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iQ-R Series Motion Controller (Part Numbers)

MITSUBISHI

This simple motion unit is compatible with CC-Link IE field network.
By setting the simple motion unit with simple parameters like a positioning unit,
and by starting up from a sequencer program, various motion controls can be handled easily, such as positioning controls,
advanced synchronous controls, cam controls and speed/torque controls.

Part Number

Configured Part Number is shown.

Product Specifications
Part Numbers
Catalog

iQ-R Series Motion Controller Specifications

Flexible High-Speed I/O Control Unit RD40PD01

RD40PD01 external appearance

RD40PD01 dimensional drawing (unit: mm)

Approved standards: UL/cUL, CE (EMC), KC

Base Block
Number Of Input Points			12 points (shared 5 V DC / 24 V DC / differential)
Number Of Outputs	For Differential Output		6 Points
Number Of Outputs	DC Output		8 points (5 to 24 V DC, 0.1 A/point)
Number Of Interruption Points			8 points
Input Response Time			1 μs or less
Output Response Time			1 μs or less
Pulse Input Speed	For Differential Input		Maximum 8M pulse/s (2 MHz)
Pulse Input Speed	DC Input		200k pulse/s (200 kHz)
Pulse Output Speed	For Differential Output		Maximum 8M pulse/s (2 MHz)
Pulse Output Speed	DC Output		200k pulse/s (200 kHz)
External Input Block	Logic Selection		Reversing, non-reversing
	Filter Time		General-purpose Input: 0 μs, 10 μs, 50 μs, 0.1 ms, 0.2 ms, 0.4 ms, 0.6 ms, 1 ms, 5 ms Pulse Input: 10k pulse/s, 100k pulse/s, 200k pulse/s, 500k pulse/s, 1,000k pulse/s, 2,000k pulse/s, 4,000k pulse/s, 8,000k pulse/s
	Initial State Selection		Low, High
Inter-Unit Synchronous Signal Input Terminal			A constant-cycle clock signal synchronized with the inter-unit synchronization cycle is output.
Y Device Terminal			ON/OFF states of general-purpose command 0 to general-purpose command F (Y10 to Y1F) are output as signals.
OUT Terminal			Same signals as those output from the external output block are output.
Parallel Encoder Block	Input Data Type		Pure binary, gray code, BCD
Parallel Encoder Block	Data Length		1 bit to 12 bits
SSI Encoder Block	Input Data Type		Pure binary, gray code
SSI Encoder Block	Data Length		1 bit to 32 bits
Multi-Functional Counter Block	Terminal		Input terminal, latch input terminal, event input terminal, output terminal, event output terminal, cam switch output terminal, pattern generator output terminal
	Input Signal Event Detection Block		Combination of rise/fall/low/high
	Latch Event Detection Block		Rise, fall
	Counter Timer Block	Model	Addition method, subtraction method, linear counter mode, ring counter mode, addition mode, preset counter function, latch counter function, internal clock function
		Internal Clock	25 ns, 50 ns, 0.1 μs, 1 μs, 10 μs, 100 μs, 1 ms
		Count Range	32‑bit Signed Binary (-2,147,483,648 to 2,147,483,647) 32‑bit Unsigned Binary (0 to 4,294,967,295) 16‑bit Signed Binary (-32,768 to 32,767) 16‑bit Unsigned Binary (0 to 65,535)
	Comparison Block	Comparison Value	Same as the count range
	Comparison Block	Comparison Mode	16‑bit Counter: =, >, <, ≥, ≤, <> 32‑bit Counter: =, >, <, ≥, ≤, <>
	Pattern Generator Block	Number Of Output Pattern Points	8192 points
	Cam Switch Block	Update Cycle	0.1 μs
	Cam Switch Block	Number Of Steps	Maximum 16 steps
