Mitsubishi MR-D30 Servo Installation Guide PDF

H

MR-D30

IB()-0300227-H(2211)MEE 202211

Copyright2014 Mitsubishi Electric Corporation All Rights Reserved.

100-8310 2-7-3 ()

AC

MR-D30 1 MR-D30 () 1

KC

1 MR-D30"MR-D30" 1.1 MELSERVO-J4 MR-J4 http://www.mitsubishielectric.co.jp/fa/ 1.2 MR-J4 "MR-D30" MR- D30MR-J4 1.3

(1) STO (Safe torque off) ()IEC/EN 60204-1 0

(2) SS1 (Safe stop 1)

(EM2)STO (SS1)IEC/EN 60204-1 1

(3) SS2 (Safe stop 2)

(EM2)SOS (SS2)IEC/EN 60204-1 2

(4) SOS (Safe operating stop)

(5) SLS (Safely-limited speed)

STO

(6) SSM (Safe speed monitor)

(7) SBC (Safe brake control)

(8) (SM: Status monitor)

IEC/EN 61800-5-2

2

2.1 MR-J4

(1)

(2) (: )

2.2 MR-D30 (No. BCN-B61008-076)

EN ISO 13849-1:2015 3 PL d 4 PL e IEC 61508 SIL 2 SIL 3 EN 62061 SIL CL 2 SIL CL 3 EN 61800-5-2 IEC/EN 61800-3/GB 12668.3/KN 61800-3 (KS C 9800-3)

(: )

2.3

MR-D30 MR-D30

MR-D30 "MR-D30 " () 2.3.1 IEC/EN 61800-5-1UL 61800-5-1UL 508CCSA C22.2 No. 274

(1) (120 %) () 105 C (4)

2.3.2 / CE/UKCAEU (Essential Requirements)

(1) EMC MR-J4MR-D30EN/BS EN IEC 61800-3 ( 10 m) (50 m) EMC EMC: HF3000A-UN : RSPD MR-J4

(2) WEEE

MR-D30 (WEEE) 2012/19/EU ()

(3) (DoC)

MR-D30EC ( (2006/42/EC)EMC (2014/30/EU) (2014/35/EU)RoHS (2011/65/EU, (EU)2015/863))

2.3.3 / MR-D30UL 508CUL 61800-5-1 CSA C22.2 No. 274

(1) MR-D30MR-J4150 %55 C MR-D30 (UL 50) IIIMR-D30MR-J4 2

(2) (SCCR)

MR-D30

(3) MR-D3015

(4)

National Electrical Code Canadian Electrical Code

2.3.4 KC (A) , . ( (A) ) 2.4 MR-J4CPUMR-D30 MR-D30 "MR-D30"

(1)

MR-J4-_GF-RJ/MR-J4-_GF4-RJ MR-J4-_B-RJ/MR-J4-_B4-RJ/MR-J4-_B1-RJ/MR-J4-DU_B-RJ/MR-J4-DU_B4-RJ MR-J4-_A-RJ/MR-J4-_A4-RJ/MR-J4-_A1-RJ/MR-J4-DU_A-RJ/MR-J4-DU_A4-RJ

(1) R_SFCPU CPU (2) Q173DSCPU/Q172DSCPU 1. CC-Link IE 2. SSCNET/H

(2) (a) /

1) MR-J4-_GF_-RJ a)

MR-D30

A1 A3 () STO/SS1/SBC/SLS/SSM/SOS/ SS2/SM

HG-KR_W0C HG-SR_W0C HG-JR_W0C

MR-J4-_GF_-RJ

. CC-Link IE BasicCC-Link IE BasicMR-

D30[AL. 3E.8]

b) MR-D30

A2 A3 STO/SS1/SBC/SLS/SSM/SOS/ SS2/SM

HG-KR_W0C HG-SR_W0C HG-JR_W0C

MR-J4-_GF_-RJ

2) MR-J4-(DU)B_-RJ/MR-J4-(DU)A_-RJ

MR-D30

A0 B3 STO/SS1/SBC/SLS/SSM/SM MR-J4-_B_-RJ

A1

B3/B4 STO/SS1/SBC/SLS/SSM/SM MR-J4-_B_-RJ

B5 STO/SS1/SBC/SLS/SSM/SOS/ SS2/SM

HG-KR_W0C HG-SR_W0C HG-JR_W0C

MR-J4-_B_-RJ MR-J4-_A_-RJ () MR-J4-DU_B_-RJ

MR-J4-DU_A_-RJ () . 201411

(b)

R_SFCPU 07

(c)

OS Q173DSCPU SW8DNC-SV22QJ/SW8DNC-SV13QJ 05 Q172DSCPU SW8DNC-SV22QL/SW8DNC-SV13QL

2.5

MR-D30

(1) MR-D30

(2) EUMR-D30

2006/42/EC EMC2014/30/EU 2014/35/EU RoHS2011/65/EU /

(3) MR-D30

(DoC) MR-D30 (2006/42/EC2014/30/EU 2014/35/EU2011/65/EU)

(4) "MR-D30"

(5)

(6) IEC/EN 60204-120 ms 2.6 2.7 2.7.1

(1)

(2)

(3) (ISO 13849-1:2015 F F.1 No. 5)

(4)

(ISO 13849-1:2015 F F.1 No. 1)

(5) ()

(6)

(7) /

(8)

2.7.2

(1) (SLS) (a)

(b)

(c)

(d) 1 ms

(e) ()

(2) (SSM)

SSMIEC/EN 60204-1

(3) (SBC)

3

(1) MR-D30

(2)

( )

(a)

(b)

(c)

(d)

(e)

(f)

(g)

(h) (a) (g)

4

(1) () MR-J4-_B_-RJ

MCCB MC

L1

L2

L3

L11

L21

(2)

M

U

V

W

U

V

W

DC 24 V

B1

B2 B

RA

CN9 CN90

CN7 CN70

()

SSCNET/H

SSCNET/H

(1) (1)

C N

8

C N

1A C

N 1B

C N

5

USB

C N

2

1

2

C N

10 A

C N

10 B

C N

10 A

C N

10 B

1. 2. SS2/SOS

(2)

MR-J4MR-D30 "MR-D30"

5 MR-D30LED () MR-D30[AL. 7A.4 ()] 6 6.1

(1) STO/SS1/SS2/SOS/SLS/SSM/SBC

(2)

MR-D30MR-J4-_B_-RJ STO

(3)

