC), Position-speed switching control (INC),
Current value change
Manual control JOG operation, Manual pulse generator operation, Inching operation
Functions that change control details Speed change function, Override function, Acceleration/deceleration time change function,
Torque change function, Target position change function
Home position return method Proximity dog method, Count method 1, Count method 2, Data set method,
Scale home position signal detection method
Auxiliary functions Forced stop function, Hardware stroke limit function, Software stroke limit function, Absolute position system,
Amplifier-less operation function, Unlimited length feed, Optional data monitor function,
Mark detection function, Flash ROM backup, Event history function, M-code output function,
Digital oscilloscope function, Cam auto-generation function, Master-slave operation function,
safety observation function
Number of I/O occupying points 32 points (I/O allocation: Intelligent function module, 32 points)
5VDC internal current consumption[A] 1.0
Mass [kg] 0.23 0.22