	Set/Reset Block		Signal input to the Set terminal triggers output of a fixed High signal. Signal input to the Reset terminal triggers output of a fixed Low signal.
Logic Operation Block	Logic Operation Type		AND, OR, XOR
External Output Block	Logic Selection		Reversing, non-reversing
	Delay Time		None, 12.5 ns × (1 to 64), 25 ns × (1 to 64), 50 ns × (1 to 64), 0.1 μs × (1 to 64), 1 μs × (1 to 64), 10 μs × (1 to 64), 100 μs × (1 to 64), 1 ms × (1 to 64), inter-unit synchronization cycle
	Output Mode Upon Error		OFF, ON, HOLD
SI Device Terminal			Interruption of CPU unit
Key Functions Achieved By Combination Of Base Blocks
Pulse Count	Count Input Signal	Phase	Single-phase input (× 1 / × 2), dual-phase input (× 1 / × 2 / × 4), CW / CCW
	Counting Speed Switching Settings	For × 1	For Differential Input: 10k pulse/s / 100k pulse/s / 200k pulse/s / 500k pulse/s / 1M pulse/s / 2M pulse/s For DC Input: 10k pulse/s / 100k pulse/s / 200k pulse/s
		For × 2	For differential: 10k pulse/s / 100k pulse/s / 200k pulse/s / 500k pulse/s / 1M pulse/s / 2M pulse/s For DC: 10k pulse/s / 100k pulse/s / 200k pulse/s
		For × 4	For differential: 10k pulse/s / 100k pulse/s / 200k pulse/s / 500k pulse/s / 1M pulse/s / 2M pulse/s For DC: 10k pulse/s / 100k pulse/s / 200k pulse/s
	Count Range		Same with the counter timer block
	Model		Addition method, subtraction method, linear counter mode, ring counter mode, addition mode, preset counter function, latch counter function
	Minimum Count Pulse Width (Duty Ratio 50%)	Single-Phase Input (× 1 / × 2), CW/CCW	For differential input: 0.5 µs (ON/OFF each 0.25 µs) For DC input: 5 µs (ON/OFF each 2.5 µs)
	Minimum Count Pulse Width (Duty Ratio 50%)	Double-Phase Input (× 1 / × 2 / × 4)	For differential input: 0.5 µs (ON/OFF each 0.25 µs) For DC input: 20 µs (ON/OFF each 10 µs)
Matching Detection	Scope Of Comparison		32‑bit Signed Binary, 32‑bit Unsigned Binary, 16‑bit Signed Binary, 16‑bit Unsigned Binary
	Comparison Method		Setting Value < Count Value, Setting Value = Count Value, Setting Value > Count Value
	Interruption		With Matching Detection Interruption Functions
Cam Switch	Number Of Steps		Maximum 16 steps/block
High-Precision Pulse Output			ON/OFF timings can be adjusted in minimum units of 25 ns, as counted from a trigger input.
PWM Output	Output Frequency Range		For differential: maximum 2 MHz For DC: maximum 200 kHz
PWM Output	Duty Ratio		Arbitrary (Can be set in minimum units of 25 ns.)
Ratio Setting	Ratio Setting Range		Number of Output Pulses = (1 to 2,147,483,647) / (1 to 2,147,483,647) × Number of Input Pulses
Pulse Measurement	Measurement Item		Pulse width (ON width / OFF width / rise to rise / fall to fall)
Pulse Measurement	Measurement Resolution		25 ns
Electrical Interface Conversion			24 V DC / 5 V DC / differential
Key Hardware Logics And Processing Times			Logic operation: Minimum 87.5 ns, Matching output: Minimum 137.5 ns, Cam switch: Minimum 262.5 ns
External Wiring Connection Method	-		40‑pin Connector × 2
External Wiring Connection Method	Compatible Connector		A6CON1, A6CON2, A6CON4 (sold separately)
Number Of Occupied Inputs/Outputs			32 Points (I/O Assignment: Intelligent 32 Points)
5 V DC Internal Current Consumption			0.76 A
External Dimensions	Height (H)		106 mm
	Width (W)		27.8 mm
	Depth (D)		110 mm
Mass			0.16 kg