MR-D30MR-J4-_GF_-RJ STO

6.2

"MR-D30"

[C] 0 55 3K3 (IEC/EN 60721-3-3) () [C] -20 65 2K12 (IEC/EN 60721-3-2) () [C] -20 65 1K4 (IEC/EN 60721-3-1)

5 %RH 90 %RH

10 Hz 57 Hz 0.075 mm

57 Hz 150 Hz IEC/EN 61800-5-1 (Test Fc of IEC 60068-2-6) 9.8 m/s2

5.9 m/s2 (XYZ) () 2M3 (IEC/EN 60721-3-2) 1M2 (IEC/EN 60721-3-2)

2

: IP20 (IEC/EN 60529)

MR-D30: IP00 (IEC/EN 60529) (UL 50)

2000 m 10000 m

. 6.3

MR-D30

DC 24 V [A] 0.3

DC 24 V 10 % [A] 0.8 (1)

EN ISO 13849-1:2015 4PL e 3PL d

IEC 61508 SIL 2 SIL 3 EN 62061 SIL CL 2 SIL CL 3

EN 61800-5-2 (MTTFd) MTTFd 100 [] (313a)

(DC) DC = (High)97.6 [%] (PFH) PFH = 6.57 10-9 [1/h] (TM) TM = 20 []

(2) : 15 ms

: 60 ms : 65 ms

(22 0.1 r/min) 1/32 rev 32 pulses/rev (5) 6 2 (/)

: 3 21 1 : 1 1

(IEC/EN 61800-5-2)

Safe torque off (STO) 4PL eSIL 3 (3)/ 3PL dSIL 2 Safe stop 1 (SS1) 4PL eSIL 3 (3)/ 3PL dSIL 2 Safely-limited speed (SLS) (7) 4PL eSIL 3 (34)/ 3PL dSIL 2

Safe speed monitor (SSM) (7) 4PL eSIL 3 (34)/ 3PL dSIL 2

Safe brake control (SBC) 4PL eSIL 3 (3)/ 3PL dSIL 2 Safe operating stop (SOS) (57) 4PL eSIL 3 (3)/ 3PL dSIL 2

Safe stop 2 (SS2) (57) 4PL eSIL 3 (3)/ 3PL dSIL 2 (STO/SOS) 4PL eSIL 3/ 3PL dSIL 2 (6)

CE EMC: EN 61800-3 MD: EN ISO 13849-1:2015EN 61800-5-2EN 62061

() (: IP20MR-D30: IP00) [g] 150 1. 2. STO 3. 4PL eSIL 3 4. 4PL eSIL 3 5. SS2SOS 6. " (IEC/EN 61800-5-2)" 7.

SLSSSMSS2SOSB0MR-J4-_GF_-RJ SLSSSM

6.4 MR-D30MR-J4 6.4.1

MR-D30

13DI2A

2

4 11

DICOMA

DI1A DICOMA

10 m

10 m

CN10ADC 24 V (3)

15

14 6

5 DI4A DI3A

DI6A DI5A

13DI2B

2

4 11

DICOMB

DI1B DICOMB

CN10B

15

14 6

5 DI4B DI3B

DI6B DI5B

DC 24 V (3)

(12)

(12)

MR-D30

13DI2A

2

4 11

DICOMA

DI1A DICOMA

10 m

10 m

CN10ADC 24 V (3)

15

14 6

5 DI4A DI3A

DI6A DI5A

13DI2B

2

4 11

DICOMB

DI1B DICOMB

CN10B

15

14 6

5 DI4B DI3B

DI6B DI5B

DC 24 V (3)

(12)

(12)

1. CN10ACN10B 2. -

7 - 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. DC 24 V 10 %

0.8 A7.2 DC 24 V 1

6.4.2 DO1A DO3ADO1B DO3BDO4NADO4PB

8 DO1A

17 DO2A

9 DO3A

CN10A

MR-D30

7 DO24VA

DC 24 V (3)

10 m

10 m

8 DO1B

17 DO2B

9 DO3B

CN10B 7 DO24VB

DC 24 V (3)

RA5

RA6

RA7

RA1

RA2

RA3

(12)

(12)

16(4)

(4)

(4)

(4)

DO4PA

18 DO4NA

16 DO4PB

18 DO4NB

RA4

DC 24 V (3)

(12)

DC 24 V (3)

RA8 (12)

1. CN10ACN10B IO (DC 24 V0 V) CN10ACN10B

2. - 7

- 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. DC 24 V 10 %

0.8 A7.2 DC 24 V 1

4. DO4PA (CN10A-16)DO4NA (CN10A-18)DO4PB (CN10B-16) DO4NB (CN10B-18) 20149 MR-D30

7 7.1

(1) DI1_ DI6_ [Pr. PSD02DI1] [Pr. PSD07 DI6]

-

STO STOC CN10A-4

CN10A-5 CN10A-6 CN10A-13 CN10A-14 CN10A-15 CN10B-4 CN10B-5 CN10B-6 CN10B-13 CN10B-14 CN10B-15

STOSTO SS1 SS1C SS1SS1 SS2 SS2C SS2SS2/SOS

SLS1 SLS1C SLS1SLS1 [Pr. PSA07 SLS1] [Pr. PSA11 SLS1]

SLS2 SLS2C SLS2SLS2 [Pr. PSA08 SLS2] [Pr. PSA12 SLS2]

SLS3 SLS3C SLS3SLS3 [Pr. PSA09 SLS3] [Pr. PSA13 SLS3]

SLS4 SLS4C SLS4SLS4 [Pr. PSA10 SLS4] [Pr. PSA14 SLS4]

A PLSA CN10A-12

B PLSB CN10B-12

(2)

(SM) DO1_ DO4_DO1_ DO4_ [Pr. PSD08 DO1] [Pr. PSD11 DO4] DO1_ DO4_

-

SSM SSMS CN10A-8 CN10A-9 CN10A-17 CN10A-18 CN10B-8 CN10B-9 CN10B-17 CN10B-16

SLSSLS

SBC SBCS STO STOS STO SOS SOSS SS2/SOS SS1 SS1S SS1

SS2 SS2S SS2/SOS

SLS1 SLS1S SLS1 SLS2 SLS2S SLS2 SLS3 SLS3S SLS3 SLS4 SLS4S SLS4

(3)

