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Mitsubishi MR-D30 Servo Instruction Manual PDF
Summary of Content for Mitsubishi MR-D30 Servo Instruction Manual PDF
SH(NA)030132ENG-E(1805)MEE Printed in Japan Specifications are subject to change without notice. This Instruction Manual uses recycled paper.
MODEL
MODEL CODE
General-Purpose AC Servo
M R
-D 30 IN
S T
R U
C T
IO N
M A
N U
A L
HEAD OFFICE: TOKYO BLDG MARUNOUCHI TOKYO 100-8310
1CW817
MR-D30 INSTRUCTIONMANUAL
Functional safety unit MODEL
MR-D30 INSTRUCTION MANUAL
E
E
A - 1
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 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.
Note that the CAUTION level may lead to a serious consequence according to conditions.
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.
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 - 2
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 amplifiers 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 amplifiers 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 - 3
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
Operation 0 C to 55 C (non-freezing)
Storage -20 C to 65 C (non-freezing)
Ambient humidity
Operation 5 %RH to 90 %RH (non-condensing)
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.
A - 4
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.
U
Servo motor
MV
W
U
V
W
U
MV
W
U
V
W
Servo amplifier 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.
DO4NB
DO4PB
24 V DC MR-D30
RA
For sink output interface
DO24VA/ DO24VB/ DO4PA
Control output signal
24 V DC MR-D30
RA
For source output interface
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 - 5
(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 - 6
(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.
Servo motor
Electromagnetic brake
B
RA
Contacts must be opened with the emergency stop switch.
Use ALM (Malfunction) or SBCS (SBC output) to open the contacts.
24 V DC
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.
(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 - 7
(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 - 8
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
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.
Cables used for wiring
Wires mentioned in this Instruction Manual are selected based on the ambient temperature of 40 C.
1
CONTENTS
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
2
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
3
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
4
MEMO
1. FUNCTIONS AND CONFIGURATION
1 - 1
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 MR-
D30 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
Servo amplifier software version
Safety observation function Servo motor
with functional safety
Servo amplifier
A1 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) 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
1. FUNCTIONS AND CONFIGURATION
1 - 2
(b) 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 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. MR-J4-(DU)_A_-RJ manufactured in November, 2014 or later is supported.
(c) MR-J4-DU_B4-RJ100
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-JR_W0C MR-J4-DU_B4-RJ100
(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.
1. FUNCTIONS AND CONFIGURATION
1 - 3
(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
control by network (CC-Link IE Field Network) (Note 9)
Safety observation function control by network
(SSCNET III/H) (Note 10)
Safety observation function control by input device (Note 8)
Compatible controller
Safety Programmable Controller R_SFCPU (Note 5)
+ Safety function module
R6SFM (Note 7) +
Simple motion module RD77GF_ (Note 6)
Drive safety integrated motion controller
Q173DSCPU Q172DSCPU
+ Safety signal module
Q173DSXY
STO
Category 4, PL e, SIL 3 (Note 1)
Category 3, PL d, SIL 2
Category 4, PL e, SIL 3 (Note 1) SS1
SBC
SLS (Note 2) Category 3, PL d, SIL 2 Category 4, PL e, SIL 3 (Note 3)
Category 3, PL d, SIL 2 Category 4, PL e, SIL 3 (Note 3) SSM (Note 2)
SS2 (Note 2, 4) Category 4, PL e, SIL 3 (Note 1) Category 4, PL e, SIL 3 (Note 1)
SOS (Note 2, 4) 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.
5. A safety programmable controller with software version 07 or later is necessary.
6. A simple Motion module with software version 05 or later is necessary.
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
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.
9. This is supported by GX Works3 with software version 1.035M or later and MR Configurator2 with software version 1.60N or
later.
10. This is supported by MT Works2 with software version 1.100E or later.
1. FUNCTIONS AND CONFIGURATION
1 - 4
Table 1.2 Safety observation functions
compatible with each system.
System (Note)
S er
vo m
ot or
w ith
fu
nc tio
na l s
af et
y
S er
vo m
ot or
F ul
l.
Li n.
D D
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 safety
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
1. FUNCTIONS AND CONFIGURATION
1 - 5
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. FUNCTIONS AND CONFIGURATION
1 - 6
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.
MCCB MC L1
L2
L3
L11
L21
M
U
V
W
U
V
W
24 V DC B1
B2 B
RA
CN9 CN90
CN7 CN70
CC-Link IE Field Network
CC-Link IE Field Network
USB
C N
8 C
N 1A
C N
1B C
N 5
C N
2
C N
1 0
A C
N 1
0 B
C N
1 0
A C
N 1
0 B
Gate circuit
Power supply
Servo amplifier Servo motor
Control circuit power supply
Controller or
CC-Link IE Field Network device
Controller or
CC-Link IE Field Network device
Electro- magnetic brake
Encoder Control
(Remove the short-circuit connector.)
Not used
Parameter setting
Functional safety unit
Safety observation function Processing part 1
Input device control
Self-check
Parameter
Safety observation function Processing part 2
Self-check
Parameter
Input device control
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
Output device control
Output device control
Output signal (Note)
Input signal (Note)
Note. Safety switch, safety relay, etc.
1. FUNCTIONS AND CONFIGURATION
1 - 7
(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.
MCCB MC L1
L2
L3
L11
L21
M
U
V
W
U
V
W
24 V DC B1
B2 B
RA
C N
8
C N
2
USB
C N
1 A
C N
1 B
C N
5
Main input module
NZ2GFSS2-32D
Extension output module
NZ2EXSS2-8TE
Input signal (Note)
iQ-R series safety remote I/O module
CN9 CN90
CN7 CN70
C N
1 0
B C
N 1
0 A
RD77GF_
Safety function module R6SFM
iQ-R series
safety CPU
iQ-R series safety CPU
Control
Self-check
Parameter
Output device control
Output device control
Power supply
Servo amplifier Servo motor
Control circuit power supply
Gate circuit
Electro- magnetic brake
Encoder
(Remove the short-circuit connector.)
Not used Controller or CC-Link IE Field Network device
CC-Link IE Field Network
CC-Link IE Field NetworkCC-Link IE Field
Network device or cap
Parameter setting
Functional safety unit
Safety observation function Processing part 1
Self-check
Parameter
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
Safety observation function Processing part 2
Output signal (Note)
Output signal (Note)
Note. Safety switch, safety relay, etc.
1. FUNCTIONS AND CONFIGURATION
1 - 8
1.3.2 MR-J4-_B_-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.
MCCB MC
Power supply
L1
L2
L3
L11
L21
Servo amplifier Servo motor
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
SSCNET III/H
SSCNET III/H
Controller or servo amplifier
Servo amplifier
USB
Parameter setting
Functional safety unit
C N
8 C
N 1
A C
N 1
B C
N 5
C N
2
Control
Input signal (Note)
Output signal (Note)
Output device control
Output device control
Input device control
Self-check
Parameter
Self-check
Parameter
Input device control
C N
1 0
A C
N 1
0 B
C N
1 0
A C
N 1
0 B
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
Safety observation function processing part 1
Safety observation function processing part 2
Electro- magnetic brake
(Remove the short-circuit connector.)
Note. Safety switch, safety relay, etc.
1. FUNCTIONS AND CONFIGURATION
1 - 9
(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.
MCCB MC L1
L2
L3
L11
L21
Servo motor
M
U
V
W
U
V
W
24 V DC B1
B2 B
Encoder
RA
Functional safety unit
C N
8
C N
2
Output signal (Note 1)
Output device control
Self-check
Parameter
Self-check
Parameter
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
Safety observation function processing part 1
Safety observation function processing part 2
SSCNET III/H
SSCNET III/H
Servo amplifier or controller
Servo amplifier
or cap
USB
Parameter setting
C N
1A C
N 1B
C N
5
Q17_DSCPU
Programmable controller CPU
(iQ platform compatible)
(Note 2)
Motion controller safety signal unit Q173DSXY
Input signal (Note 1)
Output signal (Note 1)
CPU (iQ platform compatible)
Output device control
CN9 CN90
CN7 CN70
C N
10 B
C N
10 A
Servo amplifier
Power supply
Not used
Control circuit power supply
Gate circuit
Control
Electro- magnetic brake
(Remove the short-circuit connector.)
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. FUNCTIONS AND CONFIGURATION
1 - 10
1.3.3 MR-J4-_A_-RJ
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.
(Remove the short-circuit connector.)
MCCB MC
Power supply
L1
L2
L3
L11
L21
Servo amplifier Servo motor
M
U
V
W
U
V
W
Gate circuitControl circuit power supply
24 V DC B1
B2 B
Electro- magnetic brake
Encoder
RA
CN9 CN90
CN7 CN70
Not used
Controller
USB
Parameter setting
Functional safety unit
C N
8 C
N 5
C N
2
Control
Input signal (Note)
Output signal (Note)
Output device control
Output device control
Input device control
Self-check
Parameter
Self-check
Parameter
Input device control
C N
10 A
C N
10 B
C N
10 A
C N
10 B
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
Safety observation function Processing part 1
Safety observation function Processing part 2
RS-422
DIO control
C N
1 C
N 3
Note. Safety switch, safety relay, etc.
1. FUNCTIONS AND CONFIGURATION
1 - 11
1.3.4 MR-J4-DU_B_-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.
To L+ of converter unit L+
L-
L11
L21
M
U
V
W
U
V
W
24 V DC B1
B2 B
RA
CN9 CN90
CN7 CN70
SSCNET III/H
SSCNET III/H
USB
C N
8 C
N 1A
C N
1B C
N 5
C N
2
C N
10 A
C N
10 B
C N
10 A
C N
10 B
Gate circuit
Safety observation function processing part 1
Servo motorDrive unit
To L- of converter unit
Power supply
Not used (Remove the short-circuit connector.)
Controller or servo amplifier
Servo amplifier
Parameter setting
Control circuit power supply
Encoder
Electro- magnetic brake
Control
Functional safety unit
Input signal (Note)
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
Safety observation function
STO function SS1 function SS2 function SOS function SLS function SSM function SBC function SM function
Safety observation function processing part 2
Input device control
Self-check
Parameter
Output device control
Output device control Output signal
(Note)
Note. Safety switch, safety relay, etc.
1. FUNCTIONS AND CONFIGURATION
1 - 12
(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.
M
U
V
W
U
V
W
24 V DC B1
B2 B
RA
C N
8
C N
2SSCNET III/H
SSCNET III/H
USB
C N
1A C
N 1B
C N
5
Q17_DSCPU
CN9 CN90
CN7 CN70
C N
1 0
B C
N 1
0 A
L+
L-
L11
L21
To L+ of converter unit
Drive unit
To L- of converter unit
Power supply
Servo amplifier or controller
Not used (Remove the short-circuit connector.)
Servo amplifier
or cap
Parameter setting
Control circuit power supply
Gate circuit
Servo motor
Encoder
Electro- magnetic brake
Control
Functional safety unit
Safety observation function processing part 1
Self-check
Parameter
Self-check
Parameter
Safety observation function processing part 2
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
Output device control
Output device control
Output signal (Note 1)
Input signal (Note)
Output signal (Note)
CPU (iQ platform compatible)
Programmable controller CPU
(iQ platform compatible)
(Note 2)
Motion controller safety signal unit Q173DSXY
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. FUNCTIONS AND CONFIGURATION
1 - 13
1.3.5 MR-J4-DU_A_-RJ
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.
M
U
V
W
U
V
W
24 V DC B1
B2 B
RA
CN9 CN90
CN7 CN70
USB
C N
8 C
N 5
C N
2
C N
10 A
C N
10 B
C N
10 A
C N
10 B
RS-422
C N
1 C
N 3
L+
L11
L21
L-
Input signal (Note)
Power supply
Servo motor
To L+ of converter unit
To L- of converter unit
Control circuit power supply
Gate circuit
Encoder
Electro- magnetic brake
Control
Not used (Remove the short-circuit connector.)
Controller
Parameter setting
Safety observation function processing part 1
Functional safety unit
Input device control
Self-check
Parameter
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
Safety observation function
STO function SS1 function SS2 function SOS function SLS function SSM function SBC function SM function
Output device control
Output device control Output signal
(Note)
DIO control
Drive unit
Note. Safety switch, safety relay, etc.
1. FUNCTIONS AND CONFIGURATION
1 - 14
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.
