Mitsubishi Electric MR-D30 Instruction Manual

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General-Purpose AC Servo

Functional safety unit

MODEL

MR-D30

INSTRUCTION MANUAL

Safety Instructions

Please read the instructions carefully before using the equipment.

To use the equipment correctly, do not attempt to install, operate, maintain, or inspect the equipment until you have read through this Instruction Manual, Installation guide, and appended documents carefully. Do not use the equipment until you have a full knowledge of the equipment, safety information and instructions. In this Instruction Manual, the safety instruction levels are classified into "WARNING" and "CAUTION".

WARNING

CAUTION

Note that the

Please follow the instructions of both levels because they are important to personnel safety. What must not be done and what must be done are indicated by the following diagrammatic symbols.

CAUTION level may lead to a serious consequence according to conditions.

Indicates that incorrect handling may cause hazardous conditions,

resulting in death or severe injury.

Indicates that incorrect handling may cause hazardous conditions,

resulting in medium or slight injury to personnel or may cause physical damage.

Indicates what must not be done. For example, "No Fire" is indicated by

Indicates what must be done. For example, grounding is indicated by

In this Instruction Manual, instructions at a lower level than the above, instructions for other functions, and so on are classified into "POINT". After reading this Instruction Manual, keep it accessible to the operator.

A - 1

1. To prevent electric shock, note the following

WARNING

Before wiring or inspection, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P+ and N- is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or not, always confirm it from the front of the servo amplifier. Ground the servo amplifier and servo motor securely. Any person who is involved in wiring and inspection should be fully competent to do the work. Do not attempt to wire the servo amplifier and servo motor until they have been installed. Otherwise, it may cause an electric shock. Do not operate switches with wet hands. Otherwise, it may cause an electric shock. The cables should not be damaged, stressed, loaded, or pinched. Otherwise, it may cause an electric shock. During power-on or operation, do not open the front cover of the servo amplifier. Otherwise, it may cause an electric shock. Do not operate the servo amplifier with the front cover removed. High-voltage terminals and charging area are exposed and you may get an electric shock. Except for wiring and periodic inspection, do not remove the front cover of the servo amplifier even if the power is off. The servo amplifier is charged and you may get an electric shock. To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) of the servo amplifier to the protective earth (PE) of the cabinet. To avoid an electric shock, insulate the connections of the power supply terminals.

2. To prevent fire, note the following

CAUTION

Install the servo amplifier, servo motor, and regenerative resistor on incombustible material. Installing them directly or close to combustibles will lead to smoke or a fire. Always connect a magnetic contactor between the power supply and the main circuit power supply (L1/L2/L3) of the servo amplifier, in order to configure a circuit that shuts down the power supply on the side of the servo amplifier’s power supply. If a magnetic contactor is not connected, continuous flow of a large current may cause smoke or a fire when the converter unit or servo amplifier malfunctions. Always connect a molded-case circuit breaker, or a fuse to each servo amplifier between the power supply and the main circuit power supply (L1/L2/L3) of the servo amplifier, in order to configure a circuit that shuts down the power supply on the side of the servo amplifier’s power supply. If a molded-case circuit breaker or fuse is not connected, continuous flow of a large current may cause smoke or a fire when the servo amplifier malfunctions. When using the regenerative resistor, switch power off with the alarm signal. Otherwise, a regenerative transistor malfunction or the like may overheat the regenerative resistor, causing smoke or a fire. Provide adequate protection to prevent screws and other conductive matter, oil and other combustible matter from entering the servo amplifier, servo motor, and MR-D30.

A - 2

3. To prevent injury, note the following

CAUTION

Only the power/signal specified in the Instruction Manual should be applied to each terminal. Otherwise, it may cause an electric shock, fire, injury, etc. Connect cables to the correct terminals. Otherwise, a burst, damage, etc. may occur. Ensure that polarity (+/-) is correct. Otherwise, a burst, damage, etc. may occur. The servo amplifier heat sink, regenerative resistor, servo motor, etc., may be hot while the power is on and for some time after power-off. Take safety measures such as providing covers to avoid accidentally touching them by hands and parts such as cables.

4. Additional instructions

The following instructions should also be fully noted. Incorrect handling may cause a malfunction, injury, electric shock, fire, etc.

(1) Transportation and installation

CAUTION

Transport the products correctly according to their mass. Stacking in excess of the specified number of product packages is not allowed. Do not hold the front cover, cables, or connectors when carrying the servo amplifier. Install the servo amplifier and the servo motor in a load-bearing place in accordance with the Instruction Manual. Do not get on or put heavy load on the equipment. Otherwise, it may cause injury. The equipment must be installed in the specified direction. Leave specified clearances between the servo amplifier and the cabinet walls or other equipment. Do not install or operate the servo amplifier and MR-D30 which have been damaged or have any parts missing. Do not block the intake and exhaust areas of the servo amplifier and MR-D30. Otherwise, it may cause a malfunction. Do not drop or apply heavy impact on the servo amplifiers, servo motors, and MR-D30. Otherwise, it may cause injury, malfunction, etc. Do not strike the connector. Otherwise, it may cause a connection failure, malfunction, etc. When you keep or use the equipment, please fulfill the following environment.

Item Environment

Ambient

temperature

Storage -20 °C to 65 °C (non-freezing)

Ambient humidity

Storage

Ambience Indoors (no direct sunlight), free from corrosive gas, flammable gas, oil mist, dust, and dirt

Altitude 2000 m or less above sea level

Vibration resistance 5.9 m/s2, at 10 Hz to 55 Hz (directions of X, Y and Z axes)

When the product has been stored for an extended period of time, contact your local sales office. When handling the servo amplifier and MR-D30, be careful about the edged parts such as corners of them.

Operation 0 °C to 55 °C (non-freezing)

Operation

5 %RH to 90 %RH (non-condensing)

A - 3

CAUTION

The servo amplifier and MR-D30 must be installed in a metal cabinet. When fumigants that contain halogen materials such as fluorine, chlorine, bromine, and iodine are used for disinfecting and protecting wooden packaging from insects, they cause malfunction when entering our products. Please take necessary precautions to ensure that remaining materials from fumigant do not enter our products, or treat packaging with methods other than fumigation (heat method). Additionally, disinfect and protect wood from insects before packing products. To prevent a fire or injury in case of an earthquake or other natural disasters, securely install, mount, and wire the servo motor in accordance with the Instruction Manual.

(2) Wiring

CAUTION

Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly. Make sure to connect the cables and connectors by using the fixing screws and the locking mechanism. Otherwise, the cables and connectors may be disconnected during operation. Do not install a power capacitor, surge killer, or radio noise filter (optional FR-BIF(-H)) on the servo amplifier output side. To avoid a malfunction, connect the wires to the correct phase terminals (U/V/W) of the servo amplifier and servo motor. Connect the servo amplifier power output (U/V/W) to the servo motor power input (U/V/W) directly. Do not let a magnetic contactor, etc. intervene. Otherwise, it may cause a malfunction.

Servo amplifier

Servo motor

Servo motorServo amplifier

The surge absorbing diode installed to the DC relay for control output signals should be fitted in the specified direction. Otherwise, the emergency stop and other protective circuits may not operate.

MR-D30

DO4NB

DO4PB

For sink output interface

24 V DC

For source output interface

MR-D30

DO24VA/ DO24VB/ DO4PA

Control output signal

24 V DC

When the cable is not tightened enough to the terminal block, the cable or terminal block may generate heat because of the poor contact. Be sure to tighten the cable with specified torque. Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction. Configure a circuit to turn off EM2 or EM1 when the main circuit power is turned off to prevent an unexpected restart of the servo amplifier. To prevent malfunction, avoid bundling power lines (input/output) and signal cables together or running them in parallel to each other. Separate the power lines from the signal cables.

A - 4

(3) Test run and adjustment

CAUTION

When executing a test run, follow the notice and procedures in this instruction manual. Otherwise, it may cause a malfunction, damage to the machine, or injury. Before operation, check and adjust the parameter settings. Improper settings may cause some machines to operate unexpectedly. Never make a drastic adjustment or change to the parameter values as doing so will make the operation unstable. Do not get close to moving parts during the servo-on status.

(4) Usage

CAUTION

Provide an external emergency stop circuit to stop the operation and shut the power off immediately. For equipment in which the moving part of the machine may collide against the load side, install a limit switch or stopper to the end of the moving part. The machine may be damaged due to a collision. Do not disassemble, repair, or modify the product. Otherwise, it may cause an electric shock, fire, injury, etc. Disassembled, repaired, and/or modified products are not covered under warranty. Before resetting an alarm, make sure that the run signal of the servo amplifier is off in order to prevent a sudden restart. Otherwise, it may cause an accident. Use a noise filter, etc., to minimize the influence of electromagnetic interference. Electromagnetic interference may affect the electronic equipment used near the servo amplifier. Do not burn or destroy the servo amplifier. Doing so may generate a toxic gas. Use the servo amplifier with the specified servo motor. Wire options and peripheral equipment, etc. correctly in the specified combination. Otherwise, it may cause an electric shock, fire, injury, etc. The electromagnetic brake on the servo motor is designed to hold the motor shaft and should not be used for ordinary braking. For such reasons as incorrect wiring, service life, and mechanical structure (e.g. where a ball screw and the servo motor are coupled via a timing belt), the electromagnetic brake may not hold the motor shaft. To ensure safety, install a stopper on the machine side. If the dynamic brake is activated at power-off, alarm occurrence, etc., do not rotate the servo motor by an external force. Otherwise, it may cause a fire.

A - 5

(5) Corrective actions

CAUTION

Ensure safety by confirming the power off, etc. before performing corrective actions. Otherwise, it may cause an accident. If it is assumed that a power failure, machine stoppage, or product malfunction may result in a hazardous situation, use a servo motor with an electromagnetic brake or provide an external brake system for holding purpose to prevent such hazard. Configure an electromagnetic brake circuit which is interlocked with an external emergency stop switch.

Use ALM (Malfunction) or SBCS (SBC output) to open the contacts.

Contacts must be opened with the emergency stop switch.

Servo motor

Electromagnetic brake

When an alarm occurs, eliminate its cause, ensure safety, and deactivate the alarm to restart operation. If the molded-case circuit breaker or fuse is activated, be sure to remove the cause and secure safety before switching the power on. If necessary, replace the servo amplifier and recheck the wiring. Otherwise, it may cause smoke, fire, or an electric shock. Provide an adequate protection to prevent unexpected restart after an instantaneous power failure. After an earthquake or other natural disasters, ensure safety by checking the conditions of the installation, mounting, wiring, and equipment before switching the power on to prevent an electric shock, injury, or fire.

24 V DC

(6) Maintenance, inspection and parts replacement

CAUTION

Make sure that the emergency stop circuit operates properly such that an operation can be stopped immediately and a power is shut off by the emergency stop switch. It is recommended that the servo amplifier be replaced every 10 years when it is used in general environment. When using a servo amplifier whose power has not been turned on for a long time, contact your local sales office. Do not touch the lead sections such as ICs or the connector contacts. Do not place the unit on metal that may cause a power leakage or wood, plastic or vinyl that may cause static electricity buildup. The parameters of MR-D30 are protected by passwords to prevent incorrect settings. The parameters of MR-D30 which are returned for fixing/investigation will be initialized. The parameters and other settings need to be set again.

A - 6

(7) General instruction

To illustrate details, the equipment in the diagrams of this Instruction Manual may have been drawn without covers and safety guards. When the equipment is operated, the covers and safety guards must be installed as specified. Operation must be performed in accordance with this Instruction Manual.

(8) Conditions of use for the product

MR-D30 complies with a safety standard, but this fact does not guarantee that MR-D30 will be free from any malfunction or failure. The user of this product shall comply with any and all applicable safety standard, regulation or law and take appropriate safety measures for the system in which the product is installed or used and shall take the second or third safety measures other than the product. Our company is not liable for damages that could have been prevented by compliance with any applicable safety standard, regulation or law. Our company prohibits the use of Products with or in any application involving, and we shall not be liable for a default, a liability for defect warranty, a quality assurance, negligence or other tort and a product liability in these applications.

(1) Power plants

(2) Trains, railway systems, airplanes, airline operations, and other transportation systems

(3) Hospitals, medical care, dialysis and life support facilities or equipment

(4) Amusement equipment

(5) Incineration and fuel devices

(6) Handling of nuclear or hazardous materials or chemicals

(7) Mining and drilling

(8) Other applications where the level of risk to human life, health or property are elevated.

A - 7

DISPOSAL OF WASTE

Please dispose a servo amplifier, battery (primary battery) and other options according to your local laws and regulations.

EEP-ROM life

The number of write times to the EEP-ROM, which stores parameter settings, etc., is limited to 100,000. If the total number of the following operations exceeds 100,000, MR-D30 may malfunction when the EEP-ROM reaches the end of its useful life.

Write to the EEP-ROM due to parameter setting changes Write to the EEP-ROM due to device changes

«About the manual»

You must have this Instruction Manual and the following manuals to use this servo. Ensure to prepare them to use the servo safely. Servo amplifiers and drive units are written as servo amplifiers in this Instruction Manual under certain circumstances, unless otherwise stated.

Relevant manuals

Manual name Manual No.

MELSERVO MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual (Note 5) SH(NA)030106ENG

MELSERVO MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual (Note 6) SH(NA)030107ENG

MELSERVO MR-J4-_GF_(-RJ) Servo Amplifier Instruction Manual (Motion Mode) (Note 8, 9) SH(NA)030218ENG

MELSERVO MR-J4-_GF_(-RJ) Servo Amplifier Instruction Manual (I/O Mode) (Note 9) SH(NA)030221ENG

MELSERVO MR-CV_/MR-CR55K_/MR-J4-DU_(-RJ) Amplifier Instruction Manual (Note 7) SH(NA)030153ENG

MELSERVO MR-J4-DU_B4-RJ100 Drive Unit Instruction Manual (Note 10) SH(NA)030280ENG

MR-J4 Servo Amplifier Instruction Manual (Troubleshooting) SH(NA)030109ENG

MELSERVO Servo Motor Instruction Manual (Vol. 3) (Note 1) SH(NA)030113ENG

MELSERVO Linear Servo Motor Instruction Manual (Note 2) SH(NA)030110ENG

MELSERVO Direct Drive Motor Instruction Manual (Note 3) SH(NA)030112ENG

MELSERVO Linear Encoder Instruction Manual (Note 2, 4) SH(NA)030111ENG

MELSERVO EMC Installation Guidelines IB(NA)67310ENG

MELSEC iQ-R Safety Application Guide SH(NA)081538ENG

«Cables used for wiring»

Q173D(S)CPU/Q172D(S)CPU Motion Controller Programming Manual (Safety Observation) IB(NA)0300183

Note 1. It is necessary for using a rotary servo motor.

2. It is necessary for using a linear servo motor.

3. It is necessary for using a direct drive motor.

4. It is necessary for using a fully closed loop system.

5. It is necessary for using an MR-J4-_B_(-RJ) servo amplifier.

6. It is necessary for using an MR-J4-_A_(-RJ) servo amplifier.

7. It is necessary for using an MR-J4-DU_-RJ drive unit.

8. It is necessary for using an MR-J4-_GF_-RJ servo amplifier in the motion mode.

9. It is necessary for using an MR-J4-_GF_-RJ servo amplifier in the I/O mode.

10. It is necessary for using an MR-J4-DU_B4-RJ100 drive unit.

Wires mentioned in this Instruction Manual are selected based on the ambient temperature of 40 °C.

A - 8

1. FUNCTIONS AND CONFIGURATION 1- 1 to 1-28

1.1 Summary ........................................................................................................................................... 1- 1

1.2 Outline of safety observation function .............................................................................................. 1- 5

1.3 Function block diagram ..................................................................................................................... 1- 6

1.3.1 MR-J4-_GF_-RJ ......................................................................................................................... 1- 6

1.3.2 MR-J4-_B_-RJ ........................................................................................................................... 1- 8

1.3.3 MR-J4-_A_-RJ .......................................................................................................................... 1-10

1.3.4 MR-J4-DU_B_-RJ ..................................................................................................................... 1-11

1.3.5 MR-J4-DU_A_-RJ ..................................................................................................................... 1-13

1.4 System configuration ....................................................................................................................... 1-14

1.4.1 MR-J4-_GF_-RJ ........................................................................................................................ 1-14

1.4.2 MR-J4-_B_-RJ/MR-J4-DU_B-RJ .............................................................................................. 1-16

1.4.3 MR-J4-_A_-RJ/MR-J4-DU_A-RJ .............................................................................................. 1-18

1.5 Standard specifications .................................................................................................................... 1-19

1.6 Function list ...................................................................................................................................... 1-21

1.7 Combinations with servo amplifiers and servo motors .................................................................... 1-21

1.8 Rating plate ...................................................................................................................................... 1-26

1.9 Risk assessments ............................................................................................................................ 1-26

1.9.1 Common residual risks in each function ................................................................................... 1-26

1.9.2 Residual risks in each function ................................................................................................. 1-27

2. INSTALLATION 2- 1 to 2- 8

2.1 Installation direction and clearances ................................................................................................ 2- 2

2.2 Keep out foreign materials ................................................................................................................ 2- 4

2.3 Inspection items ................................................................................................................................ 2- 4

2.4 Parts having service life .................................................................................................................... 2- 4

2.5 Maintenance ..................................................................................................................................... 2- 4

2.6 Attachment and detachment of MR-D30 .......................................................................................... 2- 5

3. SIGNALS AND WIRING 3- 1 to 3-22

3.1 Connectors and pin assignment ....................................................................................................... 3- 3

3.2 I/O signal connection example .......................................................................................................... 3- 4

3.2.1 Input signal ................................................................................................................................. 3- 4

3.2.2 Output signal .............................................................................................................................. 3- 5

3.3 Connection of I/O interface ............................................................................................................... 3- 6

3.3.1 Source output ............................................................................................................................. 3- 6

3.3.2 Sink input .................................................................................................................................... 3- 7

3.3.3 DO1_ to DO3_ source output .................................................................................................... 3- 9

3.3.4 DO4NA source output and DO4NB sink output ......................................................................... 3- 9

3.4 Wiring for SBC output ...................................................................................................................... 3-10

3.5 Noise reduction techniques ............................................................................................................. 3-11

3.6 Signal explanations .......................................................................................................................... 3-13

3.6.1 Input device ............................................................................................................................... 3-13

3.6.2 Output device ............................................................................................................................ 3-14

3.6.3 Power supply ............................................................................................................................. 3-15

3.7 Wiring method of CN10A/CN10B connectors.................................................................................. 3-16

3.8 Connection example with other devices .......................................................................................... 3-17

3.8.1 MR-J4-_GF_-RJ ........................................................................................................................ 3-17

3.8.2 MR-J4-_B_-RJ/MR-J4-DU_B_-RJ ............................................................................................ 3-19

3.8.3 MR-J4-_A_-RJ/MR-J4-DU_A_-RJ ............................................................................................ 3-21

3.9 Power-on sequence ......................................................................................................................... 3-22

4. SAFETY OBSERVATION FUNCTION 4- 1 to 4-46

4.1 Achievable safety level ..................................................................................................................... 4- 2