-

I/FA DICOMA

CN10A-2 CN10A-11

DC 24 V (DC 24 V 10 % 0.8 A) DC 24 V+ DC 24 V-

A DC24VA CN10A-1

CN10A-10 DC 24 V +

I/FA DO24VA CN10A-7

DC 24 V+ I/FDO4A

DO4PA CN10A-16 DO4ADC 24 V+

I/FB DICOMB

CN10B-2 CN10B-11

DC 24 V (DC 24 V 10 % 0.8 A) DC 24 V+ DC 24 V-

B DC24VB CN10B-1

CN10B-10 DC 24 V +

I/FB DO24VB CN10B-7

DC 24 V+ I/FDO4B

DO4NB CN10B-18 DO4BDC 24 V-

7.2 () MR-D30 "MR-D30"

(1) ()

(a)

DI_ _

5.6 k

MR-D30

5.6 k

DICOMA

DI1A

CN10A

DICOMB

DI1B

CN10B

DC 24 V 24V IN

0V IN

1 2

DC 24 V 5 mA

DC 24 V 5 mA

(2) (D) (R) (: 5 mA 40 mA: 50 mA: 100 mA) MR-D302.4 V

MR-D30

CN10A

DO24VB DO1B

DO3B

CN10B DC 24 V 10 % 0.8 A

DC 24 V 10 % 0.8 A

DO24VA DO1A

DO3A

MR-D30

MR-D30

7.3 CN10ACN10B

(1) (a) AWG 24 16 (UL 1007) 10 mm 0.5 mm

(b)

(c)

(2)

2.0 mm 2.5 mm "MR-D30"

(3)

()

8 MR-D304LED

POWER RUN STO ERROR

LED POWER

RUN STOSS1SS2/SOSSLS

STO STO

STO ERROR MR-D30()

MR-D30 MR-D30

. MR-D30MR-D30 "ERROR" B3MR-J4-_B_-RJB5MR-J4-_A_-RJ (2.3.4 (3) (a) )

POWER RUN STO ERROR

95._Ab

95._ ()

STOSS1

()

SLSSS2/SOS

/ / 8 ()

()

CPU

( : /: / : ) . MR-D30MR-D30 "ERROR" MR-D30

2.3.4 (3) (a)

9 MR Configurator2 "MR-D30" [Pr. PSA01 ] [Pr. PSA_ _ ][Pr. PSC_ _ ] [Pr. PSD_ _ ] "_ _ _ 1" [AL. 7A ()] STO 10 ERROR LED

LED

1.

2. MR-D30

3. MR-D30 MR-D30 ERROR LED ERROR LED

MR-D30

"MR-J4 ( )"

ERROR LED ERROR LED

MR-D30 MR-D30

11

[: mm]

5 6

20 28

95.4 99.2 104.2

16 1

97 24

.5 11

4.5

4

: 0.2 Nm 0.3 Nm

: M4 : 1.65 Nm

CN10A

10 DC24VA DC24VA 1 11 DICOMA DICOMA 2 12 PLSA 3 13 DI2A DI1A 4 14 DI4A DI3A 5 15 DI6A DI5A 6 16 DO24VA 7 17 DO2A DO1A 8 18 DO3A 9

CN10B

10 DC24VB DC24VB 1 11 DICOMB DICOMB 2 12 PLSB 3 13 DI2B DI1B 4 14 DI4B DI3B 5 15 DI6B DI5B 6 16 DO24VB 7 17 DO2B DO1B 8 18 DO3B 9

DO4PA

DO4NA

DO4PB

DO4NB

: 0.15 [kg]

12

10 mm

80 mm

10 mm (2)

40 mm (1)

40 mm

+

MR-D30

MR-D30

2 IP54

1. 11 kW 22 kW

120 mm 2. MR-J4-500_-RJ25 mm

13

MR-D30

CN10A/CN10B: DFMC 1,5/ 9-STF-3,5 () 2

14

/MR-D30

/

1. / [ ] [ ] 2. / (DoC) [ ] [ ] 3. [ ] [ ] 4. () [ ] [ ] 5. () [ ] [ ]

Copyright2014 Mitsubishi Electric Corporation All Rights Reserved.

Installation Guide H

IB(NA)-0300227-H(2211)MEE

HEAD OFFICE: TOKYO BLDG MARUNOUCHI TOKYO 100-8310 Specifications are subject to change without notice. Compliance with the indicated global standards and regulations is current as of the release date of this installation guide. The original instructions for Europe are in English.

MR-D30

Functional safety unit Model

Country/Region USA

Germany

China

Korea

Japan

Sales office Mitsubishi Electric Automation, Inc. 500 Corporate Woods Parkway, Vernon Hills, IL 60061, U.S.A. Mitsubishi Electric Europe B.V. German Branch Mitsubishi-Electric-Platz 1, 40882 Ratingen, Germany Mitsubishi Electric Automation (China) Ltd. Mitsubishi Electric Automation Center, No.1386 Hongqiao Road, Shanghai, China Mitsubishi Electric Automation Korea Co., Ltd. 7F-9F, Gangseo Hangang Xi-tower A, 401, Yangcheon-ro, Gangseo-Gu, Seoul 07528, Korea Mitsubishi Electric Corporation Tokyo Building, 2-7-3, Marunouchi, Chiyoda-ku, Tokyo 100-8310, Japan

Tel/Fax Tel Fax Tel Fax Tel Fax Tel Fax Tel

: +1-847-478-2100 : +1-847-478-2253 : +49-2102-486-0 : +49-2102-486-1120 : +86-21-2322-3030 : +86-21-2322-3000 : +82-2-3660-9510 : +82-2-3664-8372/8335 : +81-3-3218-2111

General-Purpose AC Servo

Contents of the package

Contents Quantity MR-D30 functional safety unit 1 MR-D30 Installation Guide (this guide) 1

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

Warning plate An example of warning plate is shown below.

Serial number Model IP rating, Manual number Capacity Applicable power supply Rated output Standard Ambient temperature KC number Date of manufacture

Country of origin

Regulation/legislation marking An example of regulation/legislation marking is shown below.

1. About the manuals To use the MR-D30 safely, read "MR-D30 Instruction Manual" carefully. 1.1 MELSERVO-J4 relevant manuals This installation guide explains how to mount MR-J4 servo amplifiers. You can also check it with our website for free. http://www.mitsubishielectric.com/fa/ If you have any questions about the operation or programming of the equipment described in this guide, contact your local sales office. In addition, when you mount a protective device, specific technical skills which are not detailed in the guide will be required. Servo amplifiers and drive units are written as servo amplifiers in this guide under certain circumstances, unless otherwise stated. 1.2 Purpose of this guide This installation guide explains the safe operation of MR-J4 servo amplifiers for engineers of machinery manufacturers and machine operators. For detailed information of the products, refer to "MR-D30 Instruction Manual". This installation guide does not explain how to operate equipment in which MR-D30 and MR-J4 servo amplifier are integrated. 1.3 Terms related to safety

(1) STO (Safe torque off) Shuts off servo motor drive energy electronically 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, 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)

This is a function to monitor 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)

This is a function to observe 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 safety output signal when the servo motor speed is within a regulated speed.