W
V U
CN5
CN3
CN8
CN1A
CN1BCC-Link IE Field Network
CC-Link IE Field Network
CN10A/CN10B
MR-J4-_GF_-RJ MR-D30 MR Configurator2
CN2
Personal computer
Junction terminal block
Light curtain
Emergency stop switch
Safety signal
Safety programmable controller
24 V DC power supply for IO
Not used (Remove the short-circuit connector.)
1. FUNCTIONS AND CONFIGURATION
1 - 15
(2) Safety observation function control by network
POINT
Remove the short-circuit connector on CN8.
W V U
CN5
CN8
CN3
CN2
CN1B
CN1A
R_SFCPU + R6SFM + RD77GF_
MR-J4-_GF_-RJ MR-D30 MR Configurator2
Light curtain
Emergency stop switch
Safety signal
Personal computer
CC-Link IE Field Network
CC-Link IE Field Network
Junction terminal block
Not used (Remove the short-circuit connector.)
1. FUNCTIONS AND CONFIGURATION
1 - 16
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.
CN2
W
V
U
CN5
CN3
CN8
CN1A
CN1B
Servo system controller or previous servo amplifier CN1B
Next servo amplifier CN1A or cap
CN10A/CN10B
MR-J4-_B_-RJ MR-D30
24 V DC power supply for IO
Light curtain
Emergency stop switch
Junction terminal block
Safety signal
Safety programmable controller
Not used (Remove the short-circuit connector.)
MR Configurator2
Personal computer
1. FUNCTIONS AND CONFIGURATION
1 - 17
(2) Safety observation function control by network
POINT
Remove the short-circuit connector on CN8.
Not used (Remove the short-circuit connector.)
W
V U
CN5
CN3
CN8
CN2
Safety signal
CN2B
CN1A
Servo system controller or previous servo amplifier CN1B
Next servo amplifier CN1A or cap
Light curtain
Emergency stop switch
Q17_DSCPU + Q173DSXY
MR-J4-_B_-RJ MR-D30
Junction terminal block
MR Configurator2
Personal computer
1. FUNCTIONS AND CONFIGURATION
1 - 18
1.4.3 MR-J4-_A_-RJ/MR-J4-DU_A-RJ
POINT
Remove the short-circuit connector on CN8.
CN2
W
V U
CN5
CN3
CN8
CN1
CN10A/CN10B
MR-J4-_A_-RJ MR-D30
24 V DC power supply for IO
Light curtain
Emergency stop switch
Safety signal
Safety programmable controller
Junction terminal block
Personal computer, etc.
CN6
Analog monitor
Not used (Remove the short-circuit connector.)
MR Configurator2
Personal computer
1. FUNCTIONS AND CONFIGURATION
1 - 19
1.5 Standard 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 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 100 [years] (313a)
Effectiveness of fault monitoring of a system or subsystem
DC = High, 97.6 [%]
Average probability of dangerous failures per hour
PFH = 6.57 10-9 [1/h]
Mission time TM = 20 [years]
Response performance (Note 2)
Using input device: 15 ms or less Using 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
Status monitor (Note 6)
Category 4, PL e, SIL 3/Category 3 PL d, SIL 2
Compliance with global standards
CE marking EMC: EN 61800-3
MD: EN ISO 13849-1, EN 61800-5-2, EN 62061
Structure (IP rating) Natural cooling, open (mounted on a servo amplifier: IP20, MR-D30 (single): IP00)
Environment
Ambient temperature Operation: 0 C to 55 C (non-freezing), storage: -20 C to 65 C (non-freezing)
Ambient humidity Operation: 5 %RH to 90 %RH (non-condensing),
storage: 5 %RH to 90 %RH (non-condensing)
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
Mass [g] 150
1. FUNCTIONS AND CONFIGURATION
1 - 20
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. FUNCTIONS AND CONFIGURATION
1 - 21
1.6 Function list
Function Description
Safety observation function
STO Shut-off response time 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)
SS1 Deceleration delay time 0 ms to 60000 ms (parameter setting)
SBC Shut-off response time 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)
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 s
Input/output function
Input device
Number of inputs 6 points 2 systems
Mismatch permissible time of duplication input mismatch detection
1 ms to 60000 ms (parameter setting)
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)
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
Parameter setting Failure diagnosis by duplication parameter, writing protection by password
Safety communication function
Safety communication cycle
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)
Safety communication delay time
60 ms or less (Using SSCNET III/H) (Note 1) 65 ms or less (Using CC-Link IE Field Network) (Note 2)
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.
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. FUNCTIONS AND CONFIGURATION
1 - 22
(1) 200 V class
(a) Combinations with MR-J4-_ servo amplifiers
Servo amplifier Rotary servo motor
Linear servo motor (primary side)
Direct drive motor Servo motor
Servo motor with functional safety
MR-J4-10B-RJ MR-J4-10A-RJ MR-J4-10GF-RJ
HG-KR053 HG-KR13 HG-MR053 HG-MR13
HG-KR053W0C HG-KR13W0C
MR-J4-20B-RJ MR-J4-20A-RJ MR-J4-20GF-RJ
HG-KR23 HG-MR23
HG-KR23W0C LM-U2PAB-05M-0SS0 LM-U2PBB-07M-1SS0
TM-RG2M002C30 TM-RU2M002C30 TM-RG2M004E30 TM-RU2M004E30 TM-RFM002C20
MR-J4-40B-RJ MR-J4-40A-RJ MR-J4-40GF-RJ
HG-KR43 HG-MR43
HG-KR43W0C LM-H3P2A-07P-BSS0 LM-H3P3A-12P-CSS0 LM-K2P1A-01M-2SS1 LM-U2PAD-10M-0SS0 LM-U2PAF-15M-0SS0
TM-RG2M004E30 TM-RU2M004E30 TM-RG2M009G30 TM-RU2M009G30 TM-RFM004C20
MR-J4-60B-RJ MR-J4-60A-RJ MR-J4-60GF-RJ
HG-SR51 HG-SR52 HG-JR53
HG-SR51W0C HG-SR52W0C HG-JR53W0C
LM-U2PBD-15M-1SS0 TM-RFM006C20 TM-RFM006E20
MR-J4-70B-RJ MR-J4-70A-RJ MR-J4-70GF-RJ
HG-KR73 HG-MR73 HG-JR73 HG-UR72
HG-KR73W0C HG-JR73W0C
LM-H3P3B-24P-CSS0 LM-H3P3C-36P-CSS0 LM-H3P7A-24P-ASS0 LM-K2P2A-02M-1SS1 LM-U2PBF-22M-1SS0
TM-RFM012E20 TM-RFM012G20 TM-RFM040J10
MR-J4-100B-RJ MR-J4-100A-RJ MR-J4-100GF-RJ
HG-SR81 HG-SR102 HG-JR53 (Note) HG-JR103
HG-SR81W0C HG-SR102W0C HG-JR53W0C (Note) HG-JR103W0C
TM-RFM018E20
MR-J4-200B-RJ MR-J4-200A-RJ MR-J4-200GF-RJ
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-SR121W0C HG-SR201W0C HG-SR152W0C HG-SR202W0C HG-JR73W0C (Note) HG-JR103W0C (Note) HG-JR153W0C HG-JR203W0C
LM-H3P3D-48P-CSS0 LM-H3P7B-48P-ASS0 LM-H3P7C-72P-ASS0 LM-FP2B-06M-1SS0 LM-K2P1C-03M-2SS1 LM-U2P2B-40M-2SS0
MR-J4-350B-RJ MR-J4-350A-RJ MR-J4-350GF-RJ
HG-SR301 HG-SR352 HG-JR153 (Note) HG-JR203 (Note) HG-JR353 HG-RR203 HG-UR202
HG-SR301W0C HG-SR352W0C HG-JR153W0C (Note) HG-JR203W0C (Note) HG-JR353W0C
LM-H3P7D-96P-ASS0 LM-K2P2C-07M-1SS1 LM-K2P3C-14M-1SS1 LM-U2P2C-60M-2SS0
TM-RFM048G20 TM-RFM072G20 TM-RFM120J10
MR-J4-500B-RJ MR-J4-500A-RJ MR-J4-500GF-RJ
HG-SR421 HG-SR502 HG-JR353 (Note) HG-JR503 HG-RR353 HG-RR503 HG-UR352 HG-UR502
HG-SR421W0C HG-SR502W0C HG-JR353W0C (Note) HG-JR503W0C
LM-FP2D-12M-1SS0 LM-FP4B-12M-1SS0 LM-K2P2E-12M-1SS1 LM-K2P3E-24M-1SS1 LM-U2P2D-80M-2SS0
TM-RFM240J10
1. FUNCTIONS AND CONFIGURATION
1 - 23
Servo amplifier Rotary servo motor
Linear servo motor (primary side)
Direct drive motor Servo motor
Servo motor with functional safety
MR-J4-700B-RJ MR-J4-700A-RJ MR-J4-700GF-RJ
HG-SR702 HG-JR703 HG-JR503 (Note) HG-JR601 HG-JR701M
HG-SR702W0C HG-JR703W0C HG-JR503W0C (Note) HG-JR701MW0C
LM-FP2F-18M-1SS0 LM-FP4D-24M-1SS0
MR-J4-11KB-RJ MR-J4-11KA-RJ MR-J4-11KGF-RJ
HG-JR903 HG-JR801 HG-JR12K1 HG-JR11K1M
HG-JR903W0C HG-JR11K1MW0C
LM-FP4F-36M-1SS0
MR-J4-15KB-RJ MR-J4-15KA-RJ MR-J4-15KGF-RJ
HG-JR15K1 HG-JR15K1M
HG-JR15K1MW0C LM-FP4F-48M-1SS0
MR-J4-22KB-RJ MR-J4-22KA-RJ MR-J4-22KGF-RJ
HG-JR20K1 HG-JR25K1 HG-JR22K1M
HG-JR22K1MW0C
Note. The maximum torque can be increased to 400% of the rated torque.
(b) Combinations with MR-J4-DU_ drive units
Drive unit Rotary servo motor
Linear servo motor (primary side) Servo motor
Servo motor with functional safety
MR-J4-DU900B-RJ HG-SR702 (Note 2) HG-JR601 HG-JR801 HG-JR701M (Note 2) HG-JR503 (Note 1) HG-JR703 (Note 2) HG-JR903
HG-SR702W0C (Note 2) HG-JR701MW0C (Note 2) HG-JR503W0C (Note 1) HG-JR703W0C (Note 2) HG-JR903W0C
LM-FP2F-18M-1SS0 LM-FP4D-24M-1SS0
MR-J4-DU11KB-RJ HG-JR12K1 HG-JR11K1M
HG-JR11K1MW0C LM-FP4F-36M-1SS0
MR-J4-DU15KB-RJ HG-JR15K1 HG-JR15K1M
HG-JR15K1MW0C LM-FP4H-48M-1SS0
MR-J4-DU22KB-RJ HG-JR20K1 HG-JR25K1 HG-JR22K1M
HG-JR22K1MW0C
MR-J4-DU30KB-RJ MR-J4-DU30KA-RJ
HG-JR30K1 HG-JR30K1M
MR-J4-DU37KB-RJ MR-J4-DU37KA-RJ
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.