C Language Intelligent Function Unit RD55UP06-V

RD55UP06-V external appearance

RD55UP06-V dimensional drawing (unit: mm)

Approved standards: UL/cUL, CE (EMC), KC, LR, NK, DNV, GL, ABS, RINA, BV, KR

Software Specifications
OS		VxWorks Version 6.9
Programming Language		C Language (C/C++)
Hardware Specification
MPU		ARM Cortex-A9 Dual Core
Endian Format		Little Endian
Memory Capacity	Work RAM	128 MB
Memory Capacity	ROM	12 MB
SD Memory Card Slot Part	Interface	SD/SDHC memory card (maximum 16 GB)
SD Memory Card Slot Part	Power Supply	+3.3 V DC, maximum 200 mA
Ethernet Port	Number Of Channels	1
	Interface	10BASE-T/100BASE-TX/1000BASE-T
	Communication Method	Full Duplex / Half Duplex
	Data Transmission Speed	10 Mbps (10BASE-T) / 100 Mbps (100BASE-TX) / 1 Gbps (1000BASE-T)
	Number Of Cascade Connection Levels	Maximum 4 Levels (10BASE-T) / Maximum 2 Levels (100BASE-TX)
	Maximum Segment Length	100 m
	External Wiring Compatible Connector	RJ45
	Support Function	Auto negotiation function (automatic recognition of communication speed / communication method) Auto MDI/MDIX (automatic recognition of straight/crossed)
	IP Version	IPv4-compatible
Number Of Occupied Inputs/Outputs		32 points
Clock Function		Obtained from the CPU unit (or first CPU unit in the case of a multi-CPU system).
Allowable Momentary Power Loss Duration		According to the power supply unit.
5 V DC Internal Current Consumption		1.09 A
External Dimensions	Height (H)	106 mm
	Width (W)	27.8 mm
	Depth (D)	110 mm
Mass		0.24 kg

High-Speed Counter Unit RD62D2

Approved standards: UL/cUL, CE (EMC), KC, LR, NK, DNV, GL, ABS, RINA, BV, KR

Number Of Channels		2 channels
Counting Speed Switching Settings	For × 1	2M pps (1M to 2M pps), 1M pps (500k to 1M pps), 500k pps (200k to 500k pps), 200k pps (100k to 200k pps), 100k pps (10k to 100k pps), 10k pps (10k pps or less)
	For × 2	4M pps (2M to 4M pps), 2M pps (1M to 2M pps), 1M pps (500k to 1M pps), 500k pps (200k to 500k pps), 200k pps (100k to 200k pps), 100k pps (10k to 100k pps), 10k pps (10k pps or less)
	For × 4	8M pps (4M to 8M pps), 4M pps (2M to 4M pps), 2M pps (1M to 2M pps), 1M pps (500k to 1M pps), 500k pps (200k to 500k pps), 200k pps (100k to 200k pps), 100k pps (10k to 100k pps), 10k pps (10k pps or less)
Count Input Signal	Phase	Single-phase Input (× 1 / × 2), Dual-phase Input (× 1 / × 2 / × 4), CW / CCW Input
Count Input Signal	Signal Level (øA, øB)	EIA standard RS-422-A differential model line driver level (equivalent to AM26LS31 (Made by Texas Instruments Japan Ltd.))
Counter	Computing Speed (Maximum)	8M pulse/s, 4M pulse/s, 2M pulse/s, 1M pulse/s, 500k pulse/s, 200k pulse/s, 100k pulse/s, 10k pulse/s
	Count Range	32‑bit Signed Binary (-2,147,483,648 to 2,147,483,647)
	Model	UP/DOWN Preset Counter + Ring Counter Function
Matching Detection	Scope Of Comparison	32‑bit Signed Binary
Matching Detection	Comparison Results	Setting Value < Count Value, Setting Value = Count Value, Setting Value > Count Value
External Input	Preset	5/12/24 V DC, 7 to 10 mA (EIA standard RS-422-A differential line driver can be connected.)
	Function Start	5/12/24 V DC, 7 to 10 mA (EIA standard RS-422-A differential line driver can be connected.)
	Digital Filter	0 ms, 0.1 ms, 1 ms, 10 ms
Pulse Measurement	Measurement Item	Pulse width (ON width / OFF width / rise to rise / fall to fall)
	Measurement Resolution	100 ns
	Number Of Measurement Points	1 point/channel
External Output	Matching Output	Transistor (sink type) output: 2 points/channel 12/24 V DC, 0.5 A/point, 2 A/common
PWM Output	Output Frequency Range	DC to Maximum 200 kHz
	Duty Ratio	Arbitrary (Can be set in 0.1 μs intervals.)
	Number Of Outputs	2 points/channel
External Wiring Connection Method	-	40‑pin Connector
External Wiring Connection Method	Compatible Connector	A6CON1, A6CON2, A6CON4 (sold separately)
Number Of Occupied Inputs/Outputs		16 points (I/O assignment: intelligent 16 points)
5 V DC Internal Current Consumption		0.17 A
External Dimensions	Height (H)	106 mm (98 mm at the base unit mounting part)
	Width (W)	27.8 mm
	Depth (D)	110 mm
Mass		0.12 kg