(7) SBC (Safe brake control) Outputs a safety output signal for an external brake control.

(8) Status monitor (SM)

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

2. About safety This chapter explains safety of users and machine operators. Please read the chapter carefully before mounting the equipment. In this installation guide, the specific warnings and cautions levels are classified as follows.

WARNING Indicates that incorrect handling may cause hazardous conditions, resulting in death or severe injury.

CAUTION Indicates that incorrect handling may cause hazardous conditions, resulting in medium or slight injury to personnel or may cause physical damage

2.1 Professional engineer Only professional engineers should mount this to MR-J4 servo amplifiers. Here, professional engineers should meet all the conditions below.

(1) Persons who took a proper training of related work of electrical equipment or persons who can avoid risk based on past experience.

(2) Persons who have read and familiarized himself/herself with this installation guide and operating manuals for the

protective devices (e.g. light curtain) connected to the safety control system. 2.2 Applications of the devices MR-D30 has a control system whose configuration is possible to be for safety. This product complies with the following standards. (Declaration of conformity No. BCN-B61008-076)

EN ISO 13849-1:2015 Category 3 PL d and Category 4 PL e) IEC 61508 SIL 2 and SIL 3 EN 62061 SIL CL 2 and SIL CL 3 EN 61800-5-2 IEC/EN 61800-3/GB 12668.3/KN 61800-3 (KS C 9800-3)

An achieved safety level depends on external circuit, wiring conditions, parameter settings, sensor selections, and mounting position on the machine. A photoelectric and contact sensor such as light curtain, laser scanner, safety switch, sensor, and push button for emergency stop can be used with programs. The power of an actuator mounted on the machine or system can be shut off safely using switching output of the safety control system. 2.3 Correct use

WARNING

If you need to get close to the moving parts of the machine for inspection or others, ensure safety by confirming the power off, etc. Otherwise, it may cause an accident.

CAUTION

MR-D30 complies with basic specifications concerning radiation electromagnetic immunity and fulfills requirements of industrial uses. Therefore, MR-D30 is only for use in industrial environment, not for general use.

Use the MR-D30 within specifications. Refer to "MR-D30 Instruction Manual" for specifications such as voltage, temperature, etc. Mitsubishi Electric Co. accepts no claims for liability if the equipment is used in any other way or if modifications are made to the device, even in the context of mounting and installation. 2.3.1 Peripheral device The following are selected based on IEC/EN 61800-5-1, UL 61800-5-1, UL 508C, and CSA C22.2 No. 274.

(1) Motor overload and Over temperature protection The overload protection of the servo motor does not include a thermal memory function, and is not speed sensitive. The servo amplifier cannot detect overheating of the servo motor. The servo motors are protected by the servo motor overheat protection function of the servo amplifiers (a protection characteristic based on 120 % of the rated current). To provide the servo motor with overheat protection, use a magnetic contactor (electromagnetic switch) with a thermal relay. Alternatively, install a thermal sensor or equivalent equipment near the rating plate of the servo motor to check that the servo motor temperature is under 105 C with sensing device. (Refer to Chapter 4)

2.3.2 Europe/UK compliance The CE/UKCA marking proves the compliance of the servo product with the essential requirements specified in the relevant EU Directives and UK Regulations, and this marking also applies to machines and equipment incorporating servos.

(1) EMC requirement The combination of MR-J4 servo amplifier and MR-D30 complies with EN/BS EN IEC 61800-3. As for I/O wires (max. length 10 m) and encoder cables (max. length 50 m), use shielded wires and ground the shields. Install an EMC filter and surge protector on the primary side. The following shows recommended products. EMC filter: Soshin Electric HF3000A-UN series Surge protector: Okaya Electric Industries RSPD-250-U4 series MR-J4 Series are not intended to be used on a low-voltage network which supplies domestic premises; electromagnetic interference is expected if used on such a network. The installer shall provide a guide for Installation and use, including recommended mitigation devices. To avoid the risk of crosstalk to signal cables, the installation instructions shall either recommend that the power interface cable be segregated from signal cables.

(2) WEEE directive compliance

MR-D30 comply with Waste Electrical and Electronic Equipment (WEEE) Directive 2012/19/EU. This mark (shown on the right) indicates that the product bearing the mark should be disposed of separately from household waste in any country. For the United Kingdom, regulations equivalent to this directive are applicable.

(3) For Declaration of Conformity (DoC)

We declare that the servo amplifier with MR-D30 is in compliance with EC directives (Machinery directive (2006/42/EC), EMC directive (2014/30/EU), Low-voltage directive (2014/35/EU), and RoHS directive (2011/65/EU, (EU) 2015/863)) and applicable regulations of the UK. For the copy of Declaration of Conformity, contact your local sales office.

2.3.3 USA/Canada compliance The servo amplifiers on which MR-D30 is mounted are designed in compliance with UL 508C or UL 61800-5-1 for the use in the United States. For the use in Canada, the servo amplifiers on which MR-D30 is mounted are designed in compliance with CSA C22.2 No. 274.

(1) Installation The minimum cabinet size is 150 % of each MR-J4 servo amplifier's volume including MR-D30. Also, design the cabinet so that the ambient temperature in the cabinet is 55 C or less. The servo amplifiers on which MR-D30 is mounted must be installed in a metal cabinet. For environment, the units should be used in open type (UL 50) and overvoltage category III or lower. MR-D30 and servo amplifier needs to be installed at or below pollution degree 2. For connection, use only copper wires.

(2) Short-circuit current rating (SCCR)

Each servo amplifier on which MR-D30 is mounted has checked with a short-circuit test.

(3) Capacitor discharge It takes 15 minutes for capacitor discharging of the servo amplifier on which MR-D30 is mounted. Do not touch the unit and terminals immediately after power off.

(4) Branch circuit protection

For installation in United States, branch circuit protection must be provided, in accordance with the National Electrical Code and any applicable local codes. For installation in Canada, branch circuit protection must be provided, in accordance with the Canadian Electrical Code and any applicable provincial codes.