1. FUNCTIONS AND CONFIGURATION
1 - 24
(2) 400 V class
(a) Combinations with MR-J4-_ servo amplifiers
Servo amplifier Rotary servo motor
Linear servo motor (primary side) Servo motor
Servo motor with functional safety
MR-J4-60B4-RJ MR-J4-60A4-RJ MR-J4-60GF4-RJ
HG-SR524 HG-JR534
HG-SR524W0C HG-JR534W0C
MR-J4-100B4-RJ MR-J4-100A4-RJ MR-J4-100GF4-RJ
HG-SR1024 HG-JR534 (Note) HG-JR734 HG-JR1034
HG-SR1024W0C HG-JR534W0C (Note) HG-JR734W0C HG-JR1034W0C
MR-J4-200B4-RJ MR-J4-200A4-RJ MR-J4-200GF4-RJ
HG-SR1524 HG-SR2024 HG-JR734 (Note) HG-JR1034 (Note) HG-JR1534 HG-JR2034
HG-SR1524W0C HG-SR2024W0C HG-JR734W0C (Note) HG-JR1034W0C (Note) HG-JR1534W0C HG-JR2034W0C
MR-J4-350B4-RJ MR-J4-350A4-RJ MR-J4-350GF4-RJ
HG-SR3524 HG-JR1534 (Note) HG-JR2034 (Note) HG-JR3534
HG-SR3524W0C HG-JR1534W0C (Note) HG-JR2034W0C (Note) HG-JR3534W0C
MR-J4-500B4-RJ MR-J4-500A4-RJ MR-J4-500GF4-RJ
HG-SR5024 HG-JR3534 (Note) HG-JR5034
HG-SR5024W0C HG-JR3534W0C (Note) HG-JR5034W0C
MR-J4-700B4-RJ MR-J4-700A4-RJ MR-J4-700GF4-RJ
HG-SR7024 HG-JR5034 (Note) HG-JR6014 HG-JR701M4 HG-JR7034
HG-SR7024W0C HG-JR5034W0C (Note) HG-JR7034W0C HG-JR701M4W0C
MR-J4-11KB4-RJ MR-J4-11KA4-RJ MR-J4-11KGF4-RJ
HG-JR8014 HG-JR12K14 HG-JR11K1M4 HG-JR9034
HG-JR11K1M4W0C HG-JR9034W0C
MR-J4-15KB4-RJ MR-J4-15KA4-RJ MR-J4-15KGF4-RJ
HG-JR15K14 HG-JR15K1M4
HG-JR15K1M4W0C
MR-J4-22KB4-RJ MR-J4-22KA4-RJ MR-J4-22KGF4-RJ
HG-JR20K14 HG-JR25K14 HG-JR22K1M4
HG-JR22K1M4W0C LM-FP5H-60M-1SS0
Note. The maximum torque can be increased to 400% of the rated torque.
1. FUNCTIONS AND CONFIGURATION
1 - 25
(b) Combinations with MR-J4-DU_ drive units
Drive unit Rotary servo motor
Linear servo motor (primary side) Servo motor
Servo motor with functional safety
MR-J4-DU900B4-RJ HG-SR7024 (Note 2) HG-JR6014 HG-JR8014 HG-JR701M4 (Note 2) HG-JR5034 (Note 1) HG-JR7034 (Note 2) HG-JR9034
HG-SR7024W0C (Note 2) HG-JR701M4W0C (Note 2) HG-JR5034W0C (Note 1) HG-JR7034W0C (Note 2) HG-JR9034W0C
MR-J4-DU11KB4-RJ HG-JR12K14 HG-JR11K1M4
HG-JR11K1M4W0C
MR-J4-DU15KB4-RJ HG-JR15K14 HG-JR15K1M4
HG-JR15K1M4W0C
MR-J4-DU22KB4-RJ HG-JR20K14 HG-JR22K1M4 HG-JR25K14
HG-JR22K1M4W0C LM-FP5H-60M-1SS0
MR-J4-DU30KB4-RJ MR-J4-DU30KA4-RJ
HG-JR30K14 HG-JR30K1M4
MR-J4-DU37KB4-RJ MR-J4-DU37KA4-RJ
HG-JR37K14 HG-JR37K1M4
MR-J4-DU45KB4-RJ MR-J4-DU45KA4-RJ
HG-JR45K1M4
MR-J4-DU55KB4-RJ MR-J4-DU55KA4-RJ
HG-JR55K1M4
Two units of MR-J4- DU55KB4-RJ100
HG-JR110K24W0C
Four units of MR-J4- DU45KB4-RJ100
HG-JR150K24W0C HG-JR180K24W0C
Four units of MR-J4- DU55KB4-RJ100
HG-JR200K24W0C HG-JR220K24W0C
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.
(3) 100 V class
Servo amplifier Rotary servo motor
Linear servo motor (primary side)
Direct drive motor Servo motor
Servo motor with functional safety
MR-J4-10B1-RJ MR-J4-10A1-RJ MR-J4-10GF1-RJ
HG-KR053 HG-KR13 HG-MR053 HG-MR13
HG-KR053W0C HG-KR13W0C
MR-J4-20B1-RJ MR-J4-20A1-RJ MR-J4-20GF1-RJ
HG-KR23 HG-MR23
HG-KR23W0C LM-U2PAB-05M-0SS0 LM-U2PBB-07M-1SS0
TM-RG2M002C30 TM-RU2M002C30 TM-RG2M004E30 TM-RU2M004E30 TM-RFM002C20
MR-J4-40B1-RJ MR-J4-40A1-RJ MR-J4-40GF1-RJ
HG-KR43 HG-MR43
HG-KR43W0C LM-H3P2A-07P-BSS0 LM-H3P3A-12P-CSS0 LM-K2P1A-01M-2SS1 LM-U2PAD-10M-0SS0 LM-U2PAF-15M-0SS0
TM-RG2M004E30 TM-RU2M004E30 TM-RG2M009G30 TM-RU2M009G30 TM-RFM004C20
1. FUNCTIONS AND CONFIGURATION
1 - 26
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 13849-
1 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. FUNCTIONS AND CONFIGURATION
1 - 27
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
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 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.
(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.
1. FUNCTIONS AND CONFIGURATION
1 - 28
MEMO
2. INSTALLATION
2 - 1
2. INSTALLATION
WARNING
To prevent electric shock, ground each equipment securely.
CAUTION
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. INSTALLATION
2 - 2
2.1 Installation direction and clearances
CAUTION
The equipment must be installed in the specified direction. Otherwise, it may
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 "MR-
CV_/MR-CR55K_/MR-J4DU_(-RJ) Instruction Manual".
(1) Installation clearances of the servo amplifier
(a) Installation of one servo amplifier
40 mm or more
10 mm or more
10 mm or more (Note 2)
40 mm or more (Note 1)
Servo amplifier
Cabinet Cabinet
80 mm or more
Wiring allowance
Top
Bottom
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.
2. INSTALLATION
2 - 3
(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.
100 mm or more
10 mm or more (Note 2)
30 mm or more
30 mm or more
40 mm or more (Note 1)
Cabinet
Top
Bottom
100 mm or more
1 mm
30 mm or more
40 mm or more
Cabinet
1 mm
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.
(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. INSTALLATION
2 - 4
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
Do not disassemble and/or repair the equipment on customer side.
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
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. INSTALLATION
2 - 5
2.6 Attachment and detachment of MR-D30
WARNING
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
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.
CAUTION
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-J4-
350_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. INSTALLATION
2 - 6
(1) MR-J4-200_(4)-RJ or less/MR-J4-350_-RJ
(a) Attachment of MR-D30
2)
1)
2)
Guide pin
Guide hole
MR-D30
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.
Clip
4)
3)
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).
(b) Detachment of MR-D30
1)
c)
d)
a)
b)
2)
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)
3) When the MR-D30 is detached, be sure to cover the CN7 and CN9 connectors to protect from dust and dirt.
2. INSTALLATION
2 - 7
(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
b)
a)
1)
1) While pushing the clips ( a) , b)), and pull out the side cover to the arrow direction.
(b) Attachment of MR-D30
1)
1)
Guide pin
Guide hole
1) Insert the guide pins of the MR-D30 in the guide holes located on the side of the servo amplifier.
3)2)
Clip
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).
(c) Detachment of MR-D30
b)
1)2)
a)
d)
c)
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. INSTALLATION
2 - 8
(d) Attachment of the side cover
Side cover setting clip
a)
1)
1)
1) Insert the side cover setting clips into the recesses a) of the servo amplifier.
2)
Clip
2) Push the side cover at the supporting point a) in procedure 1) until the clips clip into place.
(3) MR-J4-11K_-RJ to MR-J4-22K_-RJ, and drive units of 30 kW or more
CAUTION Avoid touching burr remained after the part a) being cut off from the case shown
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.
a)
3. SIGNALS AND WIRING
3 - 1
3. SIGNALS AND WIRING
WARNING
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.
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.
CAUTION
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.
DO4NB
DO4PB
24 V DC MR-D30
RA
For sink output interface
DO24VA/ DO24VB/ DO4PA
Control output signal
24 V DC MR-D30
RA
For source output interface
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.
U
Servo motor
MV
W
U
V
W
U
MV
W
U
V
W
Servo amplifier Servo motorServo amplifier
3. SIGNALS AND WIRING
3 - 2
CAUTION
Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo
amplifier may cause a malfunction.
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 Pin No.
H/W abbreviation
Pin No.
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
For signals and wiring of servo amplifiers, refer to each servo amplifier instruction manual.
3. SIGNALS AND WIRING
3 - 3
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.
CN8
Remove the short-circuit connector.
CN10A (Note)
No. Symbol Symbol No.
10 DC24VA DC24VA
DO24VA
1
11 DICOMA DICOMA 2
12 PLSA 3
13 DI2A DI1A 4
14 DI4A DI3A 5
15 DI6A DI5A 6
16 7
17 DO2A DO1A 8
18 DO3A 9
CN10B (Note)
No. Symbol Symbol No.
10 DC24VB DC24VB
DO24VB
1
11 DICOMB DICOMB 2
12 PLSB 3
13 DI2B DI1B 4
14 DI4B DI3B 5
15 DI6B DI5B 6
16 7
17 DO2B DO1B 8
18 DO3B 9
DO4PB
DO4NB
DO4PA
DO4NA
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. SIGNALS AND WIRING
3 - 4
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
Servo amplifier
MR-D30
13DI2A
2
4
11
DICOMA
DI1A
DICOMA
10 m or less
10 m or less
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 less
10 m or less
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)
For source input interface For 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. For details of each device, refer to section 4.4.1
and 4.4.2.
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. SIGNALS AND WIRING
3 - 5
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.
Servo amplifier
8 DO1A
17 DO2A
9 DO3A
CN10A
MR-D30
7 DO24VA
24 V DC (Note 3)
10 m or less
10 m or less
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. 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. SIGNALS AND WIRING
3 - 6
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 _ _.
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) Switch connection (not when executing a test pulse diagnosis)
Wire without using PLSA and PLSB.
Approx. 5.6 k
MR-D30
Approx. 5.6 k
DICOMA
DI1A, etc.
CN10A
DICOMB
DI1B, etc.
24 V DC 10% 0.8 A
24 V DC 10% 0.8 A
Switch (Test pulse diagnosis disabled)
CN10B
3. SIGNALS AND WIRING
3 - 7
(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.
Approx. 5.6 k
MR-D30
Approx. 5.6 k
DC24VA
PLSA
DICOMA
DI1A, etc.
CN10A
DC24VB
PLSB
DICOMB
DI1B, etc.
CN10B
24 V DC 10% 0.8 A
24 V DC 10% 0.8 A
Switch (Test pulse diagnosis enabled)
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 _ _.
Approx. 5.6 k
MR-D30
Approx. 5.6 k
DICOMA
DI1A, etc.
CN10A
CN210B
DICOMB
DI1B, etc.
24V IN
0V IN
Control output 1
Control output 2
External device
24 V DC 5 mA
24 V DC 5 mA 24 V DC
3. SIGNALS AND WIRING
3 - 8
(2) Switch connection (not when executing a test pulse diagnosis)
Wire without using PLSA and PLSB.
Approx. 5.6 k
MR-D30
Approx. 5.6 k
DICOMA
DI1A, etc.
CN10A
CN10B
DICOMB
DI1B, etc.
24 V DC 10% 0.8 A
24 V DC 10% 0.8 A
Switch (Test pulse diagnosis disabled)
(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.
Approx. 5.6 k
MR-D30
Approx. 5.6 k
DC24VA
PLSA
DICOMA
DI1A, etc.
CN10A
DC24VB
PLSB
DICOMB
DI1B, etc.
CN10B24 V DC 10% 0.8 A
24 V DC 10% 0.8 A
Switch (Test pulse diagnosis enabled)
3. SIGNALS AND WIRING
3 - 9
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
DO24VB
DO1B to DO3B
CN10B 24 V DC 10% 0.8 A
24 V DC 10% 0.8 A
DO24VA
DO1A to DO3A
Load
(Note)
(Note)
Load
Safety relay
If polarity of diode is reversed, MR-D30 will malfunction.
If polarity of diode is reversed, MR-D30 will malfunction.
Note. If polarity of power is reversed, the safety relay may 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
DO4PB
DO4NB
CN10B
24 V DC 10% 0.8 A
24 V DC 10% 0.8 A
DO4PA
DO4NA
Load
Load
Safety relay
If polarity of diode is reversed, MR-D30 will malfunction.
If polarity of diode is reversed, MR-D30 will malfunction.