4.2 Safety diagnosis function list ............................................................................................................ 4- 3

4.3 Startup .............................................................................................................................................. 4- 4

4.3.1 Switching power on for the first time .......................................................................................... 4- 4

4.3.2 Parameter ................................................................................................................................... 4- 6

4.3.3 Mandatory parameter setting ..................................................................................................... 4- 8

4.3.4 Test operation ............................................................................................................................ 4- 9

4.3.5 Unit replacement ........................................................................................................................ 4- 9

4.4 I/O function ........................................................................................................................................ 4- 9

4.4.1 Input device ................................................................................................................................ 4- 9

4.4.2 Output device ............................................................................................................................ 4-18

4.4.3 Safety observation function control by input device .................................................................. 4-21

4.4.4 Servo motor with functional safety ............................................................................................ 4-27

4.4.5 Position feedback fixing diagnosis function .............................................................................. 4-27

4.5 Safety observation function ............................................................................................................. 4-28

4.5.1 STO function ............................................................................................................................. 4-28

4.5.2 SS1 function .............................................................................................................................. 4-30

4.5.3 SS2/SOS function ..................................................................................................................... 4-34

4.5.4 SLS function .............................................................................................................................. 4-38

4.5.5 SSM function ............................................................................................................................. 4-41

4.5.6 SBC function ............................................................................................................................. 4-42

4.5.7 Status monitor (SM) function ..................................................................................................... 4-43

4.5.8 Multiple inputs of safety observation functional operation commands ..................................... 4-43

4.5.9 Simultaneous operation of STO and SS1 functions ................................................................. 4-44

4.5.10 At alarm occurrence ................................................................................................................ 4-44

5. PARAMETERS 5- 1 to 5-22

5.1 Parameter list .................................................................................................................................... 5- 1

5.1.1 Safety observation function parameters 1 ([Pr. PSA_ _ ]) ......................................................... 5- 2

5.1.2 Network parameters ([Pr. PSC_ _ ]) .......................................................................................... 5- 3

5.1.3 Safety I/O device parameters ([Pr. PSD_ _ ]) ............................................................................ 5- 5

5.2 Detailed list of parameters ................................................................................................................ 5- 7

5.2.1 Safety observation function parameters 1 ([Pr. PSA_ _ ]) ......................................................... 5- 7

5.2.2 Network parameters ([Pr. PSC_ _ ]) ......................................................................................... 5-10

5.2.3 Safety I/O device parameters ([Pr. PSD_ _ ]) ........................................................................... 5-13

6. DISPLAY 6- 1 to 6- 2

7. TROUBLESHOOTING 7- 1 to 7- 4

7.1 Alarm and warning list ...................................................................................................................... 7- 1

7.2 Combinations of the parameters that trigger [AL. 7A.3 Parameter combination error

(safety observation function)] ............................................................................................................ 7- 4

8. DIMENSIONS 8- 1 to 8- 2

8.1 MR-D30 functional safety unit ........................................................................................................... 8- 1

8.2 When an MR-D30 is attached to a servo amplifier ........................................................................... 8- 2

APPENDIX App. - 1 to App. - 1

App. 1 EC declaration of conformity ................................................................................................. App.- 1

MEMO

1. FUNCTIONS AND CONFIGURATION

1.1 Summary

POINT

Servo amplifiers and drive units are written as servo amplifiers in this Instruction Manual under certain circumstances, unless otherwise stated. If the combination of MR-D30 and servo amplifier is wrong, "ERROR" will turn on. The simple cam function cannot be used with a servo amplifier on which MRD30 is mounted. When replacing MR-D30 with one having a different software version, check that the software version of MR-D30 supports the safety observation functions to prevent them from operating unintentionally. As necessary, disable the safety observation function.

This Instruction Manual only describes the functions of MR-D30. For servo amplifiers, refer to each servo amplifier instruction manual. You can extend the safety observation function by using MR-D30 with a compatible servo amplifier or drive unit. However, which extension you can use depends on software version. The safety observation function cannot be used other than the following combinations. "ERROR" on the MR-D30 display will turn on with other combinations.

(1) Compatibility of servo amplifiers

(a) MR-J4-_GF_-RJ

1) Safety observation function control by input device

MR-D30

software version

A1 or later A3 or later

Servo amplifier

software version

2) Safety observation function control by network

MR-D30

software version

A2 or later A3 or later

Servo amplifier

software version

Safety observation function

STO/SS1/SBC/SLS/SSM/SOS/ SS2/SM

Safety observation function

STO/SS1/SBC/SLS/SSM/SOS/ SS2/SM

Servo motor

with functional

safety

HG-KR_W0C HG-SR_W0C HG-JR_W0C

Servo motor

with functional

safety

HG-KR_W0C HG-SR_W0C HG-JR_W0C

Servo amplifier

MR-J4-_GF_-RJ

Servo amplifier

MR-J4-_GF_-RJ

1 - 1

1. FUNCTIONS AND CONFIGURATION

(b) MR-J4-(DU)_B_-RJ/MR-J4-(DU)_A_-RJ

MR-D30

software version

A0 B3 or later STO/SS1/SBC/SLS/SSM/SM Not compatible MR-J4-_B_-RJ

A1 or later

Servo amplifier

software version

B3/B4 STO/SS1/SBC/SLS/SSM Not compatible MR-J4-_B_-RJ

B5 or later

Safety observation function

STO/SS1/SBC/SLS/SSM/SOS/ SS2/SM

Note. MR-J4-(DU)_A_-RJ manufactured in November, 2014 or later is supported.

MR-D30

software version

A2 or later A3 or later

Servo amplifier

software version

Safety observation function

STO/SS1/SBC/SLS/SSM/SOS/SS2/ SM

(2) Characteristics of functions

(a) When using the safety observation function with wiring to the CN10_ connector of MR-D30 (Safety

observation function control by input device) By combination of MR-D30 functional safety unit, servo amplifier compatible with MR-D30, and servo motor with functional safety, the safety observation functions (STO/SS1/SBC/SLS/SSM/SOS/SS2) compatible with Category 4, PL e, SIL 3 can be used. When a servo motor with functional safety is not used, the SOS/SS2 functions are not available. The SLS/SSM functions are compatible with Category 3, PL d, SIL 2.

Servo motor

with functional

safety

HG-KR_W0C HG-SR_W0C HG-JR_W0C

Servo motor

with functional

safety

HG-JR_W0C MR-J4-DU_B4-RJ100

Servo amplifier

MR-J4-_B_-RJ

MR-J4-_A_-RJ (Note)

MR-J4-DU_B_-RJ

MR-J4-DU_A_-RJ (Note)

Servo amplifier

1 - 2

1. FUNCTIONS AND CONFIGURATION

(b) When using the safety observation function through SSCNET III/H or CC-Link IE Field Network

(Safety observation function control by network) The safety observation function is available by combining MR-D30 with MR-J4-B_-RJ through SSCNET III/H, or with MR-J4-GF_-RJ through CC-Link IE Field Network. This ensures reduced wiring. (Refer to table 1.1.)

Table 1.1 Compatibility of safety observation function

Safety observation function

(CC-Link IE Field Network) (Note 9)

Compatible controller

STO

SS1

SBC

SLS (Note 2)

SSM (Note 2)

SS2 (Note 2, 4)

SOS (Note 2, 4)

control by network

Safety Programmable Controller

R_SFCPU (Note 5)

Safety function module

R6SFM (Note 7)

Simple motion module

RD77GF_ (Note 6)

Category 4, PL e, SIL 3 (Note 1)

Category 3, PL d, SIL 2

Category 4, PL e, SIL 3 (Note 3)

Category 4, PL e, SIL 3 (Note 1) Category 4, PL e, SIL 3 (Note 1)

Note 1. To meet Category 4, PL e, SIL 3 for input signals, a diagnosis using test pulses is required. Refer to section 4.1 for detailed

conditions.

2. Linear servo system, direct drive servo system, and fully closed loop system are not compatible with SLS, SSM, SS2, and

SOS. Table 1.2 shows safety observation functions compatible with each system.

3. To meet Category 4, PL e, SIL 3, a servo motor with functional safety is required.

4. To enable SS2 and SOS, a servo motor with functional safety is required.

7. Safety function unit with Manufacturer Software Version 07 or later is required.

8. The combination of MR-D30 and MR-J4-_GF_-RJ is supported by MR Configurator2 with software version 1.60N or later. The

9. This is supported by GX Works3 with software version 1.035M or later and MR Configurator2 with software version 1.60N or

10. This is supported by MT Works2 with software version 1.100E or later.

safety programmable controller with software version 07 or later is necessary.

simple Motion module with software version 05 or later is necessary.

combination of MR-D30 and MR-J4-_B_-RJ is supported by MR Configurator2 with software version 1.25B or later. The

combination of MR-D30 and MR-J4-_A_-RJ is supported by MR Configurator2 with software version 1.34L or later.

later.

Safety observation function

control by network

(SSCNET III/H) (Note 10)

Drive safety integrated motion

controller Q173DSCPU Q172DSCPU

Safety signal module

Q173DSXY

Category 3, PL d, SIL 2

Safety observation function

control by input device (Note 8)

Category 4, PL e, SIL 3 (Note 1)

Category 3, PL d, SIL 2

Category 4, PL e, SIL 3 (Note 3)

1 - 3

1. FUNCTIONS AND CONFIGURATION

Table 1.2 Safety observation functions

compatible with each system.

System (Note)

Full.

Servo motor

functional safety

Servo motor with

STO

SS1

SBC

SLS

SSM

SS2

SOS

: Usable

Note. The systems indicate the following.

Servo motor with functional safety: Semi closed loop system using the servo motor

with functional safet

Servo motor: Semi closed loop system using the servo motor

Full.: Fully closed loop system using the servo motor or servo motor with functional

safety

Lin.: Linear servo motor system

DD: Direct drive motor system

Lin.

1 - 4

1. FUNCTIONS AND CONFIGURATION

1.2 Outline of safety observation function

The following functions can be used by MR-D30 functional safety unit.

(1) STO (Safe torque off)

Shuts off servo motor drive energy electronically with based on an input signal from an external device (secondary-side output shut-off). This corresponds to stop category 0 of IEC/EN 60204-1.

(2) SS1 (Safe stop 1)

Starts deceleration based on an input signal from an external device (EM2). After a specified time for the check of stop, the STO function will be activated (SS1). This corresponds to stop category 1 of IEC/EN 60204-1.

(3) SS2 (Safe stop 2)

Starts deceleration based on an input signal from an external device (EM2). After a specified time for the check of stop, the SOS function will be activated (SS2). This corresponds to stop category 2 of IEC/EN 60204-1.

(4) SOS (Safe operating stop)

Monitors whether the servo motor stops within the prescribed range for the stop position. The power is supplied to the servo motor.

(5) SLS (Safely-limited speed)

Observes whether the speed is within a regulated speed limit value. When the speed is over a specified speed, energy will be shut off by STO.

(6) SSM (Safe speed monitor)

Outputs a signal when the servo motor speed is within a regulated speed.

(7) SBC (Safe brake control)

Outputs a signal for an external brake control.

(8) Status monitor (SM: Status monitor)

Outputs a signal for the safety observation function status. This is an original function of the functional safety unit, not the one defined in IEC/EN 61800-5-2.

1 - 5

1. FUNCTIONS AND CONFIGURATION

1.3 Function block diagram

1.3.1 MR-J4-_GF_-RJ

(1) Safety observation function control by input device

The following block diagram shows an operation of the safety observation function using input devices assigned to pins of the CN10A and CN10B connectors. By diagnosis of input signals, the servo amplifier complies with safety level Category 4, PL e, SIL 3.

Servo amplifie

Servo motor

MCCB MC L1

Powe

uppl

Not used (Remove the short-circuit

connector.)

USB

CC-Link IE

Field Network

CC-Link IE

Field Network

Controller

CC-Link IE Field

Network device

Controller

CC-Link IE Field

Network device

Parameter setting

Input signal

(Note)

L11

L21

CN8CN1ACN1BCN5

Functional safety unit

CN10ACN10B

Control circuit

power supply

Safety observation function Processing part 1

Input device

control

Self-check

Parameter

CN9

CN90

Safety observation function

STO function

SS1 function SS2 function

SOS function

SLS function SSM function SBC function

SM function

Gate circuit

Control

CN7

CN70

Output device

control

CN2

CN10ACN10B

24 V DC

Encoder

Output signal

(Note)

Electromagnetic brake

Safety observation function Processing part 2

Safety observation function

Input device

control

Self-check

Parameter

STO function

SS1 function

SS2 function SOS function

SLS function SSM function SBC function

SM function

Output device

control

Note. Safety switch, safety relay, etc.

1 - 6

1. FUNCTIONS AND CONFIGURATION

(2) Safety observation function control by network

The following block diagram shows an operation of the safety observation function through CC-Link IE Field Network. The electric wiring can be omitted.

Servo amplifier

Servo motor

MCCB MC L1

Power supply

Not used

Controller or CC-Link IE Field Network device

iQ-R series safety remote I/O module

input module

NZ2GFSS2-32D

iQ-R series safety CPU

RD77GF_

(Remove the short-circuit connector.)

CC-Link IE Field

Network device

or cap

USB

Parameter setting

Main

Input signal

(Note)

Safety

function

module

R6SFM

CC-Link IE

Field Network

CC-Link IE

Field Network

Extension

output module

NZ2EXSS2-8TE

Output signal

(Note)

iQ-R

series

safety CPU

L11

L21

CN8

CN1ACN1BCN5

Functional safety unit

Control circuit power supply

Safety observation function Processing part 1

Self-check

Parameter

Safety observation function Processing part 2

Self-check

Parameter

CN9

CN90

Safety observation function

STO function SS1 function SS2 function SOS function SLS function SSM function SBC function

SM function

Safety observation function

STO function SS1 function SS2 function SOS function SLS function SSM function SBC function

SM function

Gate circuit

Control

CN7

CN70

Output device

control

Output device

control

24 V DC

Electromagnetic

brake

Encoder

CN2

Output signal

CN10A

CN10B

(Note)

Note. Safety switch, safety relay, etc.

1 - 7

1. FUNCTIONS AND CONFIGURATION

1.3.2 MR-J4-_B_-RJ

(1) Safety observation function control by input device

Servo amplifier Servo motor

MCCB MC

Power supply

Not used (Remove the short-circuit

connector.)

Controller

or servo

amplifier

Servo

amplifier

USB

Parameter setting

Input signal

(Note)

SSCNET III/H

L11

L21

CN8CN1ACN1BCN5

Functional safety unit

CN10ACN10B

Control circuit power supply

Safety observation function processing part 1

Input device

control

Self-check

Parameter

CN9

CN90

Safety observation function

STO function

SS1 function SS2 function

SOS function

SLS function SSM function SBC function

SM function

Gate circuit

Control

CN7

CN70

Output

device control

CN2

CN10ACN10B

24 V DC

Encoder

Output signal

(Note)

Electromagnetic brake

Note. Safety switch, safety relay, etc.

Safety observation function processing part 2

Input device

control

Self-check

Parameter

Safety observation function

STO function

SS1 function

SS2 function SOS function

SLS function SSM function SBC function

SM function

1 - 8

Output

device control

1. FUNCTIONS AND CONFIGURATION

(2) Safety observation function control by network

The following block diagram shows an operation of the safety observation function through SSCNET III/H. The electric wiring can be omitted.

Servo amplifier

Servo motor

MCCB MC L1

Power supply

Not used (Remove the short-circuit

Servo amplifier or controller

connector.)

SSCNET III/H

Servo

amplifier

or cap

Parameter setting

CPU (iQ platform compatible)

Q17_DSCPU

Motion controller safety signal

unit Q173DSXY

Input signal

(Note 1)

USB

SSCNET III/H

Programmable controller CPU

(iQ platform

compatible)

Output signal

(Note 2)

(Note 1)

L11

L21

CN8

CN1ACN1BCN5

Functional safety unit

Control circuit power supply

Safety observation function processing part 1

Self-check

Parameter

CN9

CN90

Safety observation function

STO function SS1 function SS2 function SOS function SLS function SSM function SBC function

SM function

Gate circuit

Control

CN7

CN70

Output device

control

CN2

CN10A

24 V DC

Output signal

Electromagnetic

brake

Encoder

(Note 1)

Safety observation function processing part 2

Self-check

Parameter

Safety observation function

STO function SS1 function SS2 function SOS function SLS function SSM function SBC function

SM function

Output device

control

CN10B

Note 1. Safety switch, safety relay, etc.

2. The safety observation function is certified by Certification Body only by combination of Q17_DSCPU/Q17_DSXY and

QnUD(E)(H)CPU programmable controller.

1 - 9

1. FUNCTIONS AND CONFIGURATION

1.3.3 MR-J4-_A_-RJ

Servo amplifie

Servo motor

MCCB MC

Power supply

Not used (Remove the short-circuit

connector.)

DIO control

Controller

RS-422

USB

Parameter setting

Input signal

(Note)

L11

L21

CN8CN5

CN1CN3

Functional safety unit

CN10ACN10B

Control circuit power supply

Safety observation function Processing part 1

Input device

control

Self-check

Parameter

CN9

CN90

Safety observation function

STO function

SS1 function SS2 function

SOS function

SLS function

SSM function SBC function

SM function

Gate circuit

Control

CN7

CN70

Output device

control

CN2

CN10ACN10B

24 V DC

Encoder

Output signal

(Note)

Electromagnetic brake

Note. Safety switch, safety relay, etc.

Safety observation function Processing part 2

Input device

control

Self-check

Parameter

Safety observation function

STO function SS1 function SS2 function

SOS function

SLS function

SSM function

SBC function

SM function

1 - 10

Output device

control

1. FUNCTIONS AND CONFIGURATION

1.3.4 MR-J4-DU_B_-RJ

(1) Safety observation function control by input device

Drive unit

Servo motor

o L+ of converter unit

o L- of converter unit

Power supply

Not used (Remove the short-circuit connector.)

Controller

or servo amplifier

Servo

amplifier

USB

Parameter setting

Input signal

(Note)

SSCNET III/H

L+

L-

L11

L21

CN8CN1ACN1BCN5

Functional safety unit

CN10ACN10B

Control circuit

power supply

Safety observation function processing part 1

Input device

control

Self-check

Parameter

CN9

CN90

Safety observation function

STO function SS1 function SS2 function SOS function SLS function SSM function SBC function

SM function

Gate circuit

Control

CN7

CN70

Output

device control

24 V DC

Electromagnetic

brake

Encoder

CN2

CN10ACN10B

Output signal

(Note)

Safety observation function processing part 2

Safety observation function

Input device

control

Self-check

Parameter

STO function

SS1 function SS2 function

SOS function

SLS function SSM function SBC function

SM function

Output

device control

Note. Safety switch, safety relay, etc.

1 - 11

1. FUNCTIONS AND CONFIGURATION

(2) Safety observation function control by network

The following block diagram shows an operation of the safety observation function through SSCNET III/H. The electric wiring can be omitted.

Drive unit

Servo motor

To L+ of converter unit

To L- of converter unit

Power supply

Not used (Remove the short-circuit

Servo amplifier or controller

connector.)