2.3.4 South Korea compliance Products that bear the KC mark comply with the Radio Wave Law. Please note the following to use the product. (A) , . (The product is for business use (Class A) and meets the electromagnetic compatibility requirements. The seller and the user must note the above point, and use the product in a place except for home.) 2.4 Safety observation function compatible unit The safety observation function is executed by writing a parameter to MR-D30 in a system using an MR-J4 servo amplifier, motion CPU and safety programmable controller in the following table. Set the parameters of MR-D30 correctly for a proper operation of the safety observation function. Protective functions such as the safety observation function may not work due to an incorrect setting. Refer to "MR-D30 Instruction Manual" for the parameter setting details.

(1) List of safety observation function compatible unit Product name Model

Servo amplifier MR-J4-_GF-RJ/MR-J4-_GF4-RJ MR-J4-_B-RJ/MR-J4-_B4-RJ/MR-J4-_B1-RJ/MR-J4-DU_B-RJ/MR-J4-DU_B4-RJ MR-J4-_A-RJ/MR-J4-_A4-RJ/MR-J4-_A1-RJ/MR-J4-DU_A-RJ/MR-J4-DU_A4-RJ

Programmable controller (Note 1) R_SFCPU Motion CPU module (Note 2) Q173DSCPU/Q172DSCPU

Note 1. For using the safety observation function through CC-Link IE Field 2. For using the safety observation function through SSCNET III/H

(2) List of safety observation function compatible unit version (a) Servo amplifier and functional safety unit

1) MR-J4-_GF_-RJ a) Safety observation function control by input device

MR-D30 software version

Servo amplifier software version Safety observation function Servo motor with

functional safety Servo amplifier

A1 or later A3 or later (Note) STO/SS1/SBC/SLS/SSM/SOS/ SS2/SM

HG-KR_W0C HG-SR_W0C HG-JR_W0C

MR-J4-_GF_-RJ

Note. CC-Link IE Field Network Basic communication is not supported. While CC-Link IE Field Network Basic has been set, connecting

with the MR-D30 functional safety unit triggers [AL. 3E.8].

b) Safety observation function control by network MR-D30

software version Servo amplifier

software version Safety observation function Servo motor with functional safety Servo amplifier

A2 or later A3 or later STO/SS1/SBC/SLS/SSM/SOS/ SS2/SM

HG-KR_W0C HG-SR_W0C HG-JR_W0C

MR-J4-_GF_-RJ

2) MR-J4-(DU)B_-RJ/MR-J4-(DU)A_-RJ

MR-D30 software version

Servo amplifier software version Safety observation function Servo motor with

functional safety Servo amplifier

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

A1 or later

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

B5 or later STO/SS1/SBC/SLS/SSM/SOS/ SS2/SM

HG-KR_W0C HG-SR_W0C HG-JR_W0C

MR-J4-_B_-RJ MR-J4-_A_-RJ (Note)

MR-J4-DU_B_-RJ MR-J4-DU_A_-RJ (Note)

Note. The servo amplifiers manufactured in November, 2014 or later is supported.

(b) Programmable controller

Model Software version R_SFCPU 07 or later

(c) Motion controller

Model OS Software version Q173DSCPU SW8DNC-SV22QJ/SW8DNC-SV13QJ

05 or later Q172DSCPU SW8DNC-SV22QL/SW8DNC-SV13QL

2.5 General cautions for safety protection and protective measures

POINT Observe the cautions for safety protection and protective measures. Observe the items in this section for proper use of MR-D30.

(1) When mounting, installing, and using the MR-D30, always observe standards and directives applicable in the

country.

(2) When using an MR-D30 in an EU member state, comply with the following directives. Machinery directive 2006/42/EC EMC directive 2014/30/EU Low voltage directive 2014/35/EU RoHS directive 2011/65/EU Other laws/regulations of labor safety

(3) The manufacturer and owner of machines on which an MR-D30 is used should be familiarized with all the

applicable laws and regulations and should be responsible to observe them. For Declaration of Conformity (DoC), our company declares that the servo amplifiers are in compliance with the necessary requirements and standards (2006/42/EC, 2014/30/EU, 2014/35/EU and 2011/65/EU). You can obtain the copy of Declaration of Conformity from our website.

(4) The contents of "MR-D30 Instruction Manual" must be observed.

(5) Tests should be performed by professional engineers, especially qualified and responsible personnel, and should

be recorded/documented for a third party to rebuild and confirm the tests.

(6) Based on IEC/EN 60204-1, connect to a power supply that has tolerance against instantaneous power failure of 20 ms or more.

2.6 Disposal Disposal of unusable or irreparable devices should always occur in accordance with the applicable country-specific waste disposal regulations. 2.7 Risk assessment To ensure safety, users should decide all the risk assessments and residual risks in the entire machine equipment. A company and/or 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. 2.7.1 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 13849-1:2015 Table F.1 No. 5)

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

(ISO 13849-1:2015 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.

2.7.2 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 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.

(c) The defect of the mechanical section such as slid of shaft and wanting of a timing belt, etc. is not 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 are 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.

(2) Safe speed monitor (SSM) When SSM is used as a restart trigger, perform it according to IEC/EN 60204-1.

(3) Safe brake control (SBC)

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.

3. Conditions of use for the product

(1) 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.

(2) 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.

(a) Power plants

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

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

(d) Amusement equipment

(e) Incineration and fuel devices

(f) Handling of nuclear or hazardous materials or chemicals

(g) Mining and drilling

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

4. Block diagram and timing chart

(1) Function block diagram (for using input signal) This is an example of a combination with MR-J4-_B_-RJ.

MCCB MC

Power

L1

L2

L3

L11

L21

Servo amplifier Servo motor (Note 2)

M

U

V

W

U

V

W

Gate circuitControl circuit power supply 24 V DC

B1

B2 B

Encoder

RA

CN9 CN90

CN7 CN70

Not used (Remove the short-circuit connector.)

SSCNETIII/H

SSCNETIII/H

Controller or servo amplifier

Servo amplifier

Parameter setting

Functional safety unit

Input signal (Note 1)

Output signal (Note 1)

C N

8

Control

C N

1A C

N 1B

C N

5

USB

C N

2

Safety observation function processing part 1

Safety observation function processing part 2

C N

10 A

C N

10 B

C N

10 A

C N

10 B

Sensing device

Electromagnetic brake

Note 1. Safety switch, safety relay, etc. 2. The servo motor with functional safety is required to use the SS2/SOS functions.