(Note)
(Note)
Note. If polarity of power is reversed, the safety relay may malfunction.
3. SIGNALS AND WIRING
3 - 10
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 amplifier
DO24VB
SBCS
CN10B
24 V DC
B2
B1
Servo motor
24 V DC (Note 2)
ALM (Malfunction)RA2
U B (Note 1)
RA1
DO24VA
SBCS
CN10A
MR-D30
RA1
RA2
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.
3. SIGNALS AND WIRING
3 - 11
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.
Shielded part
Screw
Clamp fitting
Shielded cable
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.
Inside the cabinet
30 cm or less
MR-D30
AD75CK
3. SIGNALS AND WIRING
3 - 12
(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.
120 mm or less
Ferrite core
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 [] (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. SIGNALS AND WIRING
3 - 13
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 Connector and pin
No. Function
Status of input pin when the function is 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. Refer to section 4.5.1 for details of the STO function.
Open
SS1 command
SS1C The SS1 function operates by the SS1 command. Refer to section 4.5.2 for details of the SS1 function.
Open
SS2 command
SS2C The SS2/SOS functions operate by the SS2 command. Refer to section 4.5.3 for details of the SS1 function.
Open
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. Refer to section 4.5.4 for details of the SLS function.
Open
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. Refer to section 4.5.4 for details of the SLS function.
Open
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. Refer to section 4.5.4 for details of the SLS function.
Open
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. Refer to section 4.5.4 for details of the SLS function.
Open
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.
3. SIGNALS AND WIRING
3 - 14
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 Connector and pin
No. Function
Status of output pin
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. Refer to section 4.5.5 for details.
Closed
SBC output SBCS Outputs a control signal of the electromagnetic brake. Refer to section 4.5.6 for details.
Open
STO output STOS This is a monitor output signal meaning that the STO function is operating. Refer to section 4.5.1 for details.
Open
SOS output SOSS This is a monitor output signal meaning that the servo motor in stop state is being monitored with the SS2/SOS functions. Refer to section 4.5.3 for details.
Open
SS1 output SS1S This is a monitor output signal meaning that the SS1 function is operating. Refer to section 4.5.2 for details.
Open
SS2 output SS2S This is a monitor output signal meaning that the SS2/SOS function is operating. Refer to section 4.5.3 for details.
Open
SLS1 output SLS1S This is a monitor output signal meaning that the SLS function 1 is operating. Refer to section 4.5.4 for details.
Open
SLS2 output SLS2S This is a monitor output signal meaning that the SLS function 2 is operating. Refer to section 4.5.4 for details.
Open
SLS3 output SLS3S This is a monitor output signal meaning that the SLS function 3 is operating. Refer to section 4.5.4 for details.
Open
SLS4 output SLS4S This is a monitor output signal meaning that the SLS function 4 is operating. Refer to section 4.5.4 for details.
Open
3. SIGNALS AND WIRING
3 - 15
3.6.3 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 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.
Test pulse power supply input A
DC24VA CN10A-1 CN10A-10
Input a power supply to output test pulses for external wiring diagnosis. Connect + 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 the 24 V DC external power supply.
Digital output I/F DO4A power supply
DO4PA CN10A-16 This is a power supply terminal of DO4A output signal. Connect + of 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 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.
Test pulse power supply input B
DC24VB CN10B-1 CN10B-10
Input a power supply to output test pulses for external wiring diagnosis. Connect + 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 the 24 V DC external power supply.
Digital output I/F DO4B power supply
DO4NB CN10B-18 This is a power supply terminal of DO4B output signal. Connect - of the 24 V DC external power supply.
3. SIGNALS AND WIRING
3 - 16
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
Release button Wire insertion hole Flat-blade
screwdriver Wire Remove the screwdriver
to connect.
Lower row
(3) Removing wire
Pull out the wire while pressing the release button with the flat-blade screwdriver.
3. SIGNALS AND WIRING
3 - 17
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.
A1 (24V)
A2 (0V)
24 V
0 V
FLEXB US+
FLEXB US+
24 V 0 V
X1
X2
A1 (24V)
Q1
Q2
Q3
A2 (0V)
W S
0- C
P U
0
W S
0- X
T IO
CN10A
CN10B S1
CN10A
CN10B
DO24VA
DO24VB
DO_A
DO_B
DICOMA
DI_A
DICOMB
DI_B
CN1A
CC-Link IE Field Network
Controller
MR-D30 MR-J4-_GF_-RJ
KM1
QX_
COM
I1
I2
I3
I4
Servo motor
Deceleration command
KM1: Magnetic contactor S1: Safety switch
A pp
lic at
io n
A pp
lic at
io n
C on
tr ol
c irc
ui t
S af
et y
ob se
rv at
io n
fu nc
tio n
Safety controller MELSEC-WS series CPU module WSO-CPU0 Safety I/O combined module WS0-XTIO
3. SIGNALS AND WIRING
3 - 18
(2) Safety observation function control by network
The following connection diagram shows an operation of the safety observation function through CC-
Link IE Field Network. The electric wiring can be omitted.
CN10A
CN10B
CN10A
CN10B
DO24VA
DO24VB
DOXA
DOXB
DICOMA
DI_A
DICOMB
DI_B
CN1A CN1B
MR-D30 MR-J4-_GF_-RJ
KM1
P1/P2 P1/P2
R_SFPU
R6SFM
RD77GF_
NZ2GFSS2-32D
CC-Link IE Field Network Servo motor
KM1: Magnetic contactor S1: Safety switch
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3. SIGNALS AND WIRING
3 - 19
3.8.2 MR-J4-_B_-RJ/MR-J4-DU_B_-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.
A1 (24V)
A2 (0V)
24 V
0 V
FLEXB US+
FLEXB US+
24 V 0 V
X1
X2
A1 (24V)
Q1
Q2
Q3
A2 (0V)
W S
0- C
P U
0
W S
0- X
T IO
CN10A
CN10B S1
CN10A
CN10B
DO24VA
DO24VB
DO_A
DO_B
DICOMA
DI_A
DICOMB
DI_B
CN1A
CN1/2
MR-D30 MR-J4-_B_-RJ/ MR-J4-DU_B_-RJ
KM1
X00
COM
I1
I2
I3
I4
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Servo motor
Servo system controller
IO unit QX_
Deceleration command
KM1: Magnetic contactor S1: Safety switch
Safety controller MELSEC-WS series CPU module WSO-CPU0 Safety I/O combined module WS0-XTIO
SSCNET III/H
3. SIGNALS AND WIRING
3 - 20
(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.
CN10A
CN10B
CN10A
CN10B
DO24VA
DO24VB
DOXA
DOXB
DICOMA
DI_A
DICOMB
DI_B
CN1A
MR-D30 MR-J4-_B_-RJ
KM1
CN1/2
SSCNET III/H
MC-X01 PLC-X01
COM
Q173DSXY
S1
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Servo motor
Drive safety integrated motion controller Motion controller Q17_DSCPU Safety signal module Q173DSXY
Q173DSCPU or
Q172DSCPU
KM1: Magnetic contactor S1: Safety switch
3. SIGNALS AND WIRING
3 - 21
3.8.3 MR-J4-_A_-RJ/MR-J4-DU_A_-RJ
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.
A1 (24V)
A2 (0V)
24 V
0 V
FLEXB US+
FLEXB US+
24 V 0 V
X1
X2
A1 (24V)
Q1
Q2
Q3
A2 (0V)
W S
0- C
P U
0
W S
0- X
T IO
CN10A
CN10B S1
CN10A
CN10B
DO24VA
DO24VB
DO_A
DO_B
DICOMA
DI_A
DICOMB
DI_B
CN1A
CN1/2
MR-D30 MR-J4-_A_-RJ/ MR-J4-DU_A_-RJ
KM1
QX_
COM
I1
I2
I3
I4
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A pp
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Safety controller MELSEC-WS series CPU module WSO-CPU0 Safety I/O combined module WS0-XTIO
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General-purpose interface
Deceleration command
Servo motor
DIO control
KM1: Magnetic contactor S1: Safety switch
3. SIGNALS AND WIRING
3 - 22
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.
4. SAFETY OBSERVATION FUNCTION
4 - 1
4. SAFETY OBSERVATION FUNCTION
POINT
The following indicate hardware abbreviations (H/W abbreviation) of the
connector pin No., not functions.
H/W
abbreviation Pin No.
H/W abbreviation
Pin No.
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
4. SAFETY OBSERVATION FUNCTION
4 - 2
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)
Safety observation function Connected device Parameter setting
STO function SS1 function
SLS function SS2/SOS function Servo motor with functional
safety
Position/speed observation
Pr. PSA02
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)
Safety observation function Connected device Parameter setting
STO function SS1 function
SLS function SS2/SOS function Servo motor with functional
safety
Position/speed observation
Pr. PSA02
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)
(c) Safety observation function control by input device
Safety observation function Connected device Parameter setting
STO function SS1 function
SLS function SS2/SOS function
Device to be connected to the input devices (DI1_ to DI6_) (example)
Servo motor with functional
safety
Position/speed observation
Built-in test pulse
diagnosis
Fixing- diagnosis at
start-up
Pr. PSA02 Pr. PSD24 Pr. PSD25
Pr. PSD27 Pr. PSD28
Category 3, PL d, SIL 2
Emergency stop push button, safety switch, enable switch
Not required _ _ 0 0
(no execution) 0
(no execution) 1
(execution)
Safety programmable controller (Note 1), safety controller (Note 1)
Not required _ _ 0 0
(no execution) 0
(no execution) 1
(execution)
Category 4, PL e, SIL 3
Emergency stop push button, safety switch, enable switch
Not required _ _ 0 0
(no execution) 1
(execution) 1
(execution)
Safety programmable controller (Note 2), safety controller (Note 2)
Not required _ _ 0 0
(no execution) 0
(no execution) 0
(no execution)
Category 3, PL d, SIL 2
Category 3, PL d, SIL 2
Emergency stop push button, safety switch, enable switch
Not required _ _ 2 0
(execution) 0
(no execution) 1
(execution)
Safety programmable controller (Note 1), safety controller (Note 1)
Not required _ _ 2 0
(execution) 0
(no execution) 1
(execution)
Category 4, PL e, SIL 3
Emergency stop push button, safety switch, enable switch
Not required _ _ 2 0
(execution) 1
(execution) 1
(execution)
Safety programmable controller (Note 2), safety controller (Note 2)
Not required _ _ 2 0
(execution) 0
(no execution) 0
(no execution)
Category 3, PL d, SIL 2
Category 3, PL d, SIL 2
Category 3, PL d, SIL 2
Emergency stop push button, safety switch, enable switch
Required _ _ 1 0
(execution) 0
(no execution) 1
(execution)
Safety programmable controller (Note 1), safety controller (Note 1)
Required _ _ 1 0
(execution) 0
(no execution) 1
(execution)
Category 4, PL e, SIL 3
Category 4, PL e, SIL 3
Category 4, PL e, SIL 3
Emergency stop push button, safety switch, enable switch
Required _ _ 1 0
(execution) 1
(execution) 1
(execution)
Safety programmable controller (Note 2), safety controller (Note 2)
Required _ _ 1 0
(execution) 0
(no execution) 0
(no execution) 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.