SSCNET III/H

Servo

amplifier

or cap

Parameter setting

CPU (iQ platform compatible)

Q17_DSCPU

Motion controller safety signal

unit Q173DSXY

Input signal

(Note)

USB

SSCNET III/H

Programmable controller CPU

(iQ plat form compatible)

Output signal

(Note 2)

(Note)

L+

L-

L11

L21

CN8

CN1ACN1BCN5

Functional safety unit

Control circuit

power supply

Safety observation function processing part 1

Self-check

Parameter

CN9

CN90

Safety observation function

STO function SS1 function SS2 function SOS function SLS function

SSM function

SBC function

SM function

Gate circuit

Control

CN7

CN70

Output

device control

CN2

CN10A

24 V DC

Output signal

Electromagnetic

brake

Encoder

(Note 1)

Safety observation function processing part 2

Safety observation function

STO function SS1 function

Self-check

Parameter

SS2 function SOS function SLS function

SSM function

SBC function

SM function

Output

device control

CN10B

Note 1. Safety switch, safety relay, etc.

2. The safety observation function is certified by Certification Body only by combination of Q17_DSCPU/Q17_DSXY and

QnUD(E)(H)CPU programmable controller.

1 - 12

1. FUNCTIONS AND CONFIGURATION

1.3.5 MR-J4-DU_A_-RJ

Drive unit

Servo motor

o L+ of converter unit

o L- of converter unit

Power supply

Not used (Remove the short-circuit connector.)

DIO control

Controller

RS-422

USB

Parameter setting

Input signal

(Note)

L+

L-

L11

L21

CN8CN5

CN1CN3

Functional safety unit

CN10ACN10B

Control circuit power supply

Safety observation function processing part 1

Input device

control

Self-check

Parameter

CN9

CN90

Safety observation function

STO function

SS1 function SS2 function

SOS function

SLS function SSM function SBC function

SM function

Gate circuit

Control

CN7

CN70

Output

device control

CN2

CN10ACN10B

24 V DC

Encoder

Output signal

(Note)

Electromagnetic brake

Safety observation function processing part 2

Safety observation function

Input device

control

Self-check

Parameter

STO function

SS1 function

SS2 function SOS function

SLS function SSM function SBC function

SM function

Output

device control

Note. Safety switch, safety relay, etc.

1 - 13

1. FUNCTIONS AND CONFIGURATION

1.4 System configuration

For wirings other than in diagram, refer to each servo amplifier instruction manual.

1.4.1 MR-J4-_GF_-RJ

(1) Safety observation function control by input device

POINT

Remove the short-circuit connector on CN8.

Personal

MR Configurator2

computer

MR-J4-_GF_-RJ MR-D30

CN5

Junction terminal block

CC-Link IE Field Network

Field Network

Not used (Remove the short-circuit connector.)

CN1A

CN1BCC-Link IE

CN8

CN3

CN2

CN10A/CN10B

24 V DC power supply for IO

Safety signal

U V

Safety programmable controller

Emergency stop switch

Light curtain

1 - 14

1. FUNCTIONS AND CONFIGURATION

(2) Safety observation function control by network

POINT

Remove the short-circuit connector on CN8.

MR Configurator2

Personal computer

MR-J4-_GF_-RJ MR-D3

Emergency stop switch

Light curtain

R_SFCPU + R6SFM + RD77GF_

Junction terminal block

Safety signal

CC-Link IE Field Network

Not used (Remove the short-circuit connector.)

CN1A

CN1B

CN5

CN8

CN3

CN2

U V

1 - 15

1. FUNCTIONS AND CONFIGURATION

1.4.2 MR-J4-_B_-RJ/MR-J4-DU_B-RJ

(1) Safety observation function control by input device

POINT

Remove the short-circuit connector on CN8.

Personal

MR Configurator2

computer

MR-J4-_B_-RJ MR-D30

CN5

Junction terminal block

Not used (Remove the short-circuit connector.)

Servo system controller or previous servo amplifier CN1B

Next servo amplifier CN1A or cap

CN1A

CN1B

CN3

CN8

CN2

CN10A/CN10B

24 V DC power supply for IO

Safety signal

U V

Safety programmable controller

Emergency stop switch

Light curtain

1 - 16

1. FUNCTIONS AND CONFIGURATION

(2) Safety observation function control by network

POINT

Remove the short-circuit connector on CN8.

MR Configurator2

Personal computer

MR-J4-_B_-RJ MR-D3

Emergency stop switch

Light curtain

Q17_DSCPU + Q173DSXY

Junction terminal block

Safety signal

Servo system controller or previous servo amplifier CN1B

Next servo amplifier CN1A or cap

Not used (Remove the short-circuit connector.)

CN1A

CN2B

CN5

CN3

CN8

CN2

U V

1 - 17

1. FUNCTIONS AND CONFIGURATION

1.4.3 MR-J4-_A_-RJ/MR-J4-DU_A-RJ

MR-J4-_A_-RJ MR-D30

CN5

CN6

CN3

CN8

CN1

MR Configurator2

Analog monitor

Personal computer, etc.

Junction terminal block

POINT

Remove the short-circuit connector on CN8.

Personal computer

Not used (Remove the short-circuit connector.)

CN10A/CN10B

24 V DC power supply for IO

Safety signal

Safety programmable controller

CN2

Emergency stop switch

Light curtain

1 - 18

1. FUNCTIONS AND CONFIGURATION

1.5 Standard specifications

Model MR-D30

Output

Interface power supply

Safety performance

Safety observation function (IEC/EN 618005-2)

Compliance with global standards

Structure (IP rating) Natural cooling, open (mounted on a servo amplifier: IP20, MR-D30 (single): IP00)

Environment

Mass [g] 150

Rated voltage 24 V DC

Rated current [A] 0.3

Voltage 24 V DC ± 10%

Power supply capacity [A]

EN ISO 13849-1 Category 4, PL e and Category 3, PL d

Standards certified by CB

Mean time to dangerous failure

Effectiveness of fault monitoring of a system or subsystem

Average probability of dangerous failures per hour

Mission time TM = 20 [years]

Response performance (Note 2)

Speed observation resolution

Position observation resolution

Safety position data resolution

Input device 6 points × 2 systems (source/sink)

Output device

Safe torque off (STO) Category 4, PL e, SIL 3 (Note 3)/Category 3, PL d, SIL 2

Safe stop 1 (SS1) Category 4, PL e, SIL 3 (Note 3)/Category 3, PL d, SIL 2

Safely-limited speed (SLS) (Note 7)

Safe speed monitor (SSM) (Note 7)

Safe brake control (SBC)

Safe operating stop (SOS) (Note 5, 7)

Safe stop 2 (SS2) (Note 5, 7)

Status monitor (Note 6)

CE marking

Ambient temperature Operation: 0 °C to 55 °C (non-freezing), storage: -20 °C to 65 °C (non-freezing)

Ambient humidity

Ambience Indoors (no direct sunlight); no corrosive gas, inflammable gas, oil mist or dust

Altitude 2000 m or less above sea level

Vibration resistance 5.9 m/s2, 10 Hz to 57 Hz

Depends on a command resolution (22 bit position command: 0.1 r/min or less)

Using drive safety integrated motion controller: 60 ms or less

Using drive safety integrated programmable controller: 65 ms or less

Source: 3 points × 2 systems and 1 point × 1 system

Category 4, PL e, SIL 3 (Note 3, 4)/Category 3, PL d, SIL 2

Category 4, PL e, SIL 3 (Note 3)/Category 3, PL d, SIL 2

EN 62061 SIL CL 2 and SIL CL 3

Using input device: 15 ms or less

Category 4, PL e, SIL 3/Category 3 PL d, SIL 2

MD: EN ISO 13849-1, EN 61800-5-2, EN 62061

Operation: 5 %RH to 90 %RH (non-condensing),

storage: 5 %RH to 90 %RH (non-condensing)

0.8 (Note 1)

IEC 61508 SIL 2 and SIL 3

EN 61800-5-2

MTTFd ≥ 100 [years] (313a)

DC = High, 97.6 [%]

PFH = 6.57 × 10

1/32 rev

32 pulses/rev (5 bits)

Sink: 1 point × 1 system

EMC: EN 61800-3

-9

[1/h]

1 - 19

1. FUNCTIONS AND CONFIGURATION

Note 1. This is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of

I/O points.

2. Time from STO input off to energy shut off

3. To meet Category 4, PL e, SIL 3 for input signals, a diagnosis using test pulses is required.

4. To meet Category 4, PL e, SIL 3, using with an HG-KR_W0C, HG-SR_W0C, or HG-JR_W0C servo motor is required.

5. To enable SS2 and SOS, using with an HG-KR_W0C, HG-SR_W0C, or HG-JR_W0C servo motor is required.

6. Status monitor is a Mitsubishi Electric original function. For the observation functions and the safety levels which can be

displayed on the monitor, refer to the items of “Safety observation function (IEC/EN 61800-5-2)”.

7. Linear servo system, direct drive servo system, and fully closed loop system are not compatible with SLS, SSM, SS2, and

SOS.

1 - 20

1. FUNCTIONS AND CONFIGURATION

1.6 Function list

Function Description

15 ms or less (using input device)

STO Shut-off response time

SS1 Deceleration delay time 0 ms to 60000 ms (parameter setting)

Safety observation function

Input/output function

Parameter setting

Safety communication function

SBC Shut-off response time

SLS1/SLS2/SLS3/SLS4 Observation speed 0 r/min to 10000 r/min (parameter setting) (Note 3)

SSM Observation speed 0 r/min to 10000 r/min (parameter setting)

SS2 Deceleration delay time 0 ms to 60000 ms (parameter setting)

SOS Observation position 0 rev to 100 rev (parameter setting)

Status monitor (SM) Response time 200 μs

Number of inputs 6 points × 2 systems

Mismatch permissible time of duplication input

Input device

Number of outputs 4 points × 2 systems (Note 4)

Output device Test pulse off time 0.444 ms to 1.77 ms (parameter setting)

Test pulse interval 1 s or less

mismatch detection

Test pulse off time 0.444 ms to 1.77 ms (parameter setting)

Test pulse interval 1 s or less

Noise rejection filter 0.888 ms to 28.4 ms (parameter setting)

Safety communication cycle

Safety communication delay time

Note 1. This is when the safety communication cycle is 14.2 ms.

2. This is when the safety communication cycle is 16.0 ms. For details on how to calculate the response time, refer to the

MELSEC iQ-R Safety Application Guide.

3. Each observation speed can be set separately.

4. MR-D30 manufactured in September, 2014 or earlier has three output points. Connecting a circuit to DO4NA or DO4PB of MR-

D30 manufactured in September, 2014 or earlier may cause a malfunction of MR-D30. Connecting MR-D30 manufactured in

September, 2014 or earlier to the servo amplifier will deactivate displays about DO4_ of MR Configurator2.

1.7 Combinations with servo amplifiers and servo motors

POINT

MR-D30 supported by with MR-J4-(DU)_A_-RJ with software version B5 or later, MR-J4-(DU)_B_-RJ with software version B5 or later, or MR-J4-_GF_-RJ with software version A3 or later. When you use a servo motor with functional safety, MR-BT6VCASE battery case cannot be used.

60 ms or less (using SSCNET III/H) (Note 1) 65 ms or less (Using CC-Link IE Field Network) (Note 2)

15 ms or less (using input device) 60 ms or less (using SSCNET III/H) (Note 1) 65 ms or less (Using CC-Link IE Field Network) (Note 2)

1 ms to 60000 ms (parameter setting)

Failure diagnosis by duplication parameter, writing protection by password

14.2 ms to 28.4 ms (parameter setting) (Using SSCNET III/H)

16.0 ms to 32.0 ms (parameter setting) (Using CC-Link IE Field Network)

60 ms or less (Using SSCNET III/H) (Note 1) 65 ms or less (Using CC-Link IE Field Network) (Note 2)

Servo amplifiers and servo motors that can be used with MR-D30 are listed as follows. The usable safety observation function and achievable safety performance level vary depending on each servo motor to be used. Refer to section 4.1 for details.

1 - 21

1. FUNCTIONS AND CONFIGURATION

(1) 200 V class

(a) Combinations with MR-J4-_ servo amplifiers

Servo amplifier

MR-J4-10B-RJ MR-J4-10A-RJ MR-J4-10GF-RJ

MR-J4-20B-RJ MR-J4-20A-RJ MR-J4-20GF-RJ

MR-J4-40B-RJ MR-J4-40A-RJ MR-J4-40GF-RJ

MR-J4-60B-RJ MR-J4-60A-RJ MR-J4-60GF-RJ

MR-J4-70B-RJ MR-J4-70A-RJ MR-J4-70GF-RJ

MR-J4-100B-RJ MR-J4-100A-RJ MR-J4-100GF-RJ

MR-J4-200B-RJ MR-J4-200A-RJ MR-J4-200GF-RJ

MR-J4-350B-RJ MR-J4-350A-RJ MR-J4-350GF-RJ

MR-J4-500B-RJ MR-J4-500A-RJ MR-J4-500GF-RJ

Servo motor

HG-KR053 HG-KR13 HG-MR053 HG-MR13

HG-KR23 HG-MR23

HG-KR43 HG-MR43

HG-SR51 HG-SR52 HG-JR53

HG-KR73 HG-MR73 HG-JR73 HG-UR72

HG-SR81 HG-SR102 HG-JR53 (Note) HG-JR103

HG-SR121 HG-SR201 HG-SR152 HG-SR202 HG-JR73 (Note) HG-JR103 (Note) HG-JR153 HG-JR203 HG-RR103 HG-RR153 HG-UR152

HG-SR301 HG-SR352 HG-JR153 (Note) HG-JR203 (Note) HG-JR353 HG-RR203 HG-UR202

HG-SR421 HG-SR502 HG-JR353 (Note) HG-JR503 HG-RR353 HG-RR503 HG-UR352 HG-UR502

Rotary servo motor

Servo motor with functional

safety

HG-KR053W0C HG-KR13W0C

HG-KR23W0C LM-U2PAB-05M-0SS0

HG-KR43W0C LM-H3P2A-07P-BSS0

HG-SR51W0C HG-SR52W0C HG-JR53W0C

HG-KR73W0C HG-JR73W0C

HG-SR81W0C HG-SR102W0C HG-JR53W0C (Note) HG-JR103W0C

HG-SR121W0C HG-SR201W0C HG-SR152W0C HG-SR202W0C HG-JR73W0C (Note) HG-JR103W0C (Note) HG-JR153W0C HG-JR203W0C

HG-SR301W0C HG-SR352W0C HG-JR153W0C (Note) HG-JR203W0C (Note) HG-JR353W0C

HG-SR421W0C HG-SR502W0C HG-JR353W0C (Note) HG-JR503W0C

Linear servo motor

(primary side)

LM-U2PBB-07M-1SS0

LM-H3P3A-12P-CSS0 LM-K2P1A-01M-2SS1 LM-U2PAD-10M-0SS0 LM-U2PAF-15M-0SS0

LM-U2PBD-15M-1SS0 TM-RFM006C20

LM-H3P3B-24P-CSS0 LM-H3P3C-36P-CSS0 LM-H3P7A-24P-ASS0 LM-K2P2A-02M-1SS1 LM-U2PBF-22M-1SS0

TM-RFM018E20

LM-H3P3D-48P-CSS0 LM-H3P7B-48P-ASS0 LM-H3P7C-72P-ASS0 LM-FP2B-06M-1SS0 LM-K2P1C-03M-2SS1 LM-U2P2B-40M-2SS0

LM-H3P7D-96P-ASS0 LM-K2P2C-07M-1SS1 LM-K2P3C-14M-1SS1 LM-U2P2C-60M-2SS0

LM-FP2D-12M-1SS0 LM-FP4B-12M-1SS0 LM-K2P2E-12M-1SS1 LM-K2P3E-24M-1SS1 LM-U2P2D-80M-2SS0

Direct drive motor

TM-RG2M002C30 TM-RU2M002C30 TM-RG2M004E30 TM-RU2M004E30 TM-RFM002C20

TM-RG2M004E30 TM-RU2M004E30 TM-RG2M009G30 TM-RU2M009G30 TM-RFM004C20

TM-RFM006E20

TM-RFM012E20 TM-RFM012G20 TM-RFM040J10

TM-RFM048G20 TM-RFM072G20 TM-RFM120J10

TM-RFM240J10

1 - 22

1. FUNCTIONS AND CONFIGURATION

Rotary servo motor

Servo amplifier

MR-J4-700B-RJ MR-J4-700A-RJ MR-J4-700GF-RJ

MR-J4-11KB-RJ MR-J4-11KA-RJ MR-J4-11KGF-RJ

MR-J4-15KB-RJ MR-J4-15KA-RJ MR-J4-15KGF-RJ

MR-J4-22KB-RJ MR-J4-22KA-RJ MR-J4-22KGF-RJ

Servo motor

HG-SR702 HG-JR703 HG-JR503 (Note) HG-JR601 HG-JR701M

HG-JR903 HG-JR801 HG-JR12K1 HG-JR11K1M

HG-JR15K1 HG-JR15K1M

HG-JR20K1 HG-JR25K1 HG-JR22K1M

Note. The maximum torque can be increased to 400% of the rated torque.

(b) Combinations with MR-J4-DU_ drive units

Drive unit

MR-J4-DU900B-RJ HG-SR702 (Note 2)

MR-J4-DU11KB-RJ HG-JR12K1

MR-J4-DU15KB-RJ HG-JR15K1

MR-J4-DU22KB-RJ HG-JR20K1

MR-J4-DU30KB-RJ MR-J4-DU30KA-RJ

MR-J4-DU37KB-RJ MR-J4-DU37KA-RJ

Servo motor

HG-JR601 HG-JR801 HG-JR701M (Note 2) HG-JR503 (Note 1) HG-JR703 (Note 2) HG-JR903

HG-JR11K1M

HG-JR15K1M

HG-JR25K1 HG-JR22K1M

HG-JR30K1 HG-JR30K1M

HG-JR37K1 HG-JR37K1M

Note 1. The maximum torque can be increased to 400% of the rated torque.

2. By enabling the maximally increased torque function when drive unit is connected, the maximum

torque can be increased.