(2) How to use the functions

To use the safety observation functions, combine MR-D30 with MR-J4. For how to use the functions, refer to "MR- D30 Instruction Manual".

5. Maintenance and disposal MR-D30 safety logic unit is equipped with LED displays to check errors for maintenance. Please dispose this unit according to your local laws and regulations. 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. 6. Functions and configuration 6.1 Summary

(1) Safety observation functions are available with your servo amplifier. Mounting the functional safety unit to the servo amplifier enables you to use the safety observation functions such as STO/SS1/SS2/SOS/SLS/SSM/SBC without depending on a controller.

(2) Drive safety compatible integrated motion controller

Safety communication with motion controllers is available by using MR-D30 with MR-J4-_B_-RJ. With this, the wiring which was required can be reduced for the STO signal and encoder signal for safety observation.

(3) Drive safety integrated programmable controller

Safety communication with safety programmable controller is available by using MR-D30 with MR-J4-_GF_-RJ. With this, the wiring which was required can be reduced for the STO signal and encoder signal for safety observation.

6.2 Transportation and storage

CAUTION

Transport the products correctly according to their mass. Stacking in excess of the limited number of product packages is not allowed. Install the equipment in a load-bearing place in accordance with "MR-D30 Instruction Manual". Do not put excessive load on the machine.

When you keep or use it, please fulfill the following environment.

Item Environment

Ambient temperature

Operation [C] 0 to 55 Class 3K3 (IEC/EN 60721-3-3) Transportation (Note) [C] -20 to 65 Class 2K12 (IEC/EN 60721-3-2)

Storage (Note) [C] -20 to 65 Class 1K4 (IEC/EN 60721-3-1)

Ambient humidity Operation, transportation, storage 5 %RH to 90 %RH

Vibration resistance

Test condition 10 Hz to 57 Hz with amplitude of 0.075 mm

57 Hz to 150 Hz with constant acceleration of 9.8 m/s2 to IEC/EN 61800-5-1 (Test Fc of IEC 60068-2-6)

Operation 5.9 m/s2 (X, Y, Z axes) Transportation (Note) Class 2M3 (IEC/EN 60721-3-2)

Storage Class 1M2 (IEC/EN 60721-3-2) Pollution degree 2

IP rating Mounted on a servo amplifier: IP20 (IEC/EN 60529)

MR-D30 (single): IP00 (IEC/EN 60529) Open type (UL 50)

Altitude Operation, storage 2000 m or less Transportation 10000 m or less

Note. In regular transport packaging 6.3 Specifications

Model MR-D30

Output Rated voltage 24 V DC Rated current [A] 0.3

Interface power supply Voltage 24 V DC 10 % Power supply capacity [A] 0.8 (Note 1)

Safety performance

Standards certified by CB

EN ISO 13849-1:2015 Category 4, PL e and Category 3, PL d IEC 61508 SIL 2 and SIL 3

EN 62061 SIL CL 2 and SIL CL 3 EN 61800-5-2

Mean time to dangerous failure (MTTFd) MTTFd 100 [years] (313a)

Diagnostic coverage (DC) DC = High, 97.6 [%] Probability of dangerous failures per hour (PFH) PFH = 6.57 10-9 [1/h]

Mission time (TM) TM = 20 [years]

Response performance (Note 2)

Using input device: 15 ms or less Using a drive Safety integrated motion controller: 60 ms or less

Using drive safety integrated programmable controller: 65 ms or less Speed observation resolution Depends on a command resolution (22 bit position command: 0.1 r/min or less) Position observation resolution 1/32 rev

Safety position data resolution 32 pulses/rev (5 bits) Input device 6 points 2 systems (source/sink)

Output device Source: 3 points 2 systems and 1 point 1 system Sink: 1 point 1 system

Safety observation function (IEC/EN 61800-5-2)

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

Safe speed monitor (SSM) (Note 7) Category 4, PL e, SIL 3 (Note 3, 4)/Category 3, PL d, SIL 2

Safe brake control (SBC) Category 4, PL e, SIL 3 (Note 3)/Category 3, PL d, SIL 2 Safe operating stop (SOS) (Note 5, 7) Category 4, PL e, SIL 3 (Note 3)/Category 3, PL d, SIL 2

Safe stop 2 (SS2) (Note 5, 7) Category 4, PL e, SIL 3 (Note 3)/Category 3, PL d, SIL 2 Safety observation function Status monitor (STO/SOS) Category 4, PL e, SIL 3/Category 3, PL d, SIL 2 (Note 6)

Compliance to global standards CE marking EMC: EN 61800-3

MD: EN ISO 13849-1:2015, EN 61800-5-2, EN 62061 Structure (IP rating) Natural cooling, open (mounted on a servo amplifier: IP20, MR-D30 (single): IP00) Mass [g] 150

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 a servo motor with functional safety is required. 5. To enable SS2 and SOS, using with a servo motor with functional safety is required. 6. For the achievable safety level, refer to the section of "Safety observation function (IEC/EN 61800-5-2)". 7. The scale measurement function of the semi closed loop system, linear servo system, direct drive servo system, and fully closed loop

system are not compatible with SLS, SSM, SS2, and SOS. The MR-J4-_GF_-RJ with software version B0 or later used in a direct drive servo system is compatible with SLS and SSM.

6.4 When using MR-D30 for an MR-J4 series servo amplifier 6.4.1 Input signal

Servo amplifier

MR-D30

13DI2A

2

4 11

DICOMA

DI1A DICOMA

10 m or shorter

10 m or shorter

CN10A24 V DC (Note 3)

15

14 6

5 DI4A DI3A

DI6A DI5A

13DI2B

2

4 11

DICOMB

DI1B DICOMB

CN10B

15

14 6

5 DI4B DI3B

DI6B DI5B

24 V DC (Note 3)

(Note 1, 2)

(Note 1, 2)

Servo amplifier

MR-D30

13DI2A

2

4 11

DICOMA

DI1A DICOMA

10 m or shorter

10 m or shorter

CN10A24 V DC (Note 3)

15

14 6

5 DI4A DI3A

DI6A DI5A

13DI2B

2

4 11

DICOMB

DI1B DICOMB

CN10B

15

14 6

5 DI4B DI3B

DI6B DI5B

24 V DC (Note 3)

(Note 1, 2)

(Note 1, 2)

Source input interface Sink input interface

Note 1. Separate all the external wires by two types, CN10A and CN10B. 2. Assign each input device to the following combinations of connector and pin. Refer to chapter 7 for each

device. 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 7.2 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.