4. SAFETY OBSERVATION FUNCTION
4 - 3
(2) Output function
Safety observation function Connected device Parameter setting
SSM function Status monitor function (STO/SS1/SBC) Device to be connected to the output devices (DO1_ to DO4_) (example)
Servo motor with functional
safety
Position/speed observation
Built-in test pulse
diagnosis
SSMS STOS/SS1S/
SBCS SLS1S/SLS2S/ SLS3S/SLS4S
SOSS/SS2S Pr. PSA02 Pr. PSD29
Category 3, PL d, SIL 2
Magnetic contactor, safety relay Not required _ _ 0 0
(no execution)
0 (no execution)
(Note 3)
Drive safety integrated motion controller, magnetic contactor, safety relay
Not required _ _ 0 1
(no execution)
0 (no execution)
(Note 3)
Category 4, PL e, SIL 3
Safety programmable controller (Note 1), safety controller (Note 1)
Not required _ _ 0 0
(no execution) 1
(execution)
Safety programmable controller (Note 2), safety controller (Note 2)
Not required _ _ 0 0
(no execution)
0 (no execution)
(Note 3)
Category 3, PL d, SIL 2
Category 3, PL d, SIL 2
Category 3, PL d, SIL 2
Magnetic contactor, safety relay Not required _ _ 2 0
(execution)
0 (no execution)
(Note 3)
Drive safety integrated motion controller, magnetic contactor, safety relay
Not required _ _ 2 1
(execution)
0 (no execution)
(Note 3)
Category 4, PL e, SIL 3
Safety programmable controller (Note 1), safety controller (Note 1)
Not required _ _ 2 0
(execution) 1
(execution)
Safety programmable controller (Note 2), safety controller (Note 2)
Not required _ _ 2 0
(execution)
0 (no execution)
(Note 3)
Category 3, PL d, SIL 2
Category 3, PL d, SIL 2
Category 3, PL d, SIL 2
Category 3, PL d, SIL 2
Magnetic contactor, safety relay Required _ _ 1 0
(execution)
0 (no execution)
(Note 3)
Category 4, PL e, SIL 3
Category 4, PL e, SIL 3
Category 4, PL e, SIL 3
Category 4, PL e, SIL 3
Safety programmable controller (Note 1), safety controller (Note 1)
Required _ _ 1 0
(execution) 1
(execution)
Safety programmable controller (Note 2), safety controller (Note 2)
Required _ _ 1 0
(execution) 0
(no execution) 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
Diagnosis item Description
I/O device Duplication input mismatch detection
This function diagnoses that the duplicated input device states are matched.
Input device test pulse diagnosis
This function diagnoses that the input circuit and the externally connected machine are not fixed to on.
Output device test pulse diagnosis
This function diagnoses that the output circuit and the externally connected machine are not fixed to on.
Safety device fixing diagnosis at start-up
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. SAFETY OBSERVATION FUNCTION
4 - 4
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
(Safety Observation)
The password is set for MR-D30 to prevent changing the parameters. The initial
password is "000000".
4. SAFETY OBSERVATION FUNCTION
4 - 5
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
Parameter check
Safety observation function activation setting
Test operation of the servo motor alone by commands
Test operation of the servo motor alone in test operation mode
Cancellation of STO by inputting STO command
Test operation with the servo motor and machine connected
Gain adjustment
Parameter setting (actual operation)
Password setting
Parameter inspection
Operation check of safety observation function
Actual operation
Stop
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Description Reference
Check whether the servo amplifier and servo motor are wired correctly using visual inspection, DO forced output function, etc.
[GF]: Section 4.5 [B]: Section 4.5.1 [A]: Section 4.5.8
Check whether MR-D30 is wired correctly using visual inspection, DO forced output function, etc.
Section 4.3.4 (2)
Check the surrounding environment of the servo amplifier and servo motor.
[GF]: Section 4.1 [B]: Section 4.1.3 [A]: Section 4.1.3
Set the parameters of the servo amplifier as necessary, such as operation mode and regenerative option selection.
[GF]: Chapter 5 [B]: Chapter 5 [A]: Chapter 5
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".
Section 4.3.3
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.
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
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.
Section 4.4.1 Section 4.4.3 (2), (3), (4) [Motion]: Section
2.9.1
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 [B]: Chapter 6 [A]: Chapter 6
Set the parameters of MR-D30.
Chapter 5
Lock the safety observation function parameter 1 ([Pr. PSA_ _ ]) by password to prevent easily changing the settings.
Section 4.3.2 (2)
Read the each parameter to verify that the parameter is set correctly.
Check if the safety observation function operates correctly.
Stop giving commands and stop operation.
4. SAFETY OBSERVATION FUNCTION
4 - 6
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.
(c) After changing the settings, follow the procedure to check if the parameters are correct.
(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. SAFETY OBSERVATION FUNCTION
4 - 7
(1) Parameter setting procedure
Set the parameter by the procedure as follows.
Connection to MR Configurator2
Parameter setting
Parameter inspection
Cycling of power
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.
(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
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.
(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.
4. SAFETY OBSERVATION FUNCTION
4 - 8
4.3.3 Mandatory parameter setting
(1) Safety observation function control by input device
Parameter Name
PSA01 Safety observation function activation setting
PSA02 Functional safety unit setting
PSA03 SS1/SS2 monitoring deceleration time
(2) Safety observation function control by network
(a) MR-J4-_GF_-RJ
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
(b) MR-J4-_B_-RJ
Parameter Name
PSA01 Safety observation function activation setting
PSA02 Functional safety unit setting
PSA03 SS1/SS2 monitoring deceleration time
PSC01 Safety communication - Communication cycle
(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.
(c) [Pr. PSA03 SS1/SS2 monitoring deceleration time]
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.
4. SAFETY OBSERVATION FUNCTION
4 - 9
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
instruction manual.
(b) I/O will not be diagnosed.
(c) Operate with great care because the safety observation function is disabled.
(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.
(2) DO forced output
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).
4.3.5 Unit replacement
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. SAFETY OBSERVATION FUNCTION
4 - 10
(c) Fixing-diagnosis at start-up
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.
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.
(2) Input device selection
(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 Parameter
Pin No. H/W
abbreviation Pin No.
H/W abbreviation
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]
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) Section 4.5.4
SLS3C (SLS3 command)
SLS4C (SLS4 command)
(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.
4. SAFETY OBSERVATION FUNCTION
4 - 11
(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.
Normal operation SLS in progress SS1 in progressSLS in progressOperation status
ON
OFF
ON (disabled)
OFF (enabled)
SLS1C (SLS1 command)
ON
OFF
Servo amplifier display
DI1A
DI1B
No display
An error will not occur when the mismatch time is within the permissible time.
Input device Mismatch permissible time
79.7
(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.
4. SAFETY OBSERVATION FUNCTION
4 - 12
(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].
DI3A
DI3B
DI4B
DI4A
DI5B
DI5A
DI6B
DI6A
STOS (STO output)
Servo-on (Controller or DI)
Base circuit
WNG (Warning)
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON (Occurring) OFF (Not occurring) ON
OFF (Shut-off)
DI2A
DI2B
Servo amplifier display
ON
OFF DI1A
Power supply
ON
OFF Main circuit Control circuit
DI1B
95.3Initialization No alarm
95 ms
Start of Servo-on acceptance 4 s or more
50 ms or more
50 ms or more
(Enabled)
(Enabled)
(Enabled)
(Unused)
(Diagnosis disabled)
(Diagnosis disabled)
4. SAFETY OBSERVATION FUNCTION
4 - 13
(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 power-
on. Then, the warning will be reset when all input devices turn on, and the STO state will be
canceled.
DI3A
DI3B
DI4B
DI4A
DI5B
DI5A
DI6B
DI6A
STOS (STO output)
Servo-on (Controller or DI)
Base circuit
Servo amplifier display
WNG (Warning)
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON (Occurring) OFF (Not occurring) ON
OFF (Shut-off)
DI2A
DI2B
ON
OFFDI1A
Power supply
ON
OFF Main circuit Control circuit
DI1B
95 ms
95.3
Start of servo-on acceptance
3 s to 4 s
(Diagnosis disabled)
(Diagnosis disabled)
(Diagnosis disabled)
(Unused)
(Diagnosis disabled)
(Diagnosis disabled)
4. SAFETY OBSERVATION FUNCTION
4 - 14
(c) Parameter setting
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.
DI1B
ON
OFF
Closed
Opened
ON
OFF
ON
OFF
Switch
ON
OFF
DI1A
PLSA
PLSB
Input device - Test pulse off time
Input device - Test pulse off time
[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 MR-
D30 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. SAFETY OBSERVATION FUNCTION
4 - 15
(c) Cautions for executing test pulse diagnosis by multiple devices.
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.
MR-D30
DC24VA
PLSA
DICOMA
DI1A
CN10A
DC24VB
PLSB
DICOMB
DI1B
CN10BSwitch
DI2B
DI2A
24 V DC
24 V DC
Shorted
Switch
(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].
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
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.
4. SAFETY OBSERVATION FUNCTION
4 - 16
(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
rejection filtering time.
Structure Noise rejection filtering time
Using a switch Executing a test pulse diagnosis
Set 0.888 ms or longer time than set time in [Pr. PSD26 Input device - Test pulse off time].
Not executing a test pulse diagnosis Set 0.888 ms or longer time.
Using a device
Test pulses are in superposition in the output signal of the device.
Set 0.888 ms or longer time than the test pulse off-time outputted from the device.
Test pulses are not in superposition in the output signal of the device.
Set 0.888 ms or longer time.
(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
4. SAFETY OBSERVATION FUNCTION
4 - 17
(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.
STOS (STO output)
ON
OFF
ON (disabled)
OFF (enabled)
ON
OFF
ON (disabled)
OFF (enabled)
STOC (STO command)
ON
OFF
Base circuit (Energy supply to the servo motor)
DI1A
DI1B
Input device - Noise rejection filtering time
4. SAFETY OBSERVATION FUNCTION
4 - 18
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
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.
(c) Diagnosis with test pulses
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].
(2) Output device 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 Parameter
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]
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
4. SAFETY OBSERVATION FUNCTION
4 - 19
(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.
ON
OFF
ON
OFF DO1B
ON
OFF STOS (STO output)
DO1A
Output device - Test pulse off time
Output device - Test pulse off time
[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.
Parameter Name
PSD29 Output device - Test pulse execution selection
PSD30 Output device - Test pulse off time
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.
4. SAFETY OBSERVATION FUNCTION
4 - 20
(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.
ON
OFF
ON
OFF DO1A
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
Power supply
STOS (STO output)
DO1B
DO2A
DO2B
DO3A
DO3B
Diagnosing
ON
OFF
ON
OFF DO4NA
DO4PB
(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.
4. SAFETY OBSERVATION FUNCTION
4 - 21
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
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.
(2) Setting method of CC-Link IE Field Network for 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. SAFETY OBSERVATION FUNCTION
4 - 22
(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.
Frame name Offsets for safety communication
RWw 16 points
RWr 16 points
RX 0 points
RY 0 points
(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.
4. SAFETY OBSERVATION FUNCTION
4 - 23
(c) Parameter setting of slave station
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
4. SAFETY OBSERVATION FUNCTION
4 - 24
(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).
Motion mode I/O mode
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 Safety communication communication cycle
[Pr. PSC01]
16 ms to 24 ms 16 ms "_ _ 1 6" 24 ms to 48 ms 32 ms "_ _ 1 7"
The following shows another value used for calculating safety response time.
Name Value
Transmission interval monitoring time of MR-D30 Safety communication communication cycle 1.5
4. SAFETY OBSERVATION FUNCTION
4 - 25
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
The following shows the function inputs for each bit of the safety data storing devices. Master station Servo amplifier (SA\n)
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.
3
4
5 Unavailable
6
7
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.
12
13
14
15
16
17
18
19
20
21 Unavailable
22
23
24
25
26
27
28
29
30
31
4. SAFETY OBSERVATION FUNCTION
4 - 26
(b) Function output
The following shows the function outputs for each bit of the safety data storing devices. Servo amplifier Master station (SA\n)
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.
4
5 Unavailable
6
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.
14
15 Unavailable
16
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.
19
20
21
22
23
24
25 Unavailable
26
27
28
29
30
31
4. SAFETY OBSERVATION FUNCTION
4 - 27
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.
ON (no alarm)
OFF (alarm)
ON (disabled)
OFF (enabled)
[Pr. PSA22]
Position change: 0 pulse
STOS (STO output)
ALM (Malfunction)
Stop STO statusRotationPosition (P)
Servo motor position
4. SAFETY OBSERVATION FUNCTION
4 - 28
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.
STOS (STO output)
50 r/min
0 r/min
ON (disabled)
OFF (enabled) STOC (STO command)
Base circuit (Energy supply to the servo motor)
Servo motor speed
ON (alarm)
OFF (no alarm)
ON
OFF
ON
OFF (shut-off)
STO statusOrdinary operation Ordinary operation
WNG (Warning)
ON
OFF
SON (Servo-on) or servo-on command
4. SAFETY OBSERVATION FUNCTION
4 - 29
(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.
50 r/min
0 r/min
Servo motor speed
STO statusOrdinary operation
STOS (STO output)
Base circuit (Energy supply to the servo motor)
ON (alarm)
OFF (no alarm) ON
OFF
ON
OFF (shut-off)
ALM (Malfunction)
(c) STO shut-off during servo motor operation
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.