Servo motor with functional

safety

HG-SR702W0C HG-JR703W0C HG-JR503W0C (Note) HG-JR701MW0C

HG-JR903W0C HG-JR11K1MW0C

HG-JR15K1MW0C LM-FP4F-48M-1SS0

HG-JR22K1MW0C

Rotary servo motor

Servo motor with functional

HG-SR702W0C (Note 2) HG-JR701MW0C (Note 2) HG-JR503W0C (Note 1) HG-JR703W0C (Note 2) HG-JR903W0C

HG-JR11K1MW0C LM-FP4F-36M-1SS0

HG-JR15K1MW0C LM-FP4H-48M-1SS0

HG-JR22K1MW0C

safety

Linear servo motor

(primary side)

LM-FP2F-18M-1SS0 LM-FP4D-24M-1SS0

LM-FP4F-36M-1SS0

Linear servo motor

(primary side)

LM-FP2F-18M-1SS0 LM-FP4D-24M-1SS0

Direct drive motor

1 - 23

1. FUNCTIONS AND CONFIGURATION

(2) 400 V class

(a) Combinations with MR-J4-_ servo amplifiers

Servo amplifier

MR-J4-60B4-RJ MR-J4-60A4-RJ MR-J4-60GF4-RJ

MR-J4-100B4-RJ MR-J4-100A4-RJ MR-J4-100GF4-RJ

MR-J4-200B4-RJ MR-J4-200A4-RJ MR-J4-200GF4-RJ

MR-J4-350B4-RJ MR-J4-350A4-RJ MR-J4-350GF4-RJ

MR-J4-500B4-RJ MR-J4-500A4-RJ MR-J4-500GF4-RJ

MR-J4-700B4-RJ MR-J4-700A4-RJ MR-J4-700GF4-RJ

MR-J4-11KB4-RJ MR-J4-11KA4-RJ MR-J4-11KGF4-RJ

MR-J4-15KB4-RJ MR-J4-15KA4-RJ MR-J4-15KGF4-RJ

MR-J4-22KB4-RJ MR-J4-22KA4-RJ MR-J4-22KGF4-RJ

Servo motor

HG-SR524 HG-JR534

HG-SR1024 HG-JR534 (Note) HG-JR734 HG-JR1034

HG-SR1524 HG-SR2024 HG-JR734 (Note) HG-JR1034 (Note) HG-JR1534 HG-JR2034

HG-SR3524 HG-JR1534 (Note) HG-JR2034 (Note) HG-JR3534

HG-SR5024 HG-JR3534 (Note) HG-JR5034

HG-SR7024 HG-JR5034 (Note) HG-JR6014 HG-JR701M4 HG-JR7034

HG-JR8014 HG-JR12K14 HG-JR11K1M4 HG-JR9034

HG-JR15K14 HG-JR15K1M4

HG-JR20K14 HG-JR25K14 HG-JR22K1M4

Note. The maximum torque can be increased to 400% of the rated torque.

Rotary servo motor

Servo motor with functional

HG-SR524W0C HG-JR534W0C

HG-SR1024W0C HG-JR534W0C (Note) HG-JR734W0C HG-JR1034W0C

HG-SR1524W0C HG-SR2024W0C HG-JR734W0C (Note) HG-JR1034W0C (Note) HG-JR1534W0C HG-JR2034W0C

HG-SR3524W0C HG-JR1534W0C (Note) HG-JR2034W0C (Note) HG-JR3534W0C

HG-SR5024W0C HG-JR3534W0C (Note) HG-JR5034W0C

HG-SR7024W0C HG-JR5034W0C (Note) HG-JR7034W0C HG-JR701M4W0C

HG-JR11K1M4W0C HG-JR9034W0C

HG-JR15K1M4W0C

HG-JR22K1M4W0C LM-FP5H-60M-1SS0

safety

Linear servo motor

(primary side)

1 - 24

1. FUNCTIONS AND CONFIGURATION

(b) Combinations with MR-J4-DU_ drive units

MR-J4-DU900B4-RJ HG-SR7024 (Note 2)

MR-J4-DU11KB4-RJ HG-JR12K14

MR-J4-DU15KB4-RJ HG-JR15K14

MR-J4-DU22KB4-RJ HG-JR20K14

MR-J4-DU30KB4-RJ MR-J4-DU30KA4-RJ

MR-J4-DU37KB4-RJ MR-J4-DU37KA4-RJ

MR-J4-DU45KB4-RJ MR-J4-DU45KA4-RJ

MR-J4-DU55KB4-RJ MR-J4-DU55KA4-RJ

Two units of MR-J4DU55KB4-RJ100

Four units of MR-J4DU45KB4-RJ100

Four units of MR-J4DU55KB4-RJ100

Note 1. The maximum torque can be increased to 400% of the rated torque.

2. By enabling the maximally increased torque function when drive unit is connected, the maximum

(3) 100 V class

Servo amplifier

MR-J4-10B1-RJ MR-J4-10A1-RJ MR-J4-10GF1-RJ

MR-J4-20B1-RJ MR-J4-20A1-RJ MR-J4-20GF1-RJ

MR-J4-40B1-RJ MR-J4-40A1-RJ MR-J4-40GF1-RJ

Drive unit

HG-JR6014 HG-JR8014 HG-JR701M4 (Note 2) HG-JR5034 (Note 1) HG-JR7034 (Note 2) HG-JR9034

HG-JR11K1M4

HG-JR15K1M4

HG-JR22K1M4 HG-JR25K14

HG-JR30K14 HG-JR30K1M4

HG-JR37K14 HG-JR37K1M4

HG-JR45K1M4

HG-JR55K1M4

torque can be increased.

Servo motor

HG-KR053 HG-KR13 HG-MR053 HG-MR13

HG-KR23 HG-MR23

HG-KR43 HG-MR43

Servo motor

Rotary servo motor

Servo motor with functional

HG-SR7024W0C (Note 2) HG-JR701M4W0C (Note 2) HG-JR5034W0C (Note 1) HG-JR7034W0C (Note 2) HG-JR9034W0C

HG-JR11K1M4W0C

HG-JR15K1M4W0C

HG-JR22K1M4W0C LM-FP5H-60M-1SS0

HG-JR110K24W0C

HG-JR150K24W0C HG-JR180K24W0C

HG-JR200K24W0C HG-JR220K24W0C

Servo motor with functional

safety

HG-KR053W0C HG-KR13W0C

HG-KR23W0C LM-U2PAB-05M-0SS0

HG-KR43W0C LM-H3P2A-07P-BSS0

safety

Linear servo motor

(primary side)

Linear servo motor

(primary side)

LM-U2PBB-07M-1SS0

LM-H3P3A-12P-CSS0 LM-K2P1A-01M-2SS1 LM-U2PAD-10M-0SS0 LM-U2PAF-15M-0SS0

Direct drive motor

TM-RG2M002C30 TM-RU2M002C30 TM-RG2M004E30 TM-RU2M004E30 TM-RFM002C20

TM-RG2M004E30 TM-RU2M004E30 TM-RG2M009G30 TM-RU2M009G30 TM-RFM004C20

1 - 25

1. FUNCTIONS AND CONFIGURATION

1.8 Rating plate

The following shows an example of rating plate for explanation of each item.

Serial number Model IP rating, Manual number Capacity Applicable power supply Rated output power Standard Ambient temperature KC certification number The year and month of manufacture

Country of origin

1.9 Risk assessments

To ensure safety, users should decide all the risk assessments and residual risks in the entire machine equipment. A company and individual who constructed the safety related system must take full responsibility for installation and commissioning of the system. Additionally, when complying with a European machinery directive, the system must acquire safety standards certification as a whole. Perform all risk assessments and safe level certification to the machine or the system as a whole. It is recommended that a Certification Body final safety certification of the system be used. The following shows residual risks concerning the safety observation function of this product.

1.9.1 Common residual risks in each function

(1) At the shipment to end-users, check the settings of safety related components with programming tools

and monitored/displayed contents on display and record and save the setting data concerning the safety observation function and the programming tools you used. Perform them using a check sheet, etc.

(2) The safety will not be ensured such as in assembling machine until installing, wiring, and adjustment are

completed properly. Install, wire, and adjust your system referring to installation guide for each unit.

(3) Only qualified personnel are authorized to install, start-up, repair or adjust the machines in which these

components are installed. Only trained engineers should install and operate the equipment. (ISO 138491 Table F.1 No. 5)

(4) Separate the wiring for safety observation function from other signal wiring.

(ISO 13849-1 Table F.1 No. 1)

(5) Protect the cables with appropriate ways (routing them in a cabinet, using a cable guard, etc.).

(6) We recommend using a switch, relay, sensor, etc. which comply with safety standards. When using a

switch, relay, sensor, etc. which do not comply with safety standards, perform a safety confirmation.

(7) Keep the required clearance/creepage distance depending on voltage you use.

(8) The time to a safety observation error depends on parameter settings.

1 - 26

1. FUNCTIONS AND CONFIGURATION

1.9.2 Residual risks in each function

(1) Speed monitoring (SLS)

(a) Speed monitoring function guarantees the servo motor speed, but it does not guarantee the actual

machine safety speed. Set parameters so that the safe speed of the machine is the same as the

(2) Safe speed monitor (SSM)

(3) Safe brake control (SBC)

safety speed of the specified motor.

(b) Check if the speed of the monitored servo axis is the same as the actual speed by using a

tachometer, etc. considering the speed includes an error caused by the command and encoder resolution.

covered. Be sure to eliminate the risk of mechanical section before operation.

(d) Speed monitoring error detection time is set to 1 ms. Error in shorter than this time is not detected.

(e) After speed is over the limit, safety observation error (shut-off signal off) does not occur during the

speed error detection time set by the parameter. Make sure that safety can be ensured during this period.

When SSM is used as a restart trigger, perform it according to IEC/EN 60204-1.

This function guarantees only that power to mechanic break is properly supplied and abrasion of the brake cannot be detected. Check this function regularly that the mechanic brake can operate.

1 - 27

1. FUNCTIONS AND CONFIGURATION

MEMO

1 - 28

2. INSTALLATION

WARNING

CAUTION

To prevent electric shock, ground each equipment securely.

Stacking in excess of the specified number of product packages is not allowed. Install the equipment on incombustible material. Installing them directly or close to combustibles will lead to a fire. Install the servo amplifier and the servo motor in a load-bearing place in accordance with the Instruction Manual. Do not get on or put heavy load on the equipment. Otherwise, it may cause injury. Use the equipment within the specified environment. For the environment, refer to section 1.5. Provide adequate protection to prevent screws and other conductive matter, oil and other combustible matter from entering the servo amplifier and MR-D30. Do not block the intake and exhaust areas of the servo amplifier and MR-D30. Otherwise, it may cause a malfunction. Do not drop or strike the servo amplifier and MR-D30. Isolate them from all impact loads. Do not install or operate the servo amplifier and MR-D30 which have been damaged or have any parts missing. When the product has been stored for an extended period of time, contact your local sales office. When handling the servo amplifier and MR-D30, be careful about the edged parts such as corners of them. The servo amplifier and MR-D30 must be installed in a metal cabinet. When fumigants that contain halogen materials such as fluorine, chlorine, bromine, and iodine are used for disinfecting and protecting wooden packaging from insects, they cause malfunction when entering our products. Please take necessary precautions to ensure that remaining materials from fumigant do not enter our products, or treat packaging with methods other than fumigation (heat method). Additionally, disinfect and protect wood from insects before packing products.

POINT

When pulling out CNP1, CNP2, and CNP3 connectors of 100 V class or 200 V class servo amplifiers of 600 W or lower, pull out the following connectors beforehand.

MR-J4-_A_-RJ: CN1/CN3 MR-J4-_B_-RJ: CN1A/CN1B/CN3

2 - 1

2. INSTALLATION

2.1 Installation direction and clearances

The equipment must be installed in the specified direction. Otherwise, it may

CAUTION

(1) Installation clearances of the servo amplifier

(a) Installation of one servo amplifier

cause a malfunction. Leave specified clearances between the servo amplifier/MR-D30 and the cabinet walls or other equipment. Otherwise, it may cause a malfunction.

POINT

For the installation direction and clearances of the MR-J4-DU_-RJ, refer to "MRCV_/MR-CR55K_/MR-J4DU_(-RJ) Instruction Manual".

Cabinet Cabinet

40 mm or more

Servo amplifier

10 mm or more (Note 2)

40 mm or more (Note 1)

Note 1. For the 11 kW to 22 kW servo amplifiers, the clearance between the bottom and the ground will be 120 mm or more.

2. When mounting MR-J4-500_-RJ, maintain a minimum clearance of 25 mm on the left side.

10 mm or more

Wiring allowance

80 mm or more

Top

Bottom

2 - 2

2. INSTALLATION

(b) Installation of two or more servo amplifiers

POINT

Close mounting is possible depending on the capacity of the servo amplifier. For the possibility of close mounting, refer to each servo amplifier instruction manual. When closely mounting multiple servo amplifiers, the servo amplifier on the right must have a larger depth than that on the left. Otherwise, the CNP1, CNP2, and CNP3 connectors cannot be removed.

Leave a large clearance between the top of the servo amplifier and the cabinet walls, and install a cooling fan to prevent the internal temperature of the cabinet from exceeding the environment. When mounting the servo amplifiers closely, leave a clearance of 1 mm between the adjacent servo amplifiers in consideration of mounting tolerances. In this case, keep the ambient temperature within 0 ˚C to 45 ˚C or use the servo amplifier with 75% or less of the effective load ratio.

Cabinet

100 mm or more

10 mm or more (Note 2)

30 mm or more

40 mm or more (Note 1)

Leaving clearance Mounting closely

Note 1. For the 11 kW to 22 kW servo amplifiers, the clearance between the bottom and the ground will be 120 mm or more.

2. When mounting MR-J4-500_-RJ, maintain a minimum clearance of 25 mm between the MR-J4-500_-RJ and a servo amplifier

mounted on the left side.

30 mm or more

1 mm

100 mm or more

1 mm

40 mm or more

30 mm or more

Top

Bottom

(2) Others

When using heat generating equipment such as the regenerative option, install them with full consideration of heat generation so that the servo amplifier is not affected. Install the servo amplifier on a perpendicular wall in the correct vertical direction.

2 - 3

2. INSTALLATION

2.2 Keep out foreign materials

(1) When drilling in the cabinet, prevent drill chips and wire fragments from entering MR-D30 and servo

amplifier.

(2) Prevent oil, water, metallic dust, etc. from entering the servo amplifier through openings in the cabinet or

a cooling fan installed on the ceiling.

(3) When installing the cabinet in a place where toxic gas, dirt and dust exist, conduct an air purge (force

clean air into the cabinet from outside to make the internal pressure higher than the external pressure) to prevent such materials from entering the cabinet.

2.3 Inspection items

CAUTION

It is recommended that the following points periodically be checked.

(1) Check for loose terminal block screws. Retighten any loose screws.

(2) Check the cables and the like for scratches or cracks. Inspect them periodically according to operating

conditions especially when the servo motor is movable.

(3) Check that the connector is securely connected to the servo amplifier.

(4) Check that the wires are not coming out from the connector.

(5) Check for dust accumulation on the servo amplifier.

(6) Check for unusual noise generated from the servo amplifier.

(7) Make sure that the emergency stop circuit operates properly such that an operation can be stopped

immediately and a power is shut off by the emergency stop switch.

2.4 Parts having service life

Do not disassemble and/or repair the equipment on customer side.

MR-D30 has no parts for replacement.

2.5 Maintenance

POINT

When you order a repair, please return the MR-D30 with a note of No. of occurred alarm.

The parameters of MR-D30 are protected by passwords to prevent incorrect settings. The parameters of MR-D30 which are returned for fixing/investigation will be initialized. The parameters and other settings need to be set again. Changing the combination of MR-D30 and MR-J4 servo amplifier will trigger [AL. 7A.4 Functional safety unit combination error (safety observation function)], and the safety observation function you set will not operate.

2 - 4

2. INSTALLATION

2.6 Attachment and detachment of MR-D30

Before attaching and detaching MR-D30, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage

WARNING

CAUTION

between P+ and N- is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or not, always confirm it from the front of the servo amplifier.

Do not repeatedly attach and detach MR-D30. Otherwise, a contact failure may be caused in the connector. To protect the connectors from dusts and dirt, do not unpack MR-D30 until it is ready to be attached. When storing MR-D30, be sure to cover the unit with a packing bag in which the unit had been covered prior to shipping. Do not use MR-D30 if its fixing hook or clips are broken. Otherwise, a contact failure may be caused in the connector. When attaching/detaching MR-D30 to/from MR-J4-500_-RJ to MR-J4-22K_-RJ and MR-J4-350_4-RJ to MR-J4-22K_4-RJ servo amplifiers, be careful not to drop the mounting screw in the servo amplifiers. Otherwise, it may cause a malfunction to the servo amplifiers. When mounting MR-D30 to MR-J4-500_-RJ to MR-J4-22K_-RJ and MR-J4350_4-RJ to MR-J4-22K_4-RJ servo amplifiers, be careful not to damage the board in the servo amplifier by the fixing plate. Otherwise, it may cause a malfunction to the servo amplifiers. Make sure to tighten MR-D30 with the enclosed mounting screw when installing.

POINT

The internal circuits of the servo amplifier and MR-D30 may be damaged by static electricity. Always take the following precautions.

Ground human body and work bench. Do not touch the conductive areas, such as connector pins and electrical parts,

directly by hand.

2 - 5

2. INSTALLATION

(1) MR-J4-200_(4)-RJ or less/MR-J4-350_-RJ

(a) Attachment of MR-D30

Guide hole

MR-D30

Guide pin

1) Remove the covers of CN7 and CN9 connectors. Use caution not to lose the removed covers.

2) Insert the guide pins of the MR-D30 in the guide holes located on the side of the servo amplifier.

3) To connect the CN7 and CN9 connectors straight, push the four corners of the MR-D30 against the servo amplifier simultaneously, and keep pushing until the clips click into place.

4) Tighten the unit with the enclosed mounting screw (M4).

Clip

(b) Detachment of MR-D30

1) Remove the mounting screw.

2) While pushing the clips ( a), b), c), d)), pull out MR-D30 to the arrow direction. Do not pull the MR-D30 without removing the mounting screw.

3) When the MR-D30 is detached, be sure to cover the CN7 and CN9 connectors to protect from dust and dirt.

2 - 6

2. INSTALLATION

(2) MR-J4-500_-RJ to MR-J4-700_-RJ/MR-J4-350_4-RJ to MR-J4-700_4-RJ

(a) Detachment of the side cover

1) While pushing the clips ( a) , b)), and pull out the side cover to the arrow direction.

(b) Attachment of MR-D30

1) Insert the guide pins of the MR-D30 in the guide holes located on the side of

Guide hole

the servo amplifier.

Guide pin

Clip

2) d)

2) To connect the CN7 and CN9 connectors straight, push the four corners of the MR-D30 against the servo amplifier simultaneously, and keep pushing until the clips click into place.

3) Tighten the unit with the enclosed mounting screw (M4).

1) Remove the mounting screw.

2) While pushing the clips ( a), b), c), d)), pull out MR-D30 to the arrow direction. Do not pull the MR-D30 without removing the mounting screw.

2 - 7

2. INSTALLATION

(d) Attachment of the side cover

Side cover setting clip

1) Insert the side cover setting clips into the recesses a) of the servo amplifier.

2) Push the side cover at the supporting point a) in procedure 1) until the clips clip into place.

Clip

(3) MR-J4-11K_-RJ to MR-J4-22K_-RJ, and drive units of 30 kW or more

Avoid touching burr remained after the part a) being cut off from the case shown

CAUTION

in the figure below. Otherwise, it may cause injury.

The mounting screw hole on these servo amplifiers are covered and not shown at shipping. When attaching the unit for the first time, cut off the part a) from the case after removing the side cover. When cutting off the part a), be careful not to damage the case of the servo amplifier. After the part a) is cut off, inside of the servo amplifier will be exposed even after the side cover or the unit is attached. Prevent foreign materials from entering through the opened area into the servo amplifier. For attaching and detaching the unit, refer to (2) in this section. Attachment and detachment of the cover is in the same manner as the unit.