High-Speed Counter Unit RD62P2

RD62P2 external appearance

RD62P2 dimensional drawing (unit: mm)

Overview

2 channels
200k pps / 100k pps / 10k pps
Count input signal: 5 V DC / 12 V DC / 24 V DC
External input: 5 V DC / 12 V DC / 24 V DC
Matching output: transistor output (sink)
40‑pin Connector
Approved standards: UL/cUL, CE (EMC), KC, LR, NK, DNV, GL, ABS, RINA, BV, KR

High-Speed Counter Unit RD62P2E

Overview

2 channels
200k pps / 100k pps / 10k pps
Count input signal: 5 V DC / 12 V DC / 24 V DC
External input: 5 V DC / 12 V DC / 24 V DC
Matching output: transistor output (source)
40‑pin Connector
Approved standards: UL/cUL, CE (EMC), KC, LR, NK, DNV, GL, ABS, RINA, BV, KR

* The information provided here does not cover all model numbers.

: 30; 60; 90

Part Number
RD40PD01
RD55UP06-V
RD62D2
RD62P2
RD62P2E
RD81DL96
RD81OPC96

Standard Unit Price	Minimum order quantity	Days to Ship	Number of Control Axis	Positioning data number	Single Control Unit	Positioning data number (Data/Axis)	Number of Control Axis (Axis)	Interpolation function	Specifications	Features	Classification
-	1 Piece(s)	Quote	-	-	-	-	-	-	Number of input points: 12 (shared DC5V/24V/differential)	-	-
-	1 Piece(s)	Quote	-	-	-	-	-	-	Endian format: Little Endian	-	C language intelligent function unit
SGD 692.40	1 Piece(s)	91 Day(s)	-	-	-	-	-	-	Differential input, transistor (sink) output	-	-
SGD 650.80	1 Piece(s)	91 Day(s)	-	-	-	-	-	-	DC input, transistor (sink) output	-	-
SGD 650.80	1 Piece(s)	91 Day(s)	-	-	-	-	-	-	DC input, transistor (source) output	-	-
SGD 2,111.80	1 Piece(s)	20 Day(s)	-	-	-	-	-	-	iQ-R Series (local station, other station) / Q Series (other station) / L Series (other station)	-	High-speed data logger unit
SGD 2,323.40	1 Piece(s)	91 Day(s)	-	-	-	-	-	-	Connection type: Ethernet IPv4	Maximum number of connections: 15	Embedded OPC UA server

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Specification/Dimensions

Number of Control Axis
2

4

8

16

32

-
Clear
Single Control Unit
- degree
- inch
- mm
- pulse
Clear
Positioning data number(Data/Axis)
- 600
Clear
Number of Control Axis(Axis)
32
Clear
Interpolation function
2-Axis linear interpolation / 2-Axis circular interpolation

2-Axis circular interpolation / 2-axis/3-axis/4-axis linear interpolation

2-axis circular interpolation $ 2-axis / 3-axis / 4-axis linear interpolation

2-Axis circular interpolation / 2-axis/3-axis/4-axis linear interpolation / 3-Axis helical interpolation
Clear
Specifications
- Connection type: Ethernet IPv4
- Number of input points: 12 (shared DC5V/24V/differential)
- CC-Link IE field-compatible
- DC input, transistor (sink) output
- DC input, transistor (source) output
- Differential driver output
- Differential input, transistor (sink) output
- Endian format: Little Endian
- SSCNETⅢ/H-compatible
- Transistor output
- iQ-R Series (local station, other station) / Q Series (other station) / L Series (other station)
Clear
Features
- Maximum number of connections: 15
Clear
Classification
C language intelligent function unit

Embedded OPC UA server

High-speed data logger unit
Clear
Positioning data number
600

-
Clear

Days to Ship

All

20 Day(s) or Less

91 Day(s) or Less
Clear

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The specifications and dimensions of some parts may not be fully covered. For exact details, refer to manufacturer catalogs .

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iQ-R Series Motion Controller (Part Numbers)

iQ-R Series Motion Controller Specifications

Flexible High-Speed I/O Control Unit RD40PD01

C Language Intelligent Function Unit RD55UP06-V

High-Speed Counter Unit RD62D2

High-Speed Counter Unit RD62P2

High-Speed Counter Unit RD62P2E

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Specification/Dimensions

Number of Control Axis

Single Control Unit

Positioning data number(Data/Axis)

Number of Control Axis(Axis)

Interpolation function

Specifications

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