50 r/min
0 r/min
Servo motor speed
STO statusOrdinary operation
STOC (STO command)
STOS (STO output)
ON (disabled)
OFF (enabled)
Base circuit (Energy supply to the servo motor)
ON (alarm)
OFF (no alarm) ON
OFF
ON
OFF (shut-off)
ALM (Malfunction)
(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. SAFETY OBSERVATION FUNCTION
4 - 30
4.5.2 SS1 function
(1) Summary
This function 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.
Be sure to set parameters because the SS1 function is also used for an emergency stop when an error
is detected in an internal diagnosis.
(2) Summary of sequence
(a) SS1C (SS1 command)
The following shows operation sequence of the SS1 function. The SS1 function will operate when
SS1C (SS1 command) is turned off. The servo motor decelerates with the dynamic brake, electronic
dynamic brake, or forced stop. Simultaneously, the time from activation of the SS1 function is
calculated, and the STO function will operate when the time specified with [PSA03 SS1/SS2
monitoring deceleration time] has passed. Turning SS1C (SS1 command) back to on will return to
normal operation.
SS1S (SS1 output)
ON
OFF (shut-off)
ON (disabled)
0 r/min
OFF (enabled)
ON (alarm)
OFF (no alarm)
ON
OFF (shut-off)
STOS (STO output)
Servo motor speed
SS1C (SS1 command)
WNG (Warning)
STO statusSS1 in progress
SS1/SS2 monitoring deceleration time
4. SAFETY OBSERVATION FUNCTION
4 - 31
(b) Alarm occurrence
The SS1 function operates also during alarm occurrence. After the alarm occurrence, the servo
motor decelerates with the dynamic brake, electronic dynamic brake, or forced stop. Simultaneously,
the time from activation of the SS1 function is calculated, and the STO function will operate when the
time specified with [PSA03 SS1/SS2 monitoring deceleration time] has passed. For alarms which
activate the SS1 function, refer to chapter 7. For returning to normal operation, refer to section
4.5.10.
ON (no alarm)
OFF (alarm)
ON
OFF (shut-off)
ON
OFF (shut-off)
SS1S (SS1 output)
ALM (Malfunction)
STOS (STO output)
STO statusSS1 in progress SS1/SS2 monitoring
deceleration time
0 r/min
Servo motor speed
(3) Stop method
(a) Category of stop method
The stop method of the servo motor is determined depending on the parameter setting or a cause of
activating the SS1 function. The following table shows stop method of the servo motor during SS1
function operation. For the operation sequence of the each stop method, refer to (b) to (d).
Servo amplifier parameter
Servo amplifier capacity
Control mode during SS1 function operation
Stop method (Note 1)
Activated by SS1C (SS1 command)
Activated by alarm occurrence (Note 2)
[Pr. PA04]
Forced stop deceleration function
selection
[Pr. PF06]
Electronic dynamic brake selection
When the stop method of alarm is
SS1/SD
When the stop method of alarm is
SS1/EDB
600 W or less
Torque control mode EDB EDB EDB
Automatic
Other than torque control mode
SD SD EDB
Enabled 700 W or more
Torque control mode DB DB DB
Other than torque control mode
SD SD DB
Disabled
Torque control mode DB DB DB
Other than torque control mode
SD SD DB
Automatic
600 W or less EDB EDB EDB
Disabled 700 W or more DB DB DB
Disabled DB DB DB Note 1. The following shows three stop methods of DB, EDB, and SD.
DB: Stops with dynamic brake. (Coasts for the servo amplifier without dynamic brake.)
EDB: Electronic dynamic brake stop
SD: Forced stop deceleration
2. The stop method varies depending on the stop method of alarm. For the stop method of each alarm, refer to chapter 7.
4. SAFETY OBSERVATION FUNCTION
4 - 32
(b) Stop with forced stop deceleration
For the operation of forced stop deceleration, refer to each servo amplifier instruction manual.
When the SS1 function operates, the servo motor will decelerate according to [Pr. PC24 Forced stop
deceleration time constant]. When the deceleration command is completed and the servo motor
speed is decreased to the setting of [Pr. PC07 Zero speed] or less, the base circuit will be shut off
and the dynamic brake will be activated after the delay time specified with [Pr. PC02 Electromagnetic
brake sequence output] has passed. When SS1/SS2 monitoring deceleration time is shorter than the
actual deceleration time to a stop, the STO function operates during the deceleration.
ON (disabled)
OFF (enabled)
ON
OFF (shut-off)
ON (disabled)
OFF (enabled)
ON
OFF
Base circuit (Energy supply to the servo motor)
STOS (STO output)
SS1C (SS1 command)
MBR (Electromagnetic brake interlock)
STO statusSS1 in progress
Stop with dynamic brake deceleration
to a stop
Model speed command is 0, and the speed is equal to or less than zero speed
SS1/SS2 monitoring deceleration time
Electromagnetic brake sequence output
0 r/min
Servo motor speed
4. SAFETY OBSERVATION FUNCTION
4 - 33
(c) Stop with dynamic brake
When the SS1 function operates, the servo motor will be stopped with the dynamic brake.
For operation of the dynamic brake, also refer to each servo amplifier instruction manual.
ON (disabled)
0 r/min
OFF (enabled)
Servo motor speed
SS1C (SS1 command)
SS1 in progress
SS1/SS2 monitoring deceleration time
ON
OFF
ON
OFF (shut-off)
Base circuit (Energy supply to the servo motor)
STOS (STO output)
STO status
Stop with dynamic brake
(d) Stop with electronic dynamic brake
When the SS1 function operates, the servo motor will be stopped with the electric dynamic brake.
When the time has passed after the SS1 function start reaches the setting of [Pr. PF12 Electronic
dynamic brake operating time], the dynamic brake will be activated. If the setting of [Pr. PSA03
SS1/SS2 monitoring deceleration time] is shorter than that of [Pr. PF12 Electronic dynamic brake
operating time], the dynamic brake will be activated at the moment of reaching the set value of [Pr.
PSA03 SS1/SS2 monitoring deceleration time].
ON (disabled)
0 r/min
OFF (enabled)
Servo motor speed
SS1C (SS1 command)
SS1 in progress
ON
OFF
ON
OFF (shut-off)
Base circuit (Energy supply to the servo motor)
STOS (STO output)
STO status
Stop with dynamic brake
Electronic dynamic brake operating time
Stop with electronic dynamic brake
SS1/SS2 monitoring deceleration time
4. SAFETY OBSERVATION FUNCTION
4 - 34
(4) Parameter setting
To set the parameters, refer to section 4.3.3. Set the parameters referring to section 4.4.1 when using
the SS1 function in the safety observation function control by input device, and section 4.4.3 when using
the SS1 function in the safety observation function control by network. Additionally, when using SS1S
(SS1 output) with output devices, refer to 4.4.2 to set parameters.
The SS1 function is used for an emergency stop when an error is detected in internal diagnosis.
Therefore, be sure to set [Pr. PSA03 SS1/SS2 monitoring deceleration time] to a time required for the
servo motor to stop.
4.5.3 SS2/SOS function
(1) Summary
When SS2C (SS2 command) turns off, the SS2/SOS function executes the stop observation (SOS) after
a delay time set in advance or after standby until the servo motor stop is detected (SS2).
(2) Summary of sequence
The SS2/SOS function will operate when SS2C (SS2 command) is turned off.
The SS2/SOS function executes monitoring deceleration at first. Next, it will wait until the speed
decelerates to a fixed speed or until a specified time passes. During this time, execute deceleration with
the controller. Refer to (3) in this section for details of speed observation and delay time observation
during deceleration.
After the deceleration is completed, the stop observation starts. The stop observation monitors the
speed command, speed feedback, and position feedback. Refer to (4) in this section for details of these
observations. SOSS (SOS output) outputs on during the stop observation.
The SS2/SOS function ends when SS2C (SS2 command) is turned back to on.
ON (disabled)
0 r/min
OFF (enabled)
Servo motor speed
SS2C (SS2 command)
Deceleration
ON (observation in progress) OFF
SOSS (SOS output)
SS2S (SS2 output)
Stop observation (SOS)
SOS allowance value of position deviation
Standstill speed
0 pulse/s
ON (disabled)
OFF (enabled)
Servo motor feedback position
4. SAFETY OBSERVATION FUNCTION
4 - 35
(3) Deceleration observation
(a) Speed observation at deceleration
When both absolute values of the speed command and the speed feedback reach the set value of
[Pr. PSA04 SS2/SOS standstill speed] or lower during deceleration, the deceleration will be
assumed as completion and the stop observation (SOS) will start. The time to start the stop
observation after the speed reaching the standstill speed will be delayed by the set time of [Pr.
PSA15 SLS/SS2/SOS speed detection delay time].
SOSS (SOS output) ON (observation in progress)
OFF
ON (disabled)
0 r/min
OFF (enabled)
Servo motor speed
SS2C (SS2 command)
Stop observation (SOS)Deceleration SS1/SS2 monitoring
deceleration time
Standstill speed
Command Feedback
Speed detection delay time
(b) Delay time observation during deceleration
When the time after starting SS2/SOS function reaches the set time of [Pr. PSA03 SS1/SS2
Deceleration observation time], the deceleration will be assumed as completion and the stop
observation (SOS) will start.
SOSS (SOS output) ON (observation in progress) OFF
ON (disabled)
0 r/min
OFF (enabled)
Servo motor speed
SS2C (SS2 command)
Stop observation (SOS)Deceleration SS1/SS2 monitoring
deceleration time
Standstill speed
Command Feedback
Speed detection delay time
4. SAFETY OBSERVATION FUNCTION
4 - 36
(4) Stop observation
The SOS function observes both command speed and feedback speed.
(a) Speed command observation
This observes that an absolute value of the command speed does not exceed the set value of [Pr.
PSA04 SS2/SOS standstill speed] during the stop observation. When an excess of command speed
continues for the set value of [Pr. PSA15 SLS/SS2/SOS speed detection delay time], the STO
function will start.
ALM (Malfunction) ON (no alarm)
OFF (alarm)
ON (disabled)
0 r/min
OFF (enabled)
Servo motor speed
SS2C (SS2 command)
Stop observation (SOS)Deceleration
Standstill speed
Speed observation error detection time
ON
OFF
ON
OFF (shut-off)
ON (observation in progress) OFF
Base circuit (Energy supply to the servo motor)
STOS (STO output)
SOSS (SOS output)
STO status
Feedback
Command
(b) Speed feedback observation
This observes that an absolute value of the speed feedback does not exceed the set value of [Pr.
PSA04 SS2/SOS standstill speed] during the stop observation. When an excess of speed feedback
continues for the set value of [Pr. PSA15 SLS/SS2/SOS speed detection delay time], the STO
function will start.
ALM (Malfunction) ON (no alarm)
OFF (alarm)
ON (disabled)
0 r/min
OFF (enabled)
Servo motor speed
SS2C (SS2 command)
Stop observation (SOS)Deceleration
Standstill speed
Command
Speed observation error detection time
ON
OFF
ON
OFF (shut-off)
ON (observation in progress) OFF
Base circuit (Energy supply to the servo motor)
STOS (STO output)
SOSS (SOS output)
STO status
Feedback
4. SAFETY OBSERVATION FUNCTION
4 - 37
(c) Position feedback observation during a stop
This observes that an absolute value of the position feedback variation from the start of the stop
observation (SOS) is within the set value of [Pr. PSA05 SOS allowance value of position deviation]
during stop observation. When the travel distance exceeding the set value of [Pr. PSA05 SOS
allowance value of position deviation] is detected, the STO function will start.
ON (disabled)
OFF (enabled)
ON
OFF (shut-off)
ON (no alarm)
OFF (alarm)
ON
OFF
ON (observation in progress) OFF
Base circuit (Energy supply to the servo motor)
STOS (STO output)
SOSS (SOS output)
SS2C (SS2 command)
Feedback pulses
0 pulse
ALM (Malfunction)
STO statusStop observation (SOS)Deceleration
SOS allowance value of position deviation
Feedback
Command
(5) Parameter setting
To set the parameters, refer section 4.3.3. When using the SS2/SOS function in the safety observation
function control by input device, refer to 4.4.1 to set parameters. When using the SS2/SOS function in
the safety observation function control by network, refer to 4.4.3 to set parameters. Additionally, when
using SS2S (SS2 output) and SOSS (SOS output) with output devices, refer to 4.4.2 to set parameters.