2 - 8

3. SIGNALS AND WIRING

Any person who is involved in wiring should be fully competent to do the work. Before wiring, turn off the power and wait for 15 minutes or more until the charge lamp of the servo amplifier turns off. Then, confirm that the voltage between P+ and N- is safe with a voltage tester and others. Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or not, always confirm it from the front of the servo amplifier.

WARNING

Ground the servo amplifier and servo motor securely. Do not attempt to wire the servo amplifier and servo motor until they have been installed. Otherwise, it may cause an electric shock. The cables should not be damaged, stressed, loaded, or pinched. Otherwise, it may cause an electric shock. To avoid an electric shock, insulate the connections of the power supply terminals.

Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly, resulting in injury. Connect cables to the correct terminals. Otherwise, a burst, damage, etc. may occur. Ensure that polarity (+/-) is correct. Otherwise, a burst, damage, etc. may occur. The surge absorbing diode installed to the DC relay for control output should be fitted in the specified direction. Otherwise, the emergency stop and other protective circuits may not operate.

MR-D30

DO4NB

DO4PB

For sink output interface

24 V DC

MR-D30

Control output signal

For source output interface

DO24VA/ DO24VB/ DO4PA

24 V DC

CAUTION

Use a noise filter, etc. to minimize the influence of electromagnetic interference. Electromagnetic interference may be given to the electronic equipment used near the servo amplifier. Do not install a power capacitor, surge killer or radio noise filter (optional FR-BIF(H)) with the power line of the servo motor. When using a regenerative resistor, switch power off with the alarm signal. Otherwise, a transistor fault or the like may overheat the regenerative resistor, causing a fire. Do not modify the equipment. Connect the servo amplifier power output (U/V/W) to the servo motor power input (U/V/W) directly. Do not let a magnetic contactor, etc. intervene. Otherwise, it may cause a malfunction.

Servo amplifier

Servo motor

Servo motorServo amplifier

3 - 1

3. SIGNALS AND WIRING

Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction.

CAUTION

For signals and wiring of servo amplifiers, refer to each servo amplifier instruction manual.

Before wiring, switch operation, etc., eliminate static electricity. Otherwise, it may cause a malfunction.

POINT

The following indicate hardware abbreviations (H/W abbreviation) of the connector pin No., not functions.

H/W

abbreviation

DI1A CN10A-4 DO1A CN10A-8

DI2A CN10A-13 DO2A CN10A-17

DI3A CN10A-5 DO3A CN10A-9

DI4A CN10A-14 DO4NA CN10A-18

DI5A CN10A-6 DO1B CN10B-8

DI6A CN10A-15 DO2B CN10B-17

DI1B CN10B-4 DO3B CN10B-9

DI2B CN10B-13 DO4PB CN10B-16

DI3B CN10B-5

DI4B CN10B-14

DI5B CN10B-6

DI6B CN10B-15

Pin No.

H/W

abbreviation

Pin No.

3 - 2

3. SIGNALS AND WIRING

3.1 Connectors and pin assignment

The servo amplifier front view shown is an example of the MR-J4-20B-RJ or less. Refer to section 4.4.1 for functions that can be assigned to DI1_ to DI6_, and section 4.4.2 for DO1_ to DO4_. For connectors other than CN10A/CN10B, refer to each servo amplifier instruction manual.

CN10A (Note)

No. Symbol Symbol No.

CN8

Remove the short-circuit connector.

10 DC24VA DC24VA 11 DICOMA DICOMA 2 12 PLSA 3 13 DI2A DI1A 4 14 DI4A DI3A 5 15 DI6A DI5A 6 16 7

DO4PA 17 DO2A DO1A 8 18 DO3A 9

DO4NA

CN10B (Note)

No. Symbol Symbol No.

10 DC24VB DC24VB 11 DICOMB DICOMB 2 12 PLSB 3 13 DI2B DI1B 4 14 DI4B DI3B 5 15 DI6B DI5B 6 16 7

DO4PB 17 DO2B DO1B 8 18 DO3B 9

DO4NB

DO24VA

DO24VB

Note. DO4PA (CN10A-16), DO4NA (CN10A-18), DO4PB (CN10B-16), and DO4NB (CN10B-18) are not supported by MR-D30

manufactured in September, 2014 or earlier. Do not connect anything to the pins.

3 - 3

3. SIGNALS AND WIRING

3.2 I/O signal connection example

Consider 15 ms or shorter delay time from input (DI1A to DI6A and DI1B to DI6B) to output (DO1A to DO4A and DO1B to DO4B) when connecting cascade. For connection examples of servo amplifiers, refer to each servo amplifier instruction manual.

3.2.1 Input signal

(Note 1, 2)

10 m or less

24 V DC (Note 3)

10 m or less

DICOMA

DI1A

DI3A DI4A DI5A DI6A

MR-D30

CN10A

13DI2A

(Note 1, 2)

10 m or less

24 V DC (Note 3)

10 m or less

DICOMA

DI1A

DI3A DI4A DI5A DI6A

MR-D30

CN10A

13DI2A

24 V DC (Note 3)

(Note 1, 2)

For source input interface For sink input interface

Note 1. Separate all the external wires by two types, CN10A and CN10B.

ssign each input device to the following combinations of connector and pin. For details of each device, refer to section 4.4.1

and 4.4.2.

DICOMB

DI1B

DI3B DI4B DI5B DI6B

CN10B

13DI2B

Servo amplifier

(Note 1, 2)

24 V DC (Note 3)

DICOMB

DI1B

DI3B DI4B DI5B DI6B

CN10B

13DI2B

Servo amplifier

Combination of connector and pin for input

DI1A (CN10A-4)/DI1B (CN10B-4)

DI2A (CN10A-13)/DI2B (CN10B-13)

DI3A (CN10A-5)/DI3B (CN10B-5)

DI4A (CN10A-14)/DI4B (CN10B-14)

DI5A (CN10A-6)/DI5B (CN10B-6)

DI6A (CN10A-15)/DI6B (CN10B-15)

3. Supply 24 V DC ± 10% to interfaces from outside. When all the I/O points are used, the required current capacity is 0.8 A in

total. The current capacity can be decreased by reducing the number of I/O points. Refer to section 3.3 that gives the current

value necessary for the interface. The illustration of the 24 V DC power supply is divided between input signal and output

signal for convenience. However, they can be configured by one.

3 - 4

3. SIGNALS AND WIRING

3.2.2 Output signal

DO1A to DO3A, DO1B to DO3B, and DO4NA can be used as source output. DO4PB can be used as sink output.

MR-D30

(Note 4)

CN10A

8 DO1A

17 DO2A

9 DO3A

18 DO4NA

CN10B

8 DO1B

17 DO2B

9 DO3B

10 m or less

DO24VA

DO4PA

10 m or less

DO24VB

24 V DC (Note 3)

RA1

RA2

RA3

24 V DC (Note 3)

RA4

24 V DC (Note 3)

RA5

RA6

RA7

Source output (Note 1, 2)

(Note 4)

16 DO4PB

18 DO4NB

RA8

Sink output (Note 1, 2)

24 V DC (Note 3)

Servo amplifier

Note 1. Separate all the external wires by two types, CN10A and CN10B. Be sure to wire them separately by the two types for power

supply for IO (24 V DC, 0 V common). Do not mix them when wiring.

ssign each output device to the following combinations of connector and pin. For details of each device, refer to section 4.4.1

and 4.4.2.

Combination of connector and pin for output

DO1A (CN10A-8)/DO1B (CN10B-8)

DO2A (CN10A-17)/DO2B (CN10B-17)

DO3A (CN10A-9)/DO3B (CN10B-9)

DO4NA (CN10A-18)/DO4PB (CN10B-16)

3. Supply 24 V DC ± 10% to interfaces from outside. When all the I/O points are used, the required current capacity is 0.8 A in

total. The current capacity can be decreased by reducing the number of I/O points. Refer to section 3.3 that gives the current

value necessary for the interface. The illustration of the 24 V DC power supply is divided between input signal and output

signal for convenience. However, they can be configured by one.

4. DO4PA (CN10A-16), DO4NA (CN10A-18), DO4PB (CN10B-16), and DO4NB (CN10B-18) are not supported by MR-D30

manufactured in September, 2014 or earlier. Do not connect anything to the pins.

3 - 5

3. SIGNALS AND WIRING

3.3 Connection of I/O interface

The following shows a connection of I/O interface. Refer to this section and make connection with an external device.

3.3.1 Source output

This is an input circuit in which the anode of the photocoupler is the input terminal. Transmit signals from source (open collector) type transistor output, relay switch, etc. The wiring differs depending on a device to be connected, and on whether or not a test pulse diagnosis is executed. Refer to section 4.4.1 for the test pulse diagnosis. (Rated current: 5 mA, maximum current: 10 mA)

(1) Connection of external device

Connect the output signal of external device to DI _ _.

MR-D30

CN10A

DICOMA

24 V DC 5 mA

24 V DC

External device

Control

24V IN

output 1

Control

0V IN

output 2

24 V DC 5 mA

(2) Switch connection (not when executing a test pulse diagnosis)

Wire without using PLSA and PLSB.

24 V DC ± 10%

0.8 A

(Test pulse diagnosis disabled)

Switch

DI1A, etc.

Approx. 5.6 kΩ

CN10B

DICOMB

DI1B, etc.

Approx. 5.6 kΩ

CN10A

DICOMA

DI1A, etc.

Approx. 5.6 k

MR-D30

24 V DC ± 10%

0.8 A

CN10B

DICOMB

DI1B, etc.

Approx. 5.6 k

3 - 6

3. SIGNALS AND WIRING

(3) Switch connection (when executing a test pulse diagnosis)

The pulses for diagnosis will be outputted from PLSA and PLSB. Wire so that the pulse signals outputted from PLSA and PLSB pass through the switch.

MR-D30

CN10A

DC24VA

PLSA

DICOMA

DI1A, etc.

Approx. 5.6 kΩ

CN10B

DC24VB

PLSB

DICOMB

DI1B, etc.

Approx. 5.6 kΩ

(Test pulse diagnosis enabled)

Switch

24 V DC ± 10%

0.8 A

24 V DC ± 10%

0.8 A

3.3.2 Sink input

This is an input circuit whose photocoupler cathode side is input terminal. Transmit signals from sink (open collector) type transistor output, relay switch, etc. The wiring differs depending on a device to be connected, and on whether or not a test pulse diagnosis is executed. Refer to section 4.4.1 for the test pulse diagnosis. (Rated current: 5 mA, maximum current: 10 mA)

(1) Connection of external device

Connect the output signal of external device to DI _ _.

MR-D30

CN10A

DICOMA

DI1A, etc.

Approx.

CN210B

DICOMB

DI1B, etc.

Approx. 5.6 k

5.6 k

24 V DC

24 V DC 5 mA

External device

Control

24V IN

output 1

Control

0V IN

output 2

24 V DC 5 mA

3 - 7

3. SIGNALS AND WIRING

(2) Switch connection (not when executing a test pulse diagnosis)

Wire without using PLSA and PLSB.

24 V DC ± 10%

0.8 A

(Test pulse diagnosis disabled)

Switch

CN10A

DICOMA

DI1A, etc.

Approx.

MR-D30

5.6 kΩ

24 V DC ± 10%

0.8 A

CN10B

DICOMB

DI1B, etc.

Approx. 5.6 kΩ

(3) Switch connection (when executing a test pulse diagnosis)

The pulses for diagnosis will be outputted from PLSA and PLSB. Wire so that the pulse signals outputted from PLSA and PLSB pass through the switch.

MR-D30

(Test pulse diagnosis enabled)

Switch

24 V DC ± 10%

0.8 A

24 V DC ± 10%

0.8 A

CN10A

DC24VA

PLSA

DICOMA

DI1A, etc.

Approx.

CN10B

DC24VB

PLSB

5.6 kΩ

DICOMB

DI1B, etc.

Approx. 5.6 kΩ

3 - 8

3. SIGNALS AND WIRING

3.3.3 DO1_ to DO3_ source output

When the output transistor is turned on, the current will flow to the output terminal to a load. A lamp, relay, or photocoupler can be driven. Install a diode (D) for an inductive load, or install an inrush current suppressing resistor (R) for a lamp load. (Rated current: 5 mA to 40 mA, maximum current: 50 mA, inrush current: 100 mA or less) A maximum of 2.4 V voltage drop occurs in MR-D30.

MR-D30

CN10A

DO24VA

DO1A to

DO3A

24 V DC ± 10%

0.8 A

(Note)

Load

If polarity of diode is reversed, MR-D30 will malfunction.

Safety relay

CN10B

DO24VB

DO1B to

DO3B

Note. If polarity of power is reversed, the safety relay may malfunction.

24 V DC ± 10%

0.8 A

(Note)

Load

If polarity of diode is reversed, MR-D30 will malfunction.

3.3.4 DO4NA source output and DO4NB sink output

DO4NA as source output and DO4PB as sink output can be combined to use. As for DO4NA, when the output transistor is turned on, the current will flow from the output terminal to a load. As for DO4PB, when the output transistor is turned on, the current will flow from a load to the output terminal. A lamp, relay, or photocoupler can be driven. Install a diode (D) for an inductive load, or install an inrush current suppressing resistor (R) for a lamp load. (Rated current: 5 mA to 40 mA, maximum current: 50 mA, inrush current: 100 mA or less) A maximum of 2.4 V voltage drop occurs in MR-D30.

MR-D30

CN10A

DO4PA

DO4NA

24 V DC ± 10%

0.8 A

(Note)

Load

If polarity of diode is reversed, MR-D30 will malfunction.

Safety relay

CN10B

DO4PB

DO4NB

Note. If polarity of power is reversed, the safety relay may malfunction.

(Note)

24 V DC ± 10%

0.8 A

Load

If polarity of diode is reversed, MR-D30 will malfunction.

3 - 9

3. SIGNALS AND WIRING

3.4 Wiring for SBC output

POINT

This function guarantees only that power to mechanical brake is properly supplied, and abrasion of the brake cannot be detected. Check this function regularly that the mechanical brake can operate.

SBCS (SBC output) can be used by being connected to the electromagnetic brake on the servo motor. Wire it so that the electromagnetic brake operates when SBCS (SBC output) turns off. Using MBR of servo amplifier (electromagnetic brake interlock) is not necessary. Refer to section 4.5.6 for the operation sequence for when using SBC function.

Servo amplifie

MR-D30

CN10A

DO24VA

SBCS

CN10B

DO24VB

SBCS

Note 1. Create the circuit in order to shut off by being interlocked with the emergency stop switch.

2. Do not use the 24 V DC interface power supply for the electromagnetic brake.

24 V DC

RA1

RA2

RA1

24 V DC (Note 2)

RA2

ALM

(Malfunction)

(Note 1)

Servo motor

3 - 10

3. SIGNALS AND WIRING

3.5 Noise reduction techniques

(1) Grounding shield of shielded cable

The following show measures against malfunctions of MR-D30 and servo amplifier for when the MR-D30 is installed near a device which generates excessive noise. Ground a shield of the shielded cable near the MR-D30, and be careful that the cable after grounding should not be affected by electromagnetic induction of the cable before grounding. Partly remove the insulator of the shielded cable, and ground the exposed shielded part by making contact in a large area with the cabinet. You can also use clamp metal parts as shown in figure 3.2. Mask the painted internal wall of the cabinet that touches the clamp metal parts.

Screw

Shielded par

Masked paint part

Figure 3.1 The shielded part to be exposed Figure 3.2 Grounding shields

Ground the shield of the signal input cable as close as possible (30 cm or less) to the MR-D30.

MR-D30

Inside the cabinet

AD75CK

30 cm or less

Clamp fitting

Shielded cable

3 - 11

3. SIGNALS AND WIRING

(2) Ferrite core

A ferrite core has the effect of reducing conduction noise in the band around 10 MHz and radiated noise in the bands between 30 MHz to 100 MHz. When the shield effect of the shielded cable drawn out from the cabinet is not obtained enough or when emission of conduction noise from a power supply line should be suppressed, we recommend that you install the ferrite core. Install the ferrite core at the position of the cable shown in the following figure. If the installation position is incorrect, the ferrite core will not be effective.

Ferrite core

120 mm or less

Installing ferrite cores to the signal input wires and cables will suppress more noise. The following table lists a ferrite core as an example.

Model Impedance [Ω] (Note)

ZCAT3035-1330 (TDK)

10 MHz to 100 MHz 100 MHz to 500 MHz

80 150

Note. The values include wires (reference values) and are not guaranteed values.

ESD-SR-250 (NEC TOKIN), E04SRM563218 (SEIWA ELECTRIC) can also be used. The effect of noise suppression rises as the number of passes though the ferrite core increases. Two or more passes are recommended.

One pass Two passes Three passes

3 - 12

3. SIGNALS AND WIRING

3.6 Signal explanations

3.6.1 Input device

Assign the devices to DI1_ to DI6_ with [Pr. PSD02 Input device selection DI1] to [Pr. PSD07 Input device selection DI6]. Refer to section 4.4.1 for details. For the safety observation function control by network, you can input through network.

Device Symbol

STO command

SS1 command

SS2 command

SLS1 command

SLS2 command

SLS3 command

SLS4 command

Test pulse output A

Test pulse output B

STOC CN10A-4

SS1C The SS1 function operates by the SS1 command. Refer to section 4.5.2

SS2C The SS2/SOS functions operate by the SS2 command. Refer to section

SLS1C The SLS function 1 operates by the SLS1 command. [Pr. PSA07 SLS

SLS2C The SLS function 2 operates by the SLS2 command. [Pr. PSA08 SLS

SLS3C The SLS function 3 operates by the SLS3 command. [Pr. PSA09 SLS

SLS4C The SLS function 4 operates by the SLS4 command. [Pr. PSA10 SLS

PLSA CN10A-12 Outputs test pulses for external wiring diagnosis.

PLSB CN10B-12 Outputs test pulses for external wiring diagnosis.

Connector and pin

No.

CN10A-5

CN10A-6 CN10A-13 CN10A-14 CN10A-15

CN10B-4

CN10B-5

CN10B-6 CN10B-13 CN10B-14 CN10B-15

Function

The STO function operates by the STO command. Refer to section

4.5.1 for details of the STO function.

for details of the SS1 function.

4.5.3 for details of the SS1 function.

deceleration monitoring time 1] and [Pr. PSA11 SLS speed 1] are used. Refer to section 4.5.4 for details of the SLS function.

deceleration monitoring time 2] and [Pr. PSA12 SLS speed 2] are used. Refer to section 4.5.4 for details of the SLS function.

deceleration monitoring time 3] and [Pr. PSA13 SLS speed 3] are used. Refer to section 4.5.4 for details of the SLS function.

deceleration monitoring time 4] and [Pr. PSA14 SLS speed 4] are used. Refer to section 4.5.4 for details of the SLS function.