6.4.2 Output signal DO1A to DO3A, DO1B to DO3B, and DO4NA can be used as source outputs, and DO4PB can be used as a sink output.

Servo amplifier

8 DO1A

17 DO2A

9 DO3A

CN10A

MR-D30

7 DO24VA

24 V DC (Note 3)

10 m or shorter

10 m or shorter

8 DO1B

17 DO2B

9 DO3B

CN10B 7 DO24VB

24 V DC (Note 3)

RA5

RA6

RA7

RA1

RA2

RA3

Source output (Note 1, 2)

Source output (Note 1, 2)

16(Note 4)

(Note 4)

(Note 4)

(Note 4)

DO4PA

18 DO4NA

16 DO4PB

18 DO4NB

RA4

24 V DC (Note 3)

Source output (Note 1, 2)

24 V DC (Note 3)

RA8 Sink output (Note 1, 2)

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.

2. Assign each output device to the following combinations of connector and pin. Refer to chapter 7 for each device.

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 7.2 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) will not be available with MR-D30 manufactured in September 2014 or before. Do not connect anything to these pins.

7. Signals 7.1 Connector and pin assignment

(1) Input device Assign the devices to DI1_ to DI6_ with [Pr. PSD02 Input device selection DI1] to [Pr. PSD07 Input device selection DI6]. For the safety observation function control by network, you can input through network.

Device Symbol Connector and pin No. Function

Input pin status which the function turns to be

enabled STO command STOC CN10A-4

CN10A-5 CN10A-6 CN10A-13 CN10A-14 CN10A-15 CN10B-4 CN10B-5 CN10B-6 CN10B-13 CN10B-14 CN10B-15

The STO function operates by the STO command. Opened

SS1 command SS1C The SS1 function operates by the SS1 command. Opened

SS2 command SS2C The SS2/SOS functions operate by the SS2/SOS command. Opened

SLS1 command SLS1C

The SLS function 1 operates by the SLS1 command. [Pr. PSA07 SLS deceleration monitoring time 1] and [Pr. PSA11 SLS speed 1] are used as parameters.

Opened

SLS2 command SLS2C

The SLS function 2 operates by the SLS2 command. [Pr. PSA08 SLS deceleration monitoring time 2] and [Pr. PSA12 SLS speed 2] are used as parameters.

Opened

SLS3 command SLS3C

The SLS function 3 operates by the SLS3 command. [Pr. PSA09 SLS deceleration monitoring time 3] and [Pr. PSA13 SLS speed 3] are used as parameters.

Opened

SLS4 command SLS4C

The SLS function 4 operates by the SLS4 command. [Pr. PSA10 SLS deceleration monitoring time 4] and [Pr. PSA14 SLS speed 4] are used as parameters.

Opened

Test pulse output A PLSA CN10A-12 Outputs test pulses for external wiring diagnosis.

Test pulse output B PLSB CN10B-12 Outputs test pulses for external wiring diagnosis.

(2) Output device

The status monitor (SM) of the safety observation function is output from 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 DO3]. For the safety observation function control by network, you can output through network. Then, DO1_ to DO4_ can be used simultaneously.

Device Symbol Connector and pin No. Function Output pin

status during operation

SSM output SSMS CN10A-8 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.

Closed

SBC output SBCS Outputs a control signal of the electromagnetic brake. Opened STO output STOS This is a monitor output signal meaning that the STO function is operating. Opened

SOS output SOSS This is a monitor output signal meaning that the SS2/SOS function is operating.

Opened

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

SS2 output SS2S This is a monitor output signal meaning that the SS2/SOS function monitors the servo motor is in the stop state.

Opened

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

Opened

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

Opened

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

Opened

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

Opened

(3) Power supply

Name Symbol Connector and pin No. Function and application

Digital input I/F common A

DICOMA

CN10A-2 CN10A-11

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 changes 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.

Test pulse power supply input A

DC24VA CN10A-1 CN10A-10

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

Digital output I/F common A

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

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

DO4A power supply for digital output I/F

DO4PA CN10A-16 This is the power terminal for the DO4A output signal. Connect the positive terminal of the

24 V DC external power supply.

Digital input I/F common B

DICOMB

CN10B-2 CN10B-11

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 changes 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.

Test pulse power supply input B

DC24VB CN10B-1 CN10B-10

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

Digital output I/F common B

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

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

DO4B power supply for digital output I/F

DO4NB CN10B-18 This is the power terminal for the DO4B output signal. Connect the negative terminal of the

24 V DC external power supply.

7.2 Interface (source I/O) For MR-D30, source type I/O interfaces can be used. The following shows an example of source interface.

(1) Input interface For MR-D30, source type and sink type I/O interfaces can be used. Transmit signals from source (open-collector) type transistor output, relay switch, etc. For sink interface, refer to "MR-D30 Instruction Manual".

(a) External device connection

Connect the output signal to DI _ _.

Approx. 5.6 k

MR-D30

Approx. 5.6 k

DICOMA

DI1A, etc.

CN10A

DICOMB

DI1B, etc.

CN10B

24 V DC 24V IN

0V IN

Control output 1

Control output 2

External device 24 V DC 5 mA

24 V DC 5 mA

(2) Output interface When the output transistor is turned on, the current flows from 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 2.4 V voltage drop occurs in MR-D30.

MR-D30

CN10A

DO24VB DO1B to

DO3B

CN10B 24 V DC 10 % 0.8 A

24 V DC 10 % 0.8 A

DO24VA DO1A to

DO3A Load

Load

Safety relay

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

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

7.3 Wiring method of CN10A and CN10B connectors Handle with the tool with care when connecting wires.

(1) Wire strip (a) Use wires with size of AWG 24 to 16 (recommended electric wire: UL 1007) and strip the wires to make the

stripped length 10 mm 0.5 mm. Confirm the stripped length with gauge, etc. before using the wires.

(b) If the stripped wires are bent, loose or too thick due to twisting too much, fix the wires by twisting lightly, etc. Then, confirm the stripped length before using the wires. Do not use excessively deformed wires.

(c) Smooth out the wire surface and stripped insulator surface.

(2) Connecting wires

Before connecting wires, be sure to pull out the receptacle assembly from the header connector. If wires are connected with inserted connector, the connector and the printed board may malfunction. With pressing the release button with a flat-blade screwdriver with the blade edge width of 2.0 mm to 2.5 mm, insert a wire all the way in and remove the screwdriver. Refer to "MR-D30 Instruction Manual" for wiring.