To use the SS2/SOS function, a servo motor with functional safety is required. Refer to section 4.4.4 for
servo motors with functional safety. When using the SS2/SOS function, set the parameters as follows.
Parameter Name
PSA03 SS1/SS2 monitoring deceleration time
PSA04 SS2/SOS standstill speed
PSA05 SOS allowance value of position deviation
PSA06 SOS allowance value of position deviation unit selection
PSA15 SLS/SS2/SOS speed detection delay time
PSA17 SOS position detection delay time
(a) SS1/SS2 monitoring deceleration time
Set enough time for the servo motor to stop referring to operation sequence.
(b) SS2/SOS standstill speed
Set servo motor speed which the servo motor is assumed as stopped referring to operation
sequence.
(c) SOS allowance value of position deviation, SOS allowance value of position deviation unit selection
Set an allowance value of position deviation during stop observation referring to the operation
sequence.
4. SAFETY OBSERVATION FUNCTION
4 - 38
(d) SLS/SS2/SOS speed detection delay time
You can set a delay time for from when the speed decelerates lower than the standstill speed until
the start of the stop observation and for from when the speed accelerates higher than the standstill
speed during stop observation until the start of the STO function by using [Pr. PSA15 SLS/SS2/SOS
speed detection delay time].
(e) SOS position detection delay time
You can set a delay time for from when the travel distance exceeds a threshold until the start of the
STO function by using [Pr. PSA17 SOS position detection delay time].
4.5.4 SLS function
(1) Summary
This is a function to observe whether the speed is within a regulated speed limit value. When a specified
speed is exceeded, energy will be shut off by STO. The STO function operates when the servo motor
speed exceeding the SLS speed is detected. The SLS function observes both command speed and
feedback speed.
(2) Summary of sequence
The SLS function starts when SLS_C (SLS command) is turned off. Speed observation will be started
when the delay time specified with the parameter has passed after SLS_C (SLS command) is turned off.
During the speed observation, the servo motor speed is observed to be equal to or less than the SLS
speed specified with the parameter. The speed observation will be terminated by turning on SLS_C
(SLS command).
ON (disabled)
OFF (enabled)
ON (disabled)
OFF (enabled)
SLS1C (SLS1 command)
Servo motor speed
0 r/min
SLS1S (SLS1 output)
Speed observation in progress
SLS monitoring deceleration time 1
SLS speed 1
(3) Parameter switching
With the SLS function, four patterns of SLS speed and SLS deceleration monitoring time can be set. The
following table shows SLS deceleration monitoring time and SLS speed enabled with each command of
SLS1, SLS2, SLS3, and SLS4.
SLS command SLS deceleration monitoring time SLS speed
SLS1 command [Pr. PSA07 SLS deceleration monitoring time 1] [Pr. PSA11 SLS speed 1]
SLS2 command [Pr. PSA08 SLS deceleration monitoring time 2] [Pr. PSA12 SLS speed 2]
SLS3 command [Pr. PSA09 SLS deceleration monitoring time 3] [Pr. PSA13 SLS speed 3]
SLS4 command [Pr. PSA10 SLS deceleration monitoring time 4] [Pr. PSA14 SLS speed 4]
4. SAFETY OBSERVATION FUNCTION
4 - 39
The following shows a sequence for when SLS1 and SLS2 commands are simultaneously turned off.
Multiple speed observations are executed simultaneously. However, a valid threshold for speed would
be the smallest SLS speed. In the following sequence, the value of SLS speed 2 is smaller than that of
SLS speed 1. Thus, observation will be executed by SLS speed 2 while both SLS1 and SLS2
commands are enabled.
ON (disabled)
OFF (enabled)
ON (disabled)
OFF (enabled)
SLS1C (SLS1 command)
Servo motor speed
0 r/min
SLS2C (SLS2 command)
Speed observation in progress SLS monitoring
deceleration time 1
SLS monitoring deceleration time 2
SLS speed 1
SLS speed 2
Valid threshold
(4) Speed observation
(a) Speed command observation
During the speed observation, an absolute value of the speed command is observed not to exceed
the SLS speed. The STO function operates when the speed command exceeding the SLS speed is
detected. However, when the speed is higher than the SLS speed, the STO function will start after
the setting time of [Pr. PSA15 SLS/SS2/SOS speed detection delay time].
ON (disabled)
OFF (enabled)
ON (no alarm)
OFF (alarm)
ON
OFF
ON
OFF (shut-off)
SLS_C (SLS command)
Servo motor speed
0 r/min
ALM (Malfunction)
Base circuit (Energy supply to the servo motor)
STOS (STO output)
Speed observation in progress STO status
SLS monitoring deceleration time
Speed detection delay time
Command
Feedback
SLS speed
4. SAFETY OBSERVATION FUNCTION
4 - 40
(b) Speed feedback observation
During the speed observation, an absolute value of the speed feedback is observed not to exceed
the SLS speed. When an excess of speed feedback continues for the set value of [Pr. PSA15
SLS/SS2/SOS speed detection delay time], the STO function will start.
ON (disabled)
OFF (enabled)
ON (no alarm)
OFF (alarm)
ON
OFF
ON
OFF (shut-off)
SLS_C (SLS command)
Servo motor speed
0 r/min
ALM (Malfunction)
Base circuit (Energy supply to the servo motor)
STOS (STO output)
Speed observation in progress STO status
SLS monitoring deceleration time
Speed detection delay time
Command
Feedback
SLS speed
(5) Parameter setting
To set the parameters, refer to section 4.3.3. Set the parameters referring to section 4.4.1 when using
the SLS function in the safety observation function control by input device, and section 4.4.3 when using
the SLS function in the safety observation function control by network.
When using the SLS function, set the parameters as follows.
Parameter Name
PSA07 SLS deceleration monitoring time 1
PSA08 SLS deceleration monitoring time 2
PSA09 SLS deceleration monitoring time 3
PSA10 SLS deceleration monitoring time 4
PSA11 SLS speed 1
PSA12 SLS speed 2
PSA13 SLS speed 3
PSA14 SLS speed 4
PSA15 SLS/SS2/SOS speed detection delay time
(a) SLS deceleration monitoring time 1 to SLS deceleration monitoring time 4
Set a time from SLS_C (SLS command) off to the speed observation start referring to the operation
sequence. Set enough time for the servo motor to decelerate to the SLS speed or less. Four
parameters are available for SLS1C (SLS1 command) to SLS4C (SLS4 command). However, it is
not necessary to set a parameter with no possibility to be enabled.
(b) SLS speed 1 to SLS speed 4
Set a speed threshold for the speed observation referring to the operation sequence. Four
parameters are available for SLS1C (SLS1 command) to SLS4C (SLS4 command). However, it is
not necessary to set a parameter with no possibility to be enabled.
(c) SLS speed detection delay time
Set an error detection time for the time detected. This parameter changes the delay time to activate
the STO function after the speed exceeds the SLS speed during the speed observation.
4. SAFETY OBSERVATION FUNCTION
4 - 41
4.5.5 SSM function
(1) Summary
This function outputs a signal when the servo motor speed is within a regulated speed.
(2) Operation sequence
(a) SSMS (SSM output)
In the SSM function, SSMS (SSM output) is on when both the speed command and the speed
feedback are equal to or lower than the setting of [Pr. PSA18 SSM speed]. Absolute values of the
speed command and the speed feedback are observed not to exceed the SSM speed. SSMS (SSM
output) is off when the either one exceeding the SSM speed is detected.
SSMS (SSM output) is on when the absolute values of both the speed command and the speed
feedback are decreased, exceeding the setting value of [Pr. PSA19 SSM hysteresis width] from the
SSM speed. Setting [Pr. PSA19 SSM hysteresis width] properly prevents chattering of SSMS (SSM
output) at the time of the servo motor speed change around the SSM speed.
SSMS (SSM output)
ON
0 r/min
OFF
SSM speed Servo motor speed
Feedback
Command SSM hysteresis width
(3) Parameter setting
When using the SSM function, set the parameters as follows.
Parameter Name
PSA18 SSM speed
PSA19 SSM hysteresis width
(a) SSM speed
Set a speed threshold for the speed observation referring to the operation sequence.
(b) SSM hysteresis width
Set a hysteresis width necessary to prevent chattering of SSMS (SSM output) referring to the
operation sequence.
4. SAFETY OBSERVATION FUNCTION
4 - 42
4.5.6 SBC function
POINT
Use SBCS (SBC output) for activating the electromagnetic brake. There is no
need to use MBR (Electromagnetic brake interlock).
(1) Summary
This function outputs a signal for an external brake control.
(2) Operation sequence
The following shows an operation sequence during an operation of SS1 and a return from STO state.
The configuration shows that the electromagnetic brake operates when SBCS (SBC output) is off. By
setting [Pr. PC02 Base circuit shut-off delay time] and [Pr. PSA03 SS1/SS2 monitoring deceleration
time] properly, the electromagnetic brake operates preventing dropping of vertical axis. Vertical axis
freefall prevention function is also available.
Base circuit (Energy supply to the servo motor)
STOS (STO output)
SBCS (SBC output)
Electromagnetic brake
ON
OFF (shut-off)
Release delay time of electromagnetic brake
Electromagnetic brake operation delay time
95 ms
ON (disabled)
OFF (enabled)
MBR (Electromagnetic brake interlock)
ON (disabled)
OFF (enabled)
ON (disabled)
0 r/min
OFF (enabled)
ON
OFF
ON
OFF
ON
OFF
Release
Operation
WNG (Warning)
Servo motor speed
SS1C (SS1 command)
Servo-on (Controller or DI)
STO statusSS1 in progress
SS1/SS2 monitoring deceleration time
Model speed command is 0, and the speed is equal to or less than zero speed
Deceleration stop
Base circuit shut-off delay time
Note. When the power is shut off by STO, the dynamic brake operates from the start of the STO function until an activation of the
electromagnetic brake. Be aware that vertical axis may drop.
(3) Parameter setting
To set the parameters, refer to section 4.3.3. Set the parameters for the output devices referring to
section 4.4.2.
4. SAFETY OBSERVATION FUNCTION
4 - 43
4.5.7 Status monitor (SM) function
Each function state of SSM, SBC, STO, SOS, SS1, SS2, and SLS will be outputted by signals. This function
is not the one defined in IEC/EN 61800-5-2. The function is an original function of the functional safety unit.
For details of device, refer to section 3.6.2.
4.5.8 Multiple inputs of safety observation functional operation commands
Operation commands which have the same function may be inputted simultaneously for operation
commands of the safety observation function. For example, SS1C (SS1 command) input and SS1 input due
to an alarm occurrence can occur simultaneously.
When there are multiple operation triggers for a function and at least one of them is valid, the function will
start. The following shows an operation sequence for when an alarm occurs during the operation of SS1 by
SS1C (SS1 command) as an example.
STOS (STO output)
ON (disabled)
OFF (enabled)
ON (disabled)
0 r/min
OFF (enabled)
ON (no alarm)
OFF (alarm)
Disabled
Enabled Operation of SS1
Servo motor speed
SS1C (SS1 command)
ALM (Malfunction)
STO statusSS1 in progress Ordinary operation
SS1 operation time
As triggers of the SS1 function, SS1C (SS1 command) and ALM (Malfunction) are inputted. However, a
timer counting the SS1/SS2 monitoring deceleration time is the only one counting from SS1C (SS1
command) which was started first. At the moment of SS1C (SS1 command) returning to on, the SS1 function
is being enabled by ALM (Malfunction), thus, the SS1 function continues the operation.
4. SAFETY OBSERVATION FUNCTION
4 - 44
4.5.9 Simultaneous operation of STO and SS1 functions
When SS1C (SS1 command) turns off during the operation of the STO function, deceleration and time count
by the SS1 function will not be executed and the STO function continues the operation.
As the following sequence, time count of the SS1 function will not executed if SS1C (SS1 command) turns
off during the STO state by STOC (STO command). Even if STOC (STO command) is turned on, the STO
state by SS1C (SS1 command) continues without being canceled.
STOS (STO output)
ON (disabled)
OFF (enabled)
ON (disabled)
OFF (enabled)
ON (disabled)
0 r/min
OFF (enabled)
Servo motor speed
STOC (STO command)
SS1C (SS1 command)
STO state by STOC (STO command)
STO state by SLS1C (SLS1 command)
SS1 operation time
Similarly, when STOC (STO command) is turned off during the operation of the SS1 function, both
deceleration of SS1 and time count will be canceled.