Status of

input pin

when the

function is

enabled

Open

3 - 13

3. SIGNALS AND WIRING

3.6.2 Output device

The status monitor (SM) of the safety observation function is outputted from the devices of DO1_ to DO4_. The devices can be assigned to DO1_ to DO4_ with [Pr. PSD08 Output device selection DO1] to [Pr. PSD11 Output device selection DO4]. Refer to section 4.4.2 for details. For the safety observation function control by network, you can output through network. Then, DO1_ to DO4_ can be used simultaneously.

Device Symbol

SSM output SSMS CN10A-8

SBC output SBCS Outputs a control signal of the electromagnetic brake. Refer to section

STO output STOS This is a monitor output signal meaning that the STO function is

SOS output SOSS This is a monitor output signal meaning that the servo motor in stop

SS1 output SS1S This is a monitor output signal meaning that the SS1 function is

SS2 output SS2S This is a monitor output signal meaning that the SS2/SOS function is

SLS1 output SLS1S This is a monitor output signal meaning that the SLS function 1 is

SLS2 output SLS2S This is a monitor output signal meaning that the SLS function 2 is

SLS3 output SLS3S This is a monitor output signal meaning that the SLS function 3 is

SLS4 output SLS4S This is a monitor output signal meaning that the SLS function 4 is

Connector and pin

No.

CN10A-9 CN10A-17 CN10A-18

CN10B-8

CN10B-9 CN10B-17 CN10B-16

Indicates that the servo motor speed is at SLS speed or less while speed observation is operating by SLS function. Refer to section 4.5.5 for details.

4.5.6 for details.

operating. Refer to section 4.5.1 for details.

state is being monitored with the SS2/SOS functions. Refer to section

4.5.3 for details.

operating. Refer to section 4.5.2 for details.

operating. Refer to section 4.5.3 for details.

operating. Refer to section 4.5.4 for details.

Function

Status of

output pin

during

operation

Closed

Open

3 - 14

3. SIGNALS AND WIRING

3.6.3 Power supply

Name Symbol

Digital input I/F common A

Test pulse power supply input A

Digital output I/F common A

Digital output I/F DO4A power supply

Digital input I/F common B

Test pulse power supply input B

Digital output I/F common B

Digital output I/F DO4B power supply

DICOMA CN10A-2

DC24VA CN10A-1

DO24VA CN10A-7 This is a common terminal for output signal.

DO4PA CN10A-16 This is a power supply terminal of DO4A output signal. Connect + of 24 V DC external

DICOMB CN10B-2

DC24VB CN10B-1

DO24VB CN10B-7 This is a common terminal for output signal.

DO4NB CN10B-18 This is a power supply terminal of DO4B output signal. Connect - of the 24 V DC

Connector and pin

No.

CN10A-11

CN10A-10

CN10B-11

CN10B-10

Function and application

This is a common terminal for input signal. Input 24 V DC (24 V DC ± 10% 0.8 A) for I/O interface. The power supply capacity varies depending on the number of I/O interface points to be used.

For sink interface, connect + of 24 V DC external power supply. For source interface, connect - of 24 V DC external power supply.

Input a power supply to output test pulses for external wiring diagnosis. Connect + of the 24 V DC external power supply.

For source interface, connect + of the 24 V DC external power supply.

power supply.

This is a common terminal for input signal. Input 24 V DC (24 V DC ± 10% 0.8 A) for I/O interface. The power supply capacity varies depending on the number of I/O interface points to be used.

For sink interface, connect + of 24 V DC external power supply. For source interface, connect - of 24 V DC external power supply.

Input a power supply to output test pulses for external wiring diagnosis. Connect + of the 24 V DC external power supply.

For source interface, connect + of the 24 V DC external power supply.

external power supply.

3 - 15

3. SIGNALS AND WIRING

3.7 Wiring method of CN10A/CN10B connectors

When wiring to CN10 and CN10B, use the connector DFMC 1,5/9-STF-3,5 (Phoenix Contact) packed with the servo amplifier.

(1) Fabricating wire insulator

Use a wire with AWG 24 to 16, and strip the wire end to make the stripped length 10 mm ± 0.5 mm.

(2) Inserting wire

Insert the wire while pressing the release button with a flat-blade screwdriver with a blade width of 2.0 mm to 2.5 mm. When the wire is inserted all the way, remove the screw driver. It is recommended using the following screwdriver manufactured by Phoenix Contact: model: SZS 0,4X2,5, product No.: 1205037.

Upper row

Lower row

Release button

Wire insertion hole

Flat-blade screwdriver

Wire

(3) Removing wire

Pull out the wire while pressing the release button with the flat-blade screwdriver.

Remove the screwdriver to connect.

3 - 16

3. SIGNALS AND WIRING

3.8 Connection example with other devices

3.8.1 MR-J4-_GF_-RJ

(1) Safety observation function control by input device

The following connection diagram shows an operation of the safety observation function using input devices assigned to pins of the CN10A and CN10B connectors with a safety controller. By diagnosis of input signals, the servo amplifier complies with safety level Category 4, PL e, SIL 3.

24 V

Safety controller MELSEC-WS series

CPU module WSO-CPU0 Safety I/O combined module WS0-XTIO

WS0-CPU0

A1 (24V)

A2 (0V)

WS0-XTIO

FLEXB

Application

US+

24 V 0 V

FLEXB US+

Application

A1 (24V)

A2 (0V)

KM1

MR-D30 MR-J4-_GF_-RJ

CN10A

DO24VA

DO_A

CN10B

DO24VB

DO_B

CN10A

DICOMA

DI_A

CN10B

DICOMB

DI_B

CC-Link IE Field Network

Control circuit

Safety observation function

CN1A

Servo motor

Controller

0 V

3 - 17

Deceleration command

QX_

COM

KM1: Magnetic contactor S1: Safety switch

3. SIGNALS AND WIRING

(2) Safety observation function control by network

The following connection diagram shows an operation of the safety observation function through CCLink IE Field Network. The electric wiring can be omitted.

MR-D30 MR-J4-_GF_-RJ

R_SFPU

X0 X1

T0 T1

R6SFM

RD77GF_

CN10A

CN10B

CN10A

CN10B

DO24VA

DOXA

DO24VB

DOXB

DICOMA

DI_A

DICOMB

DI_B

Control circuit

Safety observation function

KM1

NZ2GFSS2-32D

P1/P2 P1/P2

CC-Link IE Field Network

CN1A CN1B

KM1: Magnetic contactor S1: Safety switch

Servo motor

3 - 18

3. SIGNALS AND WIRING

3.8.2 MR-J4-_B_-RJ/MR-J4-DU_B_-RJ

(1) Safety observation function control by input device

24 V

Safety controller MELSEC-WS series

CPU module WSO-CPU0 Safety I/O combined module WS0-XTIO

0 V

WS0-CPU0

A1 (24V)

A2 (0V)

WS0-XTIO

FLEXB

Application

US+

24 V 0 V

FLEXB US+

Application

A1 (24V)

A2 (0V)

MR-J4-_B_-RJ/ MR-J4-DU_B_-RJ

Safety observation function

CN1A

SSCNET III/H

CN1/2

Servo system

Deceleration command

X00

COM

KM1: Magnetic contactor S1: Safety switch

Control circuit

controller

CN10A

CN10B

CN10A

CN10B

MR-D30

DO24VA

DO_A

DO24VB

DO_B

DICOMA

DI_A

DICOMB

DI_B

KM1

Servo motor

IO unit

QX_

3 - 19

3. SIGNALS AND WIRING

(2) Safety observation function control by network

The following connection diagram shows an operation of the safety observation function through SSCNET III/H. The electric wiring can be omitted.

Drive safety integrated motion controller

Motion controller Q17_DSCPU Safety signal module Q173DSXY

Q173DSCPU

Q172DSCPU

CN1/2

Q173DSXY

SSCNET III/H

MC-X01

PLC-X01

COM

CN10A

CN10B

CN10A

CN10B

MR-D30 MR-J4-_B_-RJ

DO24VA

DOXA

DO24VB

DOXB

DICOMA

DI_A

Safety observation function

DICOMB

DI_B

Control circuit

CN1A

KM1: Magnetic contactor S1: Safety switch

Servo motor

KM1

3 - 20

3. SIGNALS AND WIRING

3.8.3 MR-J4-_A_-RJ/MR-J4-DU_A_-RJ

24 V

Safety controller MELSEC-WS series

CPU module WSO-CPU0 Safety I/O combined module WS0-XTIO

WS0-CPU0

A1 (24V)

A2 (0V)

WS0-XTIO

FLEXB

Application

US+

24 V 0 V

FLEXB US+

Application

A1 (24V)

A2 (0V)

Servo motor

KM1

MR-J4-_A_-RJ/ MR-J4-DU_A_-RJ

Control circuit

Safety observation function

CN1A

General-purpose interface

CN1/2

DIO control

CN10A

CN10B

CN10A

CN10B

MR-D30

DO24VA

DO_A

DO24VB

DO_B

DICOMA

DI_A

DICOMB

DI_B

0 V

3 - 21

Deceleration command

QX_

COM

KM1: Magnetic contactor S1: Safety switch

3. SIGNALS AND WIRING

3.9 Power-on sequence

Maintain about 0.5 s to 2 s in addition to the startup time of the servo amplifier in the system using MR-D30 and servo motor with functional safety for the initial diagnosis of the encoder.

3 - 22

4. SAFETY OBSERVATION FUNCTION

POINT

The following indicate hardware abbreviations (H/W abbreviation) of the connector pin No., not functions.

DI1A CN10A-4 DO1A CN10A-8

DI2A CN10A-13 DO2A CN10A-17

DI3A CN10A-5 DO3A CN10A-9

DI4A CN10A-14 DO4NA CN10A-18

DI5A CN10A-6 DO1B CN10B-8

DI6A CN10A-15 DO2B CN10B-17

DI1B CN10B-4 DO3B CN10B-9

DI2B CN10B-13 DO4PB CN10B-16

DI3B CN10B-5

DI4B CN10B-14

DI5B CN10B-6

DI6B CN10B-15

H/W

abbreviation

Pin No.

H/W

abbreviation

Pin No.

4 - 1

4. SAFETY OBSERVATION FUNCTION

4.1 Achievable safety level

The achievable safety level and usable safety observation function depend on devices to be connected. Note that parameters need to be set according to the devices connected. The following shows servo motors and parameter settings required to meet each functional safety level.

(1) Shut off/Observation function

(a) Safety observation function control by network (CC-Link IE Field Network)

Category 4, PL e, SIL 3 Category 3, PL d, SIL 2 Not required _ _ 0 1 (no execution)

Category 4, PL e, SIL 3 Category 4, PL e, SIL 3 Category 4, PL e, SIL 3 Required _ _ 1 1 (execution)

(b) Safety observation function control by network (SSCNETIII/H)

Category 3, PL d, SIL 2 Category 3, PL d, SIL 2 Not required _ _ 0 1 (no execution)

Category 3, PL d, SIL 2 Category 3, PL d, SIL 2 Category 3, PL d, SIL 2 Required _ _ 1 1 (execution)

STO function

SS1 function

Category 3,

PL d, SIL 2

Category 4,

PL e, SIL 3

Category 3, PL d, SIL 2

Category 4, PL e, SIL 3

Category 3,

PL d, SIL 2

Category 4,

PL e, SIL 3

Note 1. Set the IO diagnosis pulses of the controller to disabled (not use).

2. Set the IO diagnosis pulses of the controller to enabled (use). The controller needs to be compatible with SIL 3.

Safety observation function Connected device Parameter setting

STO function SS1 function

Safety observation function Connected device Parameter setting

STO function SS1 function

Safety observation function Connected device Parameter setting

SLS function

Category 3, PL d, SIL 2

Category 3,

PL d, SIL 2

Category 4,

PL e, SIL 3

SLS function SS2/SOS function

SS2/SOS

function

Category 3, PL d, SIL 2

Category 4, PL e, SIL 3

Device to be connected to the input

devices (DI1_ to DI6_) (example)

Emergency stop push button, safety switch, enable switch

Safety programmable controller (Note

1), safety controller (Note 1)

Emergency stop push button, safety switch, enable switch

Safety programmable controller (Note

2), safety controller (Note 2)

Emergency stop push button, safety switch, enable switch

Safety programmable controller (Note

1), safety controller (Note 1)

Emergency stop push button, safety switch, enable switch

Safety programmable controller (Note

2), safety controller (Note 2)

Emergency stop push button, safety switch, enable switch

Safety programmable controller (Note

1), safety controller (Note 1)

Emergency stop push button, safety switch, enable switch

Safety programmable controller (Note

2), safety controller (Note 2)

Servo motor with functional

Servo motor

with functional

Not required

Required

safety

Position/speed

observation

Pr. PSA02

_ _ 0 0

(no execution)

_ _ 0 0

(no execution)

_ _ 0 0

(no execution)

_ _ 0 0

(no execution)

_ _ 2 0

(execution)

_ _ 2 0

(execution)

_ _ 2 0

(execution)

_ _ 2 0

(execution)

_ _ 1 0

(execution)

_ _ 1 0

(execution)

_ _ 1 0

(execution)

_ _ 1 0

(execution)

Position/speed observation

Pr. PSA02

Position/speed observation

Pr. PSA02

Built-in test

pulse

diagnosis

Pr. PSD24 Pr. PSD25

(no execution)

(execution)

(no execution)

(execution)

(no execution)

(execution)

(no execution)

Fixing-

diagnosis at

start-up

Pr. PSD27 Pr. PSD28

(execution)

(no execution)

(execution)

(no execution)

(execution)

(no execution)

4 - 2

4. SAFETY OBSERVATION FUNCTION

(2) Output function

SSM function Status monitor function (STO/SS1/SBC)

SSMS

Category 3, PL d, SIL 2

Category 3,

PL d, SIL 2

Category 4,

PL e, SIL 3

Note 1. Set the IO diagnosis pulses on the controller side (compatible with SIL 3) to disabled (not use).

2. Set the IO diagnosis pulses on the controller side (compatible with SIL 3) to enabled (use).

3. It is recommended checking (diagnosing) if the output devices operates correctly at least once in 24 hours.

4.2 Safety diagnosis function list

Safety observation function Connected device Parameter setting

Position/speed

observation

_ _ 0 0

(no execution)

_ _ 0 1

(no execution)

_ _ 0 0

(no execution)

_ _ 0 0

(no execution)

_ _ 2 0

(execution)

_ _ 2 1

(execution)

_ _ 2 0

(execution)

_ _ 2 0

(execution)

_ _ 1 0

(execution)

_ _ 1 0

(execution)

_ _ 1 0

(execution)

STOS/SS1S/

SBCS

Category 3,

PL d, SIL 2

Category 4,

PL e, SIL 3

Category 3, PL d, SIL 2

Category 4, PL e, SIL 3

Category 3,

PL d, SIL 2

Category 4,

PL e, SIL 3

SLS1S/SLS2S/

SLS3S/SLS4S

Category 3, PL d, SIL 2

Category 4, PL e, SIL 3

Device to be connected to the output

SOSS/SS2S Pr. PSA02 Pr. PSD29

Category 3, PL d, SIL 2

Category 4, PL e, SIL 3

devices (DO1_ to DO4_) (example)

Magnetic contactor, safety relay Not required

Drive safety integrated motion controller, magnetic contactor, safety relay

Safety programmable controller (Note

1), safety controller (Note 1)

Safety programmable controller (Note

2), safety controller (Note 2)

Magnetic contactor, safety relay Not required

Drive safety integrated motion controller, magnetic contactor, safety relay

Safety programmable controller (Note

1), safety controller (Note 1)

Safety programmable controller (Note

2), safety controller (Note 2)

Magnetic contactor, safety relay Required

Safety programmable controller (Note

1), safety controller (Note 1)

Safety programmable controller (Note

2), safety controller (Note 2)

Servo motor

with functional

safety

Not required

Required

Built-in test

pulse

diagnosis

(no execution)

(Note 3)

(no execution)

(Note 3)

(execution)

(no execution)

(Note 3)

(no execution)

(Note 3)

(no execution)

(Note 3)

(execution)

(no execution)

(Note 3)

(no execution)

(Note 3)

(execution)

(no execution)

Diagnosis item Description

I/O device Duplication input mismatch

detection

Input device test pulse

diagnosis

Output device test pulse

diagnosis

Safety device fixing diagnosis

at start-up

This function diagnoses that the duplicated input device states are matched.

This function diagnoses that the input circuit and the externally connected machine are not fixed to on.

This function diagnoses that the output circuit and the externally connected machine are not fixed to on.

This function diagnoses that input devices are not fixed by repeatedly turning the devices on and off individually when the power to MR-D30 is switched on.

4 - 3

4. SAFETY OBSERVATION FUNCTION

4.3 Startup

4.3.1 Switching power on for the first time

POINT

The following symbols mean respective servo amplifier instruction manuals. [GF]: MR-J4-_GF_(-RJ) Servo Amplifier Instruction Manual (Motion Mode) [B]: MR-J4-_B(-RJ) Servo Amplifier Instruction Manual [A]: MR-J4-_A(-RJ) Servo Amplifier Instruction Manual [Motion]: Q173D(S)CPU/Q172D(S)CPU Motion Controller Programming Manual

The password is set for MR-D30 to prevent changing the parameters. The initial password is "000000".

(Safety Observation)

4 - 4

4. SAFETY OBSERVATION FUNCTION

When switching power on for the first time, follow this section to make a startup. "[GF]" means "MR-J4-_GF_(-RJ) Servo Amplifier Instruction Manual (Motion Mode)". "[B]" means "MR-J4_B_(-RJ) Servo Amplifier Instruction Manual". "[A]" means "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual".

Wiring check of servo amplifier

Wiring check of MR-D30

Surrounding environment check

Wiring/preparation

Startup of servo amplifier

Parameter setting (actual operation)

Parameter check

Safety observation function

activation setting

Test operation of the servo motor

alone in test operation mode

Cancellation of STO by inputting

Test operation of the servo motor

STO command

alone by commands

Test operation with the servo

motor and machine connected

Gain adjustment

Password setting

Parameter inspection

Check whether the servo amplifier and servo motor are wired correctly using visual inspection, DO forced output function, etc.

Check whether MR-D30 is wired correctly using visual inspection, DO forced output function, etc.

Check the surrounding environment of the servo amplifier and servo motor.

Set the parameters of the servo amplifier as necessary, such as operation mode and regenerative option selection.

Confirm the combination of MR-D30 and servo amplifier, then enable the MR-D30 referring to section 4.3.3.

The password is set for MR-D30 to prevent changing the parameters. The initial password is "000000".

In the test operation, operate the servo motor at the lowest speed possible, with the servo motor disconnected from the machine, and check whether the servo motor rotates correctly.

Cancel STO state by a controller or an input signal. For the safety observation function control by input device, refer to

section 4.4.1. For the safety observation function control by network, for MR-J4-

_GF_-RJ, refer to section 4.4.3 (2) (3) (4). For MR-J4-_B_-RJ, refer to section 2.9.1 of "Q173D(S)CPU/Q172D(S)CPU Motion Controller Programming Manual (Safety Observation)".

As necessary, set MR-D30 parameters.

In the test operation, operate the servo motor at the lowest speed possible by giving commands to the servo amplifier, with the servo motor disconnected from the machine, and check whether the servo motor rotates correctly.

Connect the servo motor with the machine, and check machine motions by giving operation commands from the controller.