(3) Connectors

Be sure to insert the connector all the way straight until you hear or feel clicking. After connection, tighten the screw came with the connector using a flat-blade screwdriver. Loosen the screw before disconnection.

8. Display MR-D30 has four LED indications. They indicate the followings.

POWER RUN STO ERROR

Green Green Yellow Red

LED Lighting status Description POWER Lit Power is being supplied.

Extinguished Power is not supplied. RUN Lit The safety observation function is performing. STO, SS1, SS2/SOS, or SLS function

is being executed normally, performing shutoff or observation. Extinguished The safety observation function is not performing. Because the operation commands

are not inputted or an internal diagnosis error has occurred. STO Lit STO function is performing. The power to the motors is shut off.

Extinguished STO function is not performing. The power to the motors is not shut off. ERROR Lit Some errors have been detected for MR-D30. (Note)

Blinking Some errors have been detected for MR-D30. Extinguished An error is not being detected in MR-D30.

Note. When a servo amplifier which is not compatible with MR-D30 is connected to MR-D30, "ERROR" will light. Check if

MR-D30 is connected to the MR-J4-_B_-RJ servo amplifier with the software version B3 or later, or the MR-J4-_A_-RJ servo amplifier with the software version B5 or later. (Refer to (3) (a) of section 2.3.4.)

The following shows indication example of each state.

POWER RUN STO ERROR Servo

amplifier display

Status Description

Normal Power off Power is not supplied.

95._ or Ab During diagnosis For the safety observation function control by input device, execute a fixing-diagnosis at start-up. For the safety observation function control by network, connect networks.

Normal Safety observation function is not performing.

The safety observation function is not performing.

95._

Safety observation function is performing (shutting power off).

STO or SS1 function is performing.

Normal

Safety observation function is performing (monitoring).

SLS or SS2/SOS function is performing.

/ / Alarm No. Error has occurred.

An error has been detected. Refer to chapter 8 for error details. (Note)

Alarm No. Error has occurred (watchdog)

Watchdog is occurring due to parts error, such as the CPU.

( : Lit, : Blinks, : Extinguished)

Note. When a servo amplifier which is not compatible with MR-D30 is connected to MR-D30, "ERROR" will light. Refer to section 2.3.4 (3) (a) for the software version of a servo amplifier that is compatible with MR-D30.

9. Setting method Use MR Configurator2 for the settings. Refer to "MR-D30 Instruction Manual" for details. Check the contents of [Pr. PSA _ _ ], [Pr. PSC _ _ ], and [Pr. PSD _ _ ] and set [Pr. PSA01 Safety observation function activation setting] to "_ _ _ 1". Until setting this parameter, STO cannot be canceled due to [AL. 7A Parameter setting error (safety observation function)] occurrence. 10. Troubleshooting When power is not supplied or ERROR LED turns on, refer the following table and take the appropriate action.

Event Description Cause Action Power is not supplied. Power LED does not turn on

although power is supplied. 1. The servo amplifier is malfunctioning.

Replace the servo amplifier.

2. MR-D30 is not connected to the servo amplifier properly.

Check the connection.

3. MR-D30 is malfunctioning. Replace the MR-D30. ERROR LED is blinking. ERROR LED is blinking and an

alarm No. is displayed on the servo amplifier.

An error has occurred in MR-D30 or servo amplifier.

Check the alarm No. and remove the problem referring to "MELSERVO-J4 Servo Amplifier Instruction Manual (Troubleshooting)".

ERROR LED is on. ERROR LED has been on. MR-D30 is malfunctioning. Replace the MR-D30.

11. Dimensions

[Unit: mm]

5 6 mounting hole for grounding Mounting screw

Screw size: M4 Tightening torque: 1.65 Nm

Rating plate

11 4.

5 97

24 .5

16 1

28 20

104.2 99.2 95.4

Four connector fixing screws Tightening torque: 0.2 Nm to 0.3 Nm

CN10A No. Symbol Symbol No. 10 DC24VA DC24VA 1 11 DICOMA DICOMA 2 12 PLSA 3 13 DI2A DI1A 4 14 DI4A DI3A 5 15 DI6A DI5A 6 16 DO24VA 7 17 DO2A DO1A 8 18 DO3A 9

CN10B No. Symbol Symbol No. 10 DC24VB DC24VB 1 11 DICOMB DICOMB 2 12 PLSB 3 13 DI2B DI1B 4 14 DI4B DI3B 5 15 DI6B DI5B 6 16 DO24VB 7 17 DO2B DO1B 8 18 DO3B 9

DO4PA

DO4NA

DO4PB

DO4NB

Mass: 0.15 [kg]

12. Installation Installation direction and clearances

10 mm or more

Wiring allowance 80 mm or more

10 mm or more (Note 2)

Top

Bottom

40 mm or more (Note 1)

40 mm or more

Cabinet

Side +

MR-D30

Servo amplifier

Cabinet

MR-D30

CAUTION

The devices must be installed in the specified direction. Not doing so may cause a malfunction. Mount the servo amplifier on a cabinet which meets IP54 in the correct vertical direction to maintain pollution degree 2. Even if the power turned off, touching the resistor will cause an electric shock because the capacitor of the servo amplifier is charged for a while.

Note 1. For 11 kW to 22 kW servo amplifiers, the clearance

between the bottom and ground will be 120 mm or more.

2. For MR-J4-500_-RJ, the clearance on the left side will be 25 mm or more.

13 Connector

Servo amplifier MR-D30

CN10A/CN10B connector: DFMC 1,5/ 9-STF-3,5 (Phoenix Contact)

14. Check list for user documentation

MR-D30 installation checklist for manufacturer/installer

The following items must be satisfied by the initial test operation at least. The manufacturer/installer must be responsible for checking the standards in the items. Maintain and keep this checklist with related documents of machines to use this for periodic inspection.

1. Is it based on directive/standard applied to the machine? Yes [ ], No [ ] 2. Is directive/standard contained in Declaration of Conformity (DoC)? Yes [ ], No [ ] 3. Does the protection instrument conform to the category required? Yes [ ], No [ ] 4. Are electric shock protective measures (protective class) effective? Yes [ ], No [ ] 5. Is the safety observation function checked (test of all the shut-off wiring)? Yes [ ], No [ ]

Checking the items will not be instead of the first test operation or periodic inspection by professional engineers.