Make gain adjustment to optimize the machine motions. [GF]: Chapter 6

Set the parameters of MR-D30.

Lock the safety observation function parameter 1 ([Pr. PSA_ _ ]) by password to prevent easily changing the settings.

Read the each parameter to verify that the parameter is set correctly.

Description Reference

[GF]: Section 4.5 [B]: Section 4.5.1 [A]: Section 4.5.8

Section 4.3.4 (2)

[GF]: Section 4.1 [B]: Section 4.1.3 [A]: Section 4.1.3

[GF]: Chapter 5 [B]: Chapter 5 [A]: Chapter 5

Section 4.3.3

Section 4.3.4 [GF]: Section 4.5 [B]: Section 4.5 [A]: Section 4.2.3 Section 4.3.3 Section 4.4.3

Section 4.4.1 Section 4.4.3 (2),

(3), (4) [Motion]: Section

2.9.1

[B]: Chapter 6 [A]: Chapter 6

Chapter 5

Section 4.3.2 (2)

Startup of safety

observation function

Operation check of safety

observation function

Actual operation

Stop

Check if the safety observation function operates correctly.

Stop giving commands and stop operation.

4 - 5

4. SAFETY OBSERVATION FUNCTION

4.3.2 Parameter

When using MR-D30, the safety observation function parameters 1 ([Pr. PSA_ _ ]), network parameters ([Pr. PSC_ _ ]) and I/O device parameters ([Pr. PSD_ _ ]) can be set by using MR Configurator2.

Execute the setting that involves safety observation function by these parameter groups. The following shows the difference between these and other parameter groups. The password is set to MR-D30 to prevent changing the parameters. The default password is "000000".

(a) Set a password to prevent easily changing the parameter settings of MR-D30.

(b) After the settings are changed, the power needs to be cycled.

(d) The parameter settings of MR-D30 cannot be stored in the Motion controller or safety programmable

controller.

(e) Set the parameters of MR-D30 with MR Configurator2.

(f) The parameters of MR-D30 cannot be set with the parameter unit.

4 - 6

4. SAFETY OBSERVATION FUNCTION

(1) Parameter setting procedure

Set the parameter by the procedure as follows.

Connection to MR Configurator2

Parameter setting

Parameter inspection

Cycling of power

(2) Protection by password.

Set a password to the safety observation function parameters 1 ([Pr. PSA_ _ ]), network parameters ([Pr. PSC_ _ ]), and I/O device parameters ([Pr. PSD_ _ ]) to prevent changing them easily. There are no restrictions for reading parameters when a password is set. However, changing parameter is restricted until the password is confirmed.

(a) Setting and changing password

Connection to MR Configurator2

Password setting

Cycling of power

(b) If password is forgotten

The password is forgotten, you can reconfigure the parameter settings by initializing MR-D30. Initialize the password by the password initializing function of MR Configurator2. When the password is initialized, all the parameter setting values will be initialized. [AL. 7A Parameter setting error (safety observation function)] occurs until the parameter is set again.

Set the parameter with MR Configurator2 connected. When the parameter protection is set, input the password.

Set the each parameter.

Read the each parameter and check if the parameter is set correctly.

The set parameter will be enabled after the power is cycled.

To set and change a password, connect MR Configurator2. When the parameter protection is set, input the password.

Set a password with MR Configurator2. Set a password using one to six digits alphanumeric. The password is case sensitive and letter case matters.

The set password will be valid after the power is cycled.

4 - 7

4. SAFETY OBSERVATION FUNCTION

4.3.3 Mandatory parameter setting

(1) Safety observation function control by input device

(2) Safety observation function control by network

(a) MR-J4-_GF_-RJ

(b) MR-J4-_B_-RJ

(3) Details of parameters

(a) [Pr. PSA01 Safety observation function activation setting]

Check the contents of [Pr. PSA _ _ ], [Pr. PSC _ _ ], and [Pr. PSD _ _ ] and set [Pr. PSA01 Safety observation function activation setting] to "_ _ _ 1". Until this parameter is set, STO cannot be canceled due to [AL. 7A Parameter setting error (safety observation function)] occurrence.

(b) [Pr. PSA02 Functional safety unit setting]

Set the items according to your system configuration. The recommended parameter settings and achievable safety level differ by the system structure. Refer to section 4.1 for details.

The parameter for SS1 function must be set because the function will be used when an error is detected by self-diagnosis. Set a proper value referring to section 4.5.2.

(d) [Pr. PSC01 Safety communication - Communication cycle]

Set the communication cycle of SSCNET III/H or CC-Link IE Field Network. For MR-J4-_B_-RJ, set the same value as of the controller to "Safety communication - Communication cycle". When a different value is set, [AL. 7C.1 Functional safety unit communication setting error (safety observation function)] will occur.

(e) [Pr. PSC04 Safety communication - Network communication selection]

Set the network number of CC-Link IE Field Network. Match the network number of the master station with that of MR-J4_-GF_-RJ. Otherwise, [AL. 95.4 STO warning 2 (safety observation function)] will occur.

Parameter Name

PSA01 Safety observation function activation setting

PSA02 Functional safety unit setting

PSA03 SS1/SS2 monitoring deceleration time

Parameter Name

PSA01 Safety observation function activation setting

PSA02 Functional safety unit setting

PSA03 SS1/SS2 monitoring deceleration time

PSC01 Safety communication - Communication cycle

PSC04 Safety communication - Network communication selection

Parameter Name

PSA01 Safety observation function activation setting

PSA02 Functional safety unit setting

PSA03 SS1/SS2 monitoring deceleration time

PSC01 Safety communication - Communication cycle

4 - 8

4. SAFETY OBSERVATION FUNCTION

4.3.4 Test operation

(1) Summary

When using MR-D30, parameter setting is necessary for using the test operation. Set [Pr. PSA02 Functional safety unit setting] to "_ _ _ 2". The diagnosis function and safety observation function are partially disabled in the test operation mode. The mode can be used for the JOG operation, positioning operation, machine analyzer, etc. for when the startup of safety devices is not complete. Note the following for test operation mode.

(a) Set the test operation mode. For details of the test operation mode, refer to each servo amplifier

(2) DO forced output

4.3.5 Unit replacement

instruction manual.

(b) I/O will not be diagnosed.

(d) If the servo motor operates abnormally, use EM2 (Forced stop 2) to stop it.

For details of the test operation, refer to each servo amplifier instruction manual. To stop the test operation, set [Pr. PSA02 Functional safety unit setting] to "_ _ _ 0" or "_ _ _ 1" according to your system configuration, and cycle the power.

Output signals of DO1_ to DO4_ can be switched on/off forcibly and independently regardless of servo status. This function is used to check the wirings of signal output, etc. Exercise control on the DO forced output screen of MR Configurator2. This function can be used only when [Pr. PSA02 Functional safety unit setting] is set to "_ _ _ 2" (test operation mode).

When an MR-D30 that has already been attached to MR-J4-_-RJ servo amplifier once is attached to the other MR-J4-_-RJ servo amplifier, [AL. 7A Parameter setting error (safety observation function)] will occur. To use the MR-D30 with other MR-J4-_-RJ servo amplifier, initialize the password by the password initializing function of MR Configurator2. When the password is initialized, all the parameters will be initialized. [AL. 7A Parameter setting error (safety observation function)] occurs until the parameters are set again.

4.4 I/O function

4.4.1 Input device

(1) Summary

For the safety observation function control by network, input devices cannot be used. The input devices of MR-D30 have the following characteristics.

(a) Input device selection

Any device can be assigned to DI1_ to DI6_ with parameters.

(b) Duplication of the input wiring

The input error will be detected immediately by verifying input signals with duplicated wirings.

4 - 9

4. SAFETY OBSERVATION FUNCTION

The input devices including the external wiring are diagnosed for failure by individually being turned on and off repeatedly when the power is switched on. Enabled/disabled can be switched with [Pr.

(2) Input device selection

PSD27] and [Pr. PSD28].

(d) Diagnosis with test pulses

The input devices including the external wiring are diagnosed for failure by using pulse signals that temporarily turns off the input signals when the input signals are on. Enabled/disabled can be selected with [Pr. PSD24] and [Pr. PSD25]. Set any test pulse width considering the wiring length of the external circuit, impedance of the circuit, etc. If the pulse width is not enough, change the test pulse off-time with [Pr. PSD26 Input device Test pulse off time].

(e) Noise rejection filter

This function is to reduce the noise to input signals.

(a) Input device selection

The input devices can be assigned to DI1_ to DI6_ with [Pr. PSD02 Input device selection DI1] to [Pr. PSD07 Input device selection DI6].

CN10A CN10B

Pin No.

4 DI1A 4 DI1B [Pr. PSD02 Input device selection DI1]

13 DI2A 13 DI2B [Pr. PSD03 Input device selection DI2]

5 DI3A 5 DI3B [Pr. PSD04 Input device selection DI3]

14 DI4A 14 DI4B [Pr. PSD05 Input device selection DI4]

6 DI5A 6 DI5B [Pr. PSD06 Input device selection DI5]

15 DI6A 15 DI6B [Pr. PSD07 Input device selection DI6]

H/W

abbreviation

Pin No.

H/W

abbreviation

For details of each input device, refer to the following section. Note that one input device cannot be assigned to multiple connector pins of the same connector.

Input signal Reference

STOC (STO command) Section 4.5.1

SS1C (SS1 command) Section 4.5.2

SS2C (SS2 command) Section 4.5.3

SLS1C (SLS1 command)

SLS2C (SLS2 command)

SLS3C (SLS3 command)

SLS4C (SLS4 command)

Section 4.5.4

(b) Input device automatic activation selection

Setting [Pr. PSD01 Input device automatic activation selection] activates operation command of each function automatically. The automatically activated input device will be enabled regardless of input device condition, and the corresponding function will operate automatically. SLS1C (SLS1 command), SLS2C (SLS2 command), SLS3C (SLS3 command), and SLS4C (SLS4 command) can be automatically activated.

Parameter

4 - 10

4. SAFETY OBSERVATION FUNCTION

(3) Duplication of the input wiring

(a) Duplication of the input wiring

Switch DI_A and DI_B within the mismatch permissible time. This function continuously monitors whether signals of duplicated input are matched. The corresponding input device will be processed as off when a mismatch is detected. The following shows the operation sequence when SLS1C (SLS1 command) is assigned to DI1. SLS1C (SLS1 command) is off while DI1A and DI1B are mismatched. SLS1C (SLS1 command) is on when both DI1A and DI1B turn on. When the mismatch continues exceeding the mismatch permissible time specified by the parameter, [AL. 79.7 Mismatched input signal error] occurs and SS1 function operates.

An error will not occur when the mismatch time is within the permissible time.

DI1A

OFF

Input device

Mismatch permissible time

DI1B

SLS1C (SLS1 command)

Servo amplifier display

OFF

ON (disabled)

OFF (enabled)

No display

Normal

operation

SLS in progress SS1 in progressSLS in progressOperation status

(b) Parameter setting

For the input devices that are assigned by [Pr. PSD02 Input device selection DI1] to [Pr. PSD07 Input device selection DI6], set the following parameters. Setting the mismatch permissible time to 0 disables the diagnosis.

Parameter Name

PSD18 Mismatch permissible time DI1

PSD19 Mismatch permissible time DI2

PSD20 Mismatch permissible time DI3

PSD21 Mismatch permissible time DI4

PSD22 Mismatch permissible time DI5

PSD23 Mismatch permissible time DI6

(4) Fixing-diagnosis at start-up

This function diagnoses that each input pin has no failure by repeatedly turning the signals on and off when the power to MR-D30 is switched on.

79.7

4 - 11

4. SAFETY OBSERVATION FUNCTION

(a) Executing fixing-diagnosis at start-up

This function diagnoses a fixing by turning each of DI1_ to DI6_ on, off and on one by one. When all diagnoses are completed, a warning will be reset, and STO state will be canceled. Keep the pins not to be diagnosed to on. The following pins are diagnosed: pins to which functions are assigned with [Pr. PSD02 Input device selection DI1] to [Pr. PSD07 Input device selection DI6], and in which [Pr. PSD27 Input device Fixing-diagnosis execution selection 1 at start-up] and [Pr. PSD28 Input device - Fixing-diagnosis execution selection 2 at start-up] are set to "execute". Additionally, the diagnosis will not be executed to the pin (unused pin) to which an input device is not assigned with [Pr. PSD02 Input device selection DI1] to [Pr. PSD07 Input device selection DI6].

50 ms or more

4 s or more

Main circuit Control circuit

DI1A

DI1B

DI2A

DI2B

DI3A

DI3B

DI4A

DI4B

DI5A

DI5B

DI6A

DI6B

WNG (Warning)

STOS (STO output)

Servo-on (Controller or DI)

Base circuit

Servo amplifier display

Power supply

OFF

OFF ON

(Occurring) OFF

(Not occurring) ON

OFF (Shut-off)

OFF

50 ms or more

95.3Initialization No alarm

Start of Servo-on acceptance

95 ms

(Enabled)

(Unused)

(Diagnosis disabled)

4 - 12

4. SAFETY OBSERVATION FUNCTION

(b) Not executing fixing-diagnosis at start-up

If there is no device for the fixing-diagnosis at start-up, an internal diagnosis is executed after poweron. Then, the warning will be reset when all input devices turn on, and the STO state will be canceled.

Start of servo-on acceptance

3 s to 4 s

Main circuit Control circuit

DI1A

DI1B

DI2A

DI2B

Power supply

OFF

ON OFF

(Diagnosis disabled)

DI3A

DI3B

DI4A

DI4B

DI5A

DI5B

DI6A

DI6B

WNG (Warning)

STOS (STO output)

Servo-on (Controller or DI)

Base circuit

Servo amplifier display

OFF

OFF ON

(Occurring) OFF

(Not occurring) ON

OFF (Shut-off)

OFF

95.3

95 ms

(Diagnosis disabled)

(Unused)

(Diagnosis disabled)

4 - 13

4. SAFETY OBSERVATION FUNCTION

For the pins to which input devices are assigned with [Pr. PSD02 Input device selection DI1] to [Pr. PSD07 Input device selection DI6] , set whether or not to execute the fixing-diagnosis at start-up with [Pr. PSD27 Input device - Fixing-diagnosis execution selection 1 at start-up] and [Pr. PSD28 Input device - Fixing-diagnosis execution selection 2 at start-up]. The achievable safety level will depend on the settings of [Pr. PSD27] and [Pr. PSD28]. Refer to section 4.1 for details.

(5) Diagnosis with test pulses

(a) When connecting a device which does not have a diagnosis function (such as switch)

The external wirings can be diagnosed by using the pulse signals outputted from PLSA and PLSB. Refer to section 3.3, and check that the wiring is properly connected to execute the test pulse diagnosis. The following shows the operation sequence to execute the test pulse diagnosis by the switch connected to DI1A and DI1B. The off-pulses are outputted from PLSA/PLSB periodically. PLSA and PLSB output the off-pulses at different timing, not the same time. The width of off-pulses can be set with [Pr. PSD26 Input device test pulse off time]. Set the parameter so that external devices such as switches are affected by the output pulses.

Input device - Test pulse off time

PLSA

PLSB

OFF

Closed

Switch

DI1A

DI1B

Opened

OFF

[AL. 79.5 Input device error] occurs when an error is detected by the test pulse diagnosis. Whether or not the test pulse diagnosis is executed to each input device can be set with [Pr. PSD24 Input device - Test pulse diagnosis execution selection 1] and [Pr. PSD25 Input device - Test pulse diagnosis execution selection 2].

(b) When connecting a device which has a diagnosis function (such as safety controller)

To diagnose external wiring, use diagnosis function of the device. The test pulse diagnosis of MRD30 cannot be used. Set the relevant device settings to "0" (not diagnose) with [Pr. PSD24 Input device - Test pulse diagnosis execution selection 1] and [Pr. PSD25 Input device - Test pulse diagnosis execution selection 2].

4 - 14

4. SAFETY OBSERVATION FUNCTION

When there are multiple input devices for the test pulse diagnosis, share PLSA/PLSB with those input devices. A short-circuit failure between wirings sharing PLSA/PLSB cannot be detected with the test pulse diagnosis. Execute the input device fixing-diagnosis at start-up (refer to section 4.4.1 (4)) in addition.

Switch

24 V DC

Shorted

MR-D30

CN10A

DC24VA

PLSA

DICOMA

DI1A

DI2A

CN10B

DC24VB

(d) Parameter setting

Set the following parameters for DI1_ to DI6_ which input devices are assigned to with [Pr. PSD02 Input device selection DI1] to [Pr. PSD07 Input device selection DI6].

Select whether or not to execute the test pulse diagnosis with [Pr. PSD24 Input device - Test pulse diagnosis execution selection 1] and [Pr. PSD25 Input device - Test pulse diagnosis execution selection 2]. Set the off-time of test pulses outputted from PLSA and PLSB to [Pr. PSD26 Input device - Test pulse off time]. The achievable safety level depends on the input devices you use and parameter settings of this function. Refer to section 4.1 for details.

24 V DC

Parameter Name

PSD24 Input device - Test pulse diagnosis execution selection 1

PSD25 Input device - Test pulse diagnosis execution selection 2

PSD26 Input device - Test pulse off time

PLSB

DICOMB

DI1B

DI2B

4 - 15

4. SAFETY OBSERVATION FUNCTION

(6) Noise rejection filter

(a) Summary

The noise rejection filter is a function to set a filtering time to reduce the noise of input signals. Set the filtering time of the noise rejection filter with [Pr. PSD12 Input device - Noise rejection filtering time DI1] to [Pr. PSD17 Input device - Noise rejection filtering time DI6]. The longer the noise rejection filtering time, the higher the tolerance to chattering or noise, but the response to the input signals will be lower. The shorter the noise rejection filtering time, the higher the response to the input signals, but the tolerance to chattering or noise will be lower. When the test pulses are in superposition in the input signals, the noise rejection filtering time needs to be set considering the test pulse off-time. The following shows the specific settings of the noise

Using a switch

Using a device

rejection filtering time.

Structure Noise rejection filtering time

Executing a test pulse diagnosis

Not executing a test pulse diagnosis Set 0.888 ms or longer time.

Test pulses are in superposition in the output signal of the device.

Test pulses are not in superposition in the output signal of the device.

(b) Parameter setting

With the following parameters, set the noise rejection filtering time to each input device to which function is assigned with [Pr. PSD02 Input device selection DI1] to [Pr. PSD07 Input device selection DI6]. In addition, refer to section 4.4.1 (7) because the response time of the input device changes depending on the noise rejection filtering time.

Parameter Name

PSD12 Input device - Noise rejection filtering time DI1

PSD13 Input device - Noise rejection filtering time DI2

PSD14 Input device - Noise rejection filtering time DI3

PSD15 Input device - Noise rejection filtering time DI4

PSD16 Input device - Noise rejection filtering time DI5

PSD17 Input device - Noise rejection filtering time DI6

Set 0.888 ms or longer time than set time in [Pr. PSD26 Input device - Test pulse off time].

Set 0.888 ms or longer time than the test pulse off-time outputted from the device.

Set 0.888 ms or longer time.

4 - 16

4. SAFETY OBSERVATION FUNCTION

(7) Response time of input device

The response time of input devices changes depending on noise rejection filtering time set with [Pr. PSD12 Input device - Noise rejection filtering time DI1] to [Pr. PSD17 Input device - Noise rejection filtering time DI6]. The following example shows a sequence for when STOC (STO command) is assigned to DI1_. A delay equal to the input device noise rejection filtering time occurs in the response time from signals are inputted to input devices until the corresponding functions switch to enabled/disabled.

DI1A

Input device - Noise rejection

OFF

filtering time

DI1B

STOC (STO command)

Base circuit (Energy supply to the servo motor)

STOS (STO output)

OFF

ON (disabled)

OFF (enabled)

OFF

ON (disabled)

OFF (enabled)

4 - 17

4. SAFETY OBSERVATION FUNCTION

4.4.2 Output device

(1) Summary

The output device of the status monitor function (SM) of MR-D30 has following characteristics.

(a) Output device selection

(2) Output device selection

Any device can be assigned to DO1_ to DO4_ with parameters.

(b) Duplication of the output

Same signal is duplicately outputted by duplicated wiring. With this, a function will not be lost even if an error occurs in one output device. DO4_ can be configured with source output and sink output in combination.

The output devices including the external wiring are diagnosed for failure by using pulse signals that temporarily turns off the output signals when the output signals are on. Enabled/disabled can be selected with [Pr. PSD29 Output device - Test pulse execution selection].

The devices can be assigned to DO1_ to DO4_ with [Pr. PSD08 Output device selection DO1] to [Pr. PSD11 Output device selection DO4].

CN10A CN10B

Pin No. H/W abbreviation Pin No. H/W abbreviation

8 DO1A 8 DO1B [Pr. PSD08 Output device selection DO1]

17 DO2A 17 DO2B [Pr. PSD09 Output device selection DO2]

9 DO3A 9 DO3B [Pr. PSD10 Output device selection DO3]

18 DO4NA 16 DO4PB [Pr. PSD11 Output device selection DO4]

Parameter

For details of each output device, refer to the following section. For output devices, the same signal can be assigned to different terminal.

Output signal Reference

STOS (STO output) Section 4.5.1

SS1S (SS1 output) Section 4.5.2

SS2S (SS2 output) Section 4.5.3

SLS1S (SLS1 output) Section 4.5.4

SLS2S (SLS2 output) Section 4.5.4

SLS3S (SLS3 output) Section 4.5.4

SLS4S (SLS4 output) Section 4.5.4

SSMS (SSM output) Section 4.5.5

SOSS (SOS output) Section 4.5.3

SBCS (SBC output) Section 4.5.6

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4. SAFETY OBSERVATION FUNCTION

(3) Diagnosis with test pulses

(a) Test pulse diagnosis function

This function diagnoses the wiring by periodically outputting the off-pulses when DO1_ to DO4_ are on. The following shows the operation sequence for when STOS (STO output) is assigned to DO1_. The off-pulses are outputted to DO1A and DO1B periodically when STOS (STO output) is on. DO1A and DO1B output the off-pulses at different timing, not the same time. The width of off-pulses can be set with [Pr. PSD30 Output device - Test pulse off time]. Set the parameter so that external devices are not affected by the outputted off-pulses.

STOS (STO output)

DO1A

DO1B

[AL. 79.6 Output device error] occurs when an error is detected by the test pulse diagnosis. Whether or not the test pulse diagnosis is executed to each output device can be set with [Pr. PSD29 Output device - Test pulse execution selection].

(b) Parameter setting

For the output device that is assigned by [Pr. PSD08 Output device selection DO1] to [Pr. PSD11 Output device selection DO4], set the following parameters.

Set whether or not to execute the test pulse diagnosis to each output device with [Pr. PSD29 Output device - Test pulse execution selection]. Set the off-time of test pulses outputted from the output devices to [Pr. PSD30 Output device - Test pulse off time]. The achievable safety level depends on the device you use and parameter settings of this function. Refer to section 4.1 for details.

OFF

Parameter Name

PSD29 Output device - Test pulse execution selection

PSD30 Output device - Test pulse off time

Output device - Test pulse off time

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4. SAFETY OBSERVATION FUNCTION

(4) Input signal conditions at start-up/error detection

(a) At start-up

The each output device remains off until the diagnosis completes after the MR-D30 is turned on. After the diagnosis is completed, devices assigned with [Pr. PSD08 Output device selection DO1] to [Pr. PSD11 Output device selection DO4] will be activated. The diagnosis completion time differs depending on the safety observation function control by input device or by network. For the safety observation function control by input device, refer to section

4.4.1 (4). For the safety observation function control by network, refer to section 4.4.3.

Power supply

OFF

Diagnosing

STOS (STO output)

DO1A

DO1B

DO2A

DO2B

DO3A

DO3B

DO4NA

DO4PB

OFF

(b) At error detection

If MR-D30 detects an error and an alarm which disables SSM occurs, the each device turns off. Refer to chapter 7 for corresponding alarm Nos. If a non-corresponding alarm occurs, assigned devices will be outputted continuously.

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4. SAFETY OBSERVATION FUNCTION

4.4.3 Safety observation function control by input device

(1) Summary

For the safety observation function control by network, input devices cannot be used. The safety observation function control by network has the following characteristics.

(a) Transmitting each function command input through network

STOC (STO command), SS1C (SS1 command), SS2C (SS2 command), SLS1C (SLS1 command), SLS2C (SLS2 command), SLS3C (SLS3 command), and SLS4C (SLS4 command) can be

(2) Setting method of CC-Link IE Field Network for MR-J4-_GF_-RJ

transmitted through network.

(b) Feedback for each function output through network

Safety position data of servo motor with functional safety, STOS (STO output), SOSS (SOS output), SSMS (SSM output), etc. can be transmitted through network.

The following shows function outputs for each bit of the safety data storage device in MR-J4-_GF_RJ.

POINT

For the system profile (CSP+) of MR-J4-_GF_-RJ, use the file version 4 or later. If the parameters of MR-D30 are not set, "Safety communication activation setting" cannot be executed by the parameter processing of slave station. If "Safety communication activation setting" is not selected in the parameter processing of slave station, "Safety communication setting" of "Application setting" cannot be set. For "Safety communication setting", refer to chapter 5 of "MELSEC iQ-R Safety Application Guide".

The setting method of "Safety communication setting" of CC-Link IE Field Network is as follows. For the descriptions of each window, operation, and controller setting of GX Works3, refer to "MELSEC iQ-R Safety Application Guide".

4 - 21

4. SAFETY OBSERVATION FUNCTION

(a) Basic settings (network configuration settings)

To perform the safety communication, select "Motion Mode (Safety Communication)" or "IO Mode (Safety Communication)" for the station-specific mode setting. Set the number of devices for the RWw/RWr setting as follows:

Motion mode: 52 points I/O mode: 32 points

Select Motion Mode (Safety Communication) or

IO Mode (Safety Communication).

Double-click the icon to start MR Configurator2.

When the I/O mode is used in the safety communication, the first 16 points in the cyclic RWw/RWr frame are used for the safety communication. Thus, to assign link device RWwn/RWrn, consider 16 points for offsets. For RWwn6 (point table No. selection/next station No. selection), add 16 points as offsets and set a value to RWw (n + 1) 6. The following shows the number of offsets necessary for each frame.

(b) Position check of safety slave station

The MR-J4-_GF_-RJ and MR-D30 do not support the position check start function for the safety slave station. Visually check the station number displayed on the 7-segment LED display of each servo amplifier to ensure that the safety slave station is installed as designed and intended.

Frame name Offsets for safety communication

RWw 16 points

RWr 16 points

RX 0 points

RY 0 points

4 - 22

4. SAFETY OBSERVATION FUNCTION

Right-click "MR-J4-GF" in the network configuration diagram, then select "Parameter processing of slave station".

Select Parameter processing of slave station

Select "Safety communication activation setting" for the executing process, then click "Execute".

Select Safety communication activation setting

Click Execute

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4. SAFETY OBSERVATION FUNCTION

(d) Application setting (Safety communication setting)

Display "Unit selection for safety communication" by selecting "Local Network" to "Communication Destination" in the safety communication setting window, add "MR-J4-GF", and then "Transmission interval monitoring time", "Safety Refresh Monitoring Time" and "Safety data Transfer Device Setting". Change the setting of [Pr. PSC01 Safety communication - Communication cycle] depending on "Transmission interval monitoring time". When execute the safety communication after setting, [AL. 95.5] is displayed on the 7-segment LED display of MR-J4-_GF_-RJ. [AL. 95.5] can be deactivated with STO command/SS1 command on (disable).

(3) Setting methods for transmission interval monitoring time and safety refresh monitoring time of MR-J4-

_GF_-RJ For the safety observation function control by network, calculate the transmission interval monitoring time between MR-D30 and CC-Link IE Field Network master module according to the Safety Application Guide. Use the following values for safety remote station refresh response time (SRef).

Safety remote station refresh response time 8.0 ms 16.0 ms

Set the safety communication communication cycle according to the following transmission interval monitoring time. For MR-J4-_GF_-RJ, do not select "_ _ 0 6" (14.2 ms) or "_ _ 0 7" (28.4 ms). Otherwise, [AL. 7C.1 Functional safety unit communication setting error (safety observation function)] will occur.

Calculated transmission interval monitoring time

The following shows another value used for calculating safety response time.

Transmission interval monitoring time of MR-D30 Safety communication communication cycle × 1.5

Motion mode I/O mode

Safety communication

communication cycle 16 ms to 24 ms 16 ms "_ _ 1 6" 24 ms to 48 ms 32 ms "_ _ 1 7"

Name Value

[Pr. PSC01]

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4. SAFETY OBSERVATION FUNCTION

Calculate the safety refresh monitoring time. For MR-J4-_GF_-RJ, set the safety refresh monitoring time so that the following equation is satisfied.

Safety refresh monitoring time [ms] ≥ TMact + TMpas + (LS × 2) + SCmst + (SRef/2)

TMact: Transmission interval monitoring time of CC-Link IE Field Network master module [ms] TMpas: Transmission interval monitoring time of MR-D30 [ms] (= Safety communication communication cycle [ms] × 1.5) LS: Link scan time of CC-Link IE Field Network Network [ms], or the calculation cycle of the simple Motion module [ms] when a simple Motion module is used as the master module. SCmst: Safety cycle time of CC-Link IE Field Network master module SRef: Safety remote station refresh response time [ms]

Set the calculated transmission interval monitoring time of CC-Link IE Field Network master module and the safety refresh monitoring time to the master module.

(4) Safety data storing devices for MR-J4-_GF_-RJ

(a) Function input

Master station → Servo amplifier (SA\n)

The following shows the function inputs for each bit of the safety data storing devices.

Bit Function input Description

0 STO command When the STO command is turned off, the STO function of the servo amplifier operates, and the

power is shut off.

1 SS1 command When the SS1 command is turned off, the SS1 function operates.

2 SS2 command When the SS2 command is turned off, the SS2 function operates.

5 Unavailable

8 SLS1 command When the SLS1 command is turned off, the SLS1 function operates.

9 SLS2 command When the SLS2 command is turned off, the SLS2 function operates.

10 SLS3 command When the SLS3 command is turned off, the SLS3 function operates.

11 SLS4 command When the SLS4 command is turned off, the SLS4 function operates.

Unavailable

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4. SAFETY OBSERVATION FUNCTION

(b) Function output

Servo amplifier → Master station (SA\n)

The following shows the function outputs for each bit of the safety data storing devices.

Bit Function output Description

0 STO status When the STO function operates and the power is shut off, the status turns on. The status is off

under other conditions.

1 SSM status When the servo motor rotates at the set SSM speed or less, the status turns on. When the SSM

function is disabled, the status is always off.

2 Unavailable

3 SOS status When the SS2 function activates the SOS function, the status turns on. The status is off under

other conditions.

5 Unavailable

7 Error status If an error related to the safety communication occurs, the status turns on. The status is off under

other conditions.

8 SLS1 status When the SLS1 function operates, the status turns on. The status is off under other conditions.

9 SLS2 status When the SLS2 function operates, the status turns on. The status is off under other conditions.

10 SLS3 status When the SLS3 function operates, the status turns on. The status is off under other conditions.

11 SLS4 status When the SLS4 function operates, the status turns on. The status is off under other conditions.

12 SS1 status When the SS1 function operates, the status turns on. The status is off under other conditions.

13 SS2 status When the SS2 function operates, the status turns on. The status is off under other conditions.

15 Unavailable

17 Error status 2 In [Pr. PSA02 Functional safety unit setting], when a command signal is inputted for an

unavailable safety observation function, the status turns on. The status is off under other conditions.

18 SBC status This is a status signal for the servo motor holding brake. When the STO function operates and a

power supplied to the electromagnetic brake is shut off, the status turns off. The status is on under other conditions.

25 Unavailable

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4. SAFETY OBSERVATION FUNCTION

4.4.4 Servo motor with functional safety

Using a servo motor with functional safety enables you to use speed monitoring functions and position monitoring functions without external encoders for duplication of encoders. When using a servo motor with functional safety, set [Pr. PSA02 Functional safety unit setting] to "_ _ 1 _". When not using it, set [Pr. PSA02] to "_ _ 0 _". Refer to section 4.1 for details.

4.4.5 Position feedback fixing diagnosis function

(1) Summary

The position feedback fixing diagnosis function generates [AL. 79.8 Position feedback fixing error] to make the servo amplifier STO state when position data from the encoder is fixed.

(2) Operation summary

The position feedback fixing diagnosis function will be enabled when the safety observation function is enabled and moreover the servo amplifier is not in STO state. When a position feedback does not change for the time set with [Pr. PSA22 Position feedback fixing error detection time], [AL. 79.8 Position feedback fixing error] occurs and the STO function operates.

Position (P)

Position change: 0 pulse

Stop STO statusRotation

[Pr. PSA22]

Servo motor position

LM (Malfunction)

STOS (STO output)

ON (no alarm)

OFF (alarm)

ON (disabled)

OFF (enabled)

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4. SAFETY OBSERVATION FUNCTION

4.5 Safety observation function

4.5.1 STO function

(1) Summary

This function electronically shuts off power to the servo motor based on an input signal from an external device (secondary-side output shut-off). This corresponds to stop category 0 of IEC/EN 60204-1. The STO function is also used for an emergency stop when an error is detected in an internal diagnosis. Use the STO function while the servo motor stops.

(2) Operation sequence

(a) STOC (STO command)

Turn off STOC (STO command) only when the servo motor stops after servo off. The STO function will operate when STOC (STO command) is turned off. While STO is in operation, the power to the servo motor is shut off and the dynamic brake activates. Turning STOC (STO command) back to on will return to normal operation.

Ordinary operation Ordinary operation

STO status

Servo motor speed

SON (Servo-on) or servo-on command

STOC (STO command)

WNG (Warning)

Base circuit (Energy supply to the servo motor)

STOS (STO output)

50 r/min 0 r/min

ON OFF

ON (disabled)

OFF (enabled)

ON (alarm)

OFF (no alarm)

OFF

OFF (shut-off)

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4. SAFETY OBSERVATION FUNCTION

(b) Alarm occurrence

The STO function operates also during alarm occurrence. While STO is in operation, power to the servo motor is shut off and the dynamic brake activates. For alarms which activate STO, refer to chapter 7. For returning to normal operation, refer to section 4.5.10. The timing chart is for STO/DB stop method.

STO statusOrdinary operation

Servo motor speed

LM (Malfunction)

Base circuit (Energy supply to the servo motor)

STOS (STO output)

50 r/min

0 r/min

ON (alarm)

OFF (no alarm) ON

OFF ON

OFF (shut-off)

Turn off STOC (STO command) only when the servo motor stops after servo off. [AL. 63 STO timing error] occurs if STOC (STO command) is turned off during operation. Use the SS1 function when decelerating at the same time.

STO statusOrdinary operation

Servo motor speed

50 r/min

0 r/min

STOC (STO command)

LM (Malfunction)

Base circuit (Energy supply to the servo motor)

STOS (STO output)

ON (disabled) OFF (enabled)

ON (alarm)

OFF (no alarm) ON

OFF ON

OFF (shut-off)

(3) Parameter setting

To set the parameters, refer to section 4.3.3. Set the parameters referring to section 4.4.1 when using the STO function with input devices, and section 4.4.3 when using the STO function in the safety observation function control by network. Additionally, when using STOS (STO output) with output devices, refer to 4.4.2 to set parameters.

4 - 29

Mitsubishi Electric MR-D30 Instruction Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Safety Instructions

DISPOSAL OF WASTE

CONTENTS

1. FUNCTIONS AND CONFIGURATION

1.1 Summary

1.2 Outline of safety observation function

1.3 Function block diagram

1.3.1 MR-J4-_GF_-RJ

1.3.2 MR-J4-_B_-RJ

1.3.3 MR-J4-_A_-RJ

1.3.4 MR-J4-DU_B_-RJ

1.3.5 MR-J4-DU_A_-RJ

1.4 System configuration

1.4.1 MR-J4-_GF_-RJ

1.4.2 MR-J4-_B_-RJ/MR-J4-DU_B-RJ

1.4.3 MR-J4-_A_-RJ/MR-J4-DU_A-RJ

1.5 Standard specifications

1.6 Function list

1.7 Combinations with servo amplifiers and servo motors

1.8 Rating plate

1.9 Risk assessments

1.9.1 Common residual risks in each function

1.9.2 Residual risks in each function

2. INSTALLATION

2.1 Installation direction and clearances

2.2 Keep out foreign materials

2.3 Inspection items

2.4 Parts having service life

2.5 Maintenance

2.6 Attachment and detachment of MR-D30

3. SIGNALS AND WIRING

3.1 Connectors and pin assignment

3.2 I/O signal connection example

3.2.1 Input signal

3.2.2 Output signal

3.3 Connection of I/O interface

3.3.1 Source output

3.3.2 Sink input

3.3.3 DO1_ to DO3_ source output

3.3.4 DO4NA source output and DO4NB sink output

3.4 Wiring for SBC output

3.5 Noise reduction techniques

3.6 Signal explanations

3.6.1 Input device

3.6.2 Output device

3.6.3 Power supply

3.7 Wiring method of CN10A/CN10B connectors

3.8 Connection example with other devices

3.8.1 MR-J4-_GF_-RJ

3.8.2 MR-J4-_B_-RJ/MR-J4-DU_B_-RJ

3.8.3 MR-J4-_A_-RJ/MR-J4-DU_A_-RJ

3.9 Power-on sequence

4. SAFETY OBSERVATION FUNCTION

4.1 Achievable safety level

4.2 Safety diagnosis function list

4.3 Startup

4.3.1 Switching power on for the first time

4.3.2 Parameter

4.3.3 Mandatory parameter setting

4.3.4 Test operation

4.3.5 Unit replacement

4.4 I/O function

4.4.1 Input device

4.4.2 Output device

4.4.3 Safety observation function control by input device

4.4.4 Servo motor with functional safety

4.4.5 Position feedback fixing diagnosis function

4.5 Safety observation function

4.5.1 STO function