4.5.10 At alarm occurrence
When an error occurs during operation, the corresponding alarm or warning is displayed. If any alarm or
warning has occurred, refer to section 7 and take the appropriate action.
(1) Summary
(a) Stop method
The following stop methods are available when MR-D30 is used.
Stop method Explanation
DB Stops with dynamic brake. (Coasts for the servo amplifier without dynamic brake.)
EDB 600 W or less servo amplifiers: Stops with electronic dynamic brake. 700 W or more servo amplifiers: Stops with dynamic brake.
SD The forced stop deceleration is performed.
STO/DB Stops with dynamic brake by activating the STO function. For the operation sequence of this stop method, refer to 4.5.1.
SS1/EDB Activates the SS1 function. 600 W or less servo amplifiers: Stops with electronic dynamic brake. 700 W or more servo amplifiers: Stops with dynamic brake. For the operation sequence of this stop method, refer to 4.5.2.
SS1/SD Activates the SS1 function. The forced stop deceleration is performed. For the operation sequence of this stop method, refer to 4.5.2.
STO/DB, SS1/EDB, and SS1/ED are mainly an internal alarm of MR-D30. The STO state continues
until the power is cycled or reset.
(b) Safety observation function stop
If a serious error is detected in MR-D30, the SLS and SSM functions will stop. For the alarms which
stop these functions, refer to chapter 7. When the function stops, output devices will output off.
4. SAFETY OBSERVATION FUNCTION
4 - 45
(c) Alarm reset
After a cause of the alarm is removed, the alarm can be canceled with one of the following methods.
Error reset
CPU reset
Power off to on
(2) How to reset alarm of safety observation function
(a) Safety observation function control by input device
Refer to chapter 7 for the list of alarms supporting reset operation in the alarms of safety observation
function.
When the cause of an alarm occurrence is removed and alarm reset is executed with all the enabled
input devices on, STO will be canceled, returning to a normal operation. It is no problem if 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] is off.
DI3A
DI3B
DI4B
DI4A
DI5B
DI5A
DI6B
DI6A
STOS (STO output)
ALM (Malfunction)
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF ON (no alarm) OFF (alarm)
ON
OFF (Shut-off)
DI2A
DI2B
Servo amplifier display
DI1A
DI1B
Alarm No. No alarm
Alarm reset
(Enabled)
(Enabled)
(Enabled)
(Unused)
(Enabled)
(Enabled)
4. SAFETY OBSERVATION FUNCTION
4 - 46
(b) Safety observation function control by network
Refer to chapter 7 for the list of alarms supporting reset operation in the alarms of safety observation
function.
When the cause of the alarm occurrence is removed and alarm reset is executed with all commands
on: STOC (STO command), SS1C (SS1 command), SS2C (SS2 command), SLS1C (SLS1
command), SLS2C (SLS2 command), SLS3C (SLS3 command), and SLS4C (SLS4 command),
STO will be canceled, returning to a normal operation.
ON (disabled)
OFF (enabled)
ON (disabled)
OFF (enabled)
ON (disabled)
OFF (enabled)
ON (disabled)
OFF (enabled)
ON (disabled)
OFF (enabled)
ON (disabled)
OFF (enabled)
ON (disabled)
OFF (enabled)
ON (no alarm)
OFF (alarm)
ON
OFF (Shut-off)
SLS2C (SLS2 command)
SLS3C (SLS3 command)
SLS4C (SLS4 command)
STOS (STO output)
ALM (Malfunction)
SLS1C (SLS1 command)
STOC (STO command)
SS1C (SS1 command)
SS2C (SS2 command)
Servo amplifier display Alarm No. No alarm
Alarm reset
5. PARAMETERS
5 - 1
5. PARAMETERS
CAUTION
Never make a drastic adjustment or change to the parameter values as doing so
will make the operation unstable.
Do not change the parameter settings as described below. Doing so may cause
an unexpected condition such as failing to start up the servo amplifier.
Changing the values of the parameters for manufacturer setting.
A value out of the range is set.
Changing the fixed values in the digits of a parameter.
POINT
For parameters of servo amplifiers, refer to each servo amplifier instruction
manual.
5.1 Parameter list
POINT
The parameter whose symbol is preceded by * is enabled with the following
conditions:
*: After setting the parameter, cycle the power or reset the controller.
**: After setting the parameter, cycle the power.
Abbreviations of operation modes indicate the followings.
Servo motor: Standard (semi closed loop system) use of the servo motor
Servo motor with functional safety: Standard (semi closed loop system) use of
the servo motor with functional safety
Full.: Fully closed loop system use of the servo motor or servo motor with
functional safety
Lin.: Linear servo motor use
DD: Direct drive (DD) motor use
5. PARAMETERS
5 - 2
5.1.1 Safety observation function parameters 1 ([Pr. PSA_ _ ])
No. Symbol Name Initial value
Unit
P as
sw or
d pr
ot ec
tio n Input mode Operation mode
S af
et y
ob se
rv at
io n
fu nc
tio n
co nt
ro l b
y ne
tw or
k
S af
et y
ob se
rv at
io n
fu nc
tio n
co nt
ro l b
y in
pu t
de vi
ce
S er
vo m
ot or
S er
vo m
ot or
w ith
fu
nc tio
na l s
af et
y
Li n.
F ul
l.
D D
PSA01 **SOA Safety observation function activation setting 0000h
PSA02 **SMD Functional safety unit setting 0000h
PSA03 **SST SS1/SS2 monitoring deceleration time 1000 [ms]
PSA04 **SSS SS2/SOS standstill speed 50 [r/min]
PSA05 **SSDP SOS allowance value of position deviation 3
PSA06 **SAOP1 SOS allowance value of position deviation unit selection 0
PSA07 **SLSDT1 SLS deceleration monitoring time 1 1000 [ms]
PSA08 **SLSDT2 SLS deceleration monitoring time 2 1000 [ms]
PSA09 **SLSDT3 SLS deceleration monitoring time 3 1000 [ms]
PSA10 **SLSDT4 SLS deceleration monitoring time 4 1000 [ms]
PSA11 **SLSS1 SLS speed 1 50 [r/min]
PSA12 **SLSS2 SLS speed 2 50 [r/min]
PSA13 **SLSS3 SLS speed 3 50 [r/min]
PSA14 **SLSS4 SLS speed 4 50 [r/min]
PSA15 **SLST SLS/SS2/SOS speed detection delay time 10 [ms]
PSA16 For manufacturer setting 0000h
PSA17 **SOSPT SOS position detection delay time 0 [ms]
PSA18 **SSMS SSM speed 50 [r/min]
PSA19 **SSMHW SSM hysteresis width 20 [r/min]
PSA20 **SMERL Servo motor encoder resolution - Lower 4304 [pulse/rev]
PSA21 **SMERH Servo motor encoder resolution - Upper 419 [10000
pulses/rev]
PSA22 **SAADT Position feedback fixing error detection time 60 [min]
PSA23 For manufacturer setting 0000h
PSA24 0000h
PSA25 0000h
PSA26 0000h
PSA27 0000h
PSA28 0000h
PSA29 0000h
PSA30 0000h
PSA31 0000h
PSA32 0000h
PSA33 0000h
PSA34 0000h
PSA35 0000h
PSA36 0000h
PSA37 0000h
PSA38 0000h
PSA39 0000h
PSA40 0000h
PSA41 0000h
PSA42 0000h
PSA43 0000h
PSA44 0000h
PSA45 0000h
PSA46 0000h
PSA47 0000h
PSA48 0000h
PSA49 0000h
5. PARAMETERS
5 - 3
No. Symbol Name Initial value
Unit
P as
sw or
d pr
ot ec
tio n Input mode Operation mode
S af
et y
ob se
rv at
io n
fu nc
tio n
co nt
ro l b
y ne
tw or
k
S af
et y
ob se
rv at
io n
fu nc
tio n
co nt
ro l b
y in
pu t
de vi
ce
S er
vo m
ot or
S er
vo m
ot or
w ith
fu
nc tio
na l s
af et
y
Li n.
F ul
l.
D D
PSA50 For manufacturer setting 0000h
PSA51 0000h
PSA52 0000h
PSA53 0000h
PSA54 0000h
PSA55 0000h
PSA56 0000h
PSA57 0000h
PSA58 0000h
PSA59 0000h
PSA60 0000h
PSA61 0000h
PSA62 0000h
PSA63 0000h
PSA64 0000h
5.1.2 Network parameters ([Pr. PSC_ _ ])
No. Symbol Name Initial value
Unit
P as
sw or
d pr
ot ec
tio n Input mode Operation mode
S af
et y
ob se
rv at
io n
fu nc
tio n
co nt
ro l b
y ne
tw or
k
S af
et y
ob se
rv at
io n
fu nc
tio n
co nt
ro l b
y in
pu t
de vi
ce
S er
vo m
ot or
S er
vo m
ot or
w ith
fu
nc tio
na l s
af et
y
Li n.
F ul
l.
D D
PSC01 **SNC Safety communication - Communication cycle 0006h
PSC02 **SNAS Safety communication - Axis number selection 0000h
PSC03 **SNPOL Safety communication - Servo motor rotation direction selection with functional safety
0000h
PSC04 **SNNO Safety communication - Network communication selection 0000h
PSC05
For manufacturer setting 0000h
PSC06 0000h
PSC07 0000h
PSC08 0000h
PSC09 0000h
PSC10 0000h
PSC11 0000h
PSC12 0000h
PSC13 0000h
PSC14 0000h
PSC15 0000h
PSC16 0000h
PSC17 0000h
PSC18 0000h
PSC19 0000h
PSC20 0000h
PSC21 0000h
PSC22 0000h
5. PARAMETERS
5 - 4
No. Symbol Name Initial value
Unit
P as
sw or
d pr
ot ec
tio n Input mode Operation mode
S af
et y
ob se
rv at
io n
fu nc
tio n
co nt
ro l b
y ne
tw or
k
S af
et y
ob se
rv at
io n
fu nc
tio n
co nt
ro l b
y in
pu t
de vi
ce
S er
vo m
ot or
S er
vo m
ot or
w ith
fu
nc tio
na l s
af et
y
Li n.
F ul
l.
D D
PSC23
For manufacturer setting 0000h
PSC24 0000h
PSC25 0000h
PSC26 0000h
PSC27 0000h
PSC28 0000h
PSC29 0000h
PSC30 0000h
PSC31 0000h
PSC32 0000h
PSC33 0000h
PSC34 0000h
PSC35 0000h
PSC36 0000h
PSC37 0000h
PSC38 0000h
PSC39 0000h
PSC40 0000h
PSC41 0000h
PSC42 0000h
PSC43 0000h
PSC44 0000h
PSC45 0000h
PSC46 0000h
PSC47 0000h
PSC48 0000h
PSC49 0000h
PSC50 0000h
PSC51 0000h
PSC52 0000h
PSC53 0000h
PSC54 0000h
PSC55 0000h
PSC56 0000h
PSC57 0000h
PSC58 0000h
PSC59 0000h
PSC60 0000h
PSC61 0000h
PSC62 0000h
PSC63 0000h
PSC64 0000h
5. PARAMETERS
5 - 5
5.1.3 Safety I/O device parameters ([Pr. PSD_ _ ])
No. Symbol Name Initial value
Unit
P as
sw or
d pr
ot ec
tio n Input mode Operation mode
S af
et y
ob se
rv at
io n
fu nc
tio n
co nt
ro l b
y ne
tw or
k
S af
et y
ob se
rv at
io n
fu nc
tio n
co nt
ro l b
y in
pu t
de vi
ce
S er
vo m
ot or
S er
vo m
ot or
w ith
fu
nc tio
na l s
af et
y
Li n.
F ul
l.
D D
PSD01 **SDIA Input device automatic activation selection 0000h
PSD02 **SDI1 Input device selection DI1 0000h
PSD03 **SDI2 Input device selection DI2 0000h
PSD04 **SDI3 Input device selection DI3 0000h
PSD05 **SDI4 Input device selection DI4 0000h
PSD06 **SDI5 Input device selection DI5 0000h
PSD07 **SDI6 Input device selection DI6 0000h
PSD08 **SDO1 Output device selection DO1 0000h
PSD09 **SDO2 Output device selection DO2 0000h
PSD10 **SDO3 Output device selection DO3 0000h
PSD11 **SDO4 Output device selection DO4 0000h
PSD12 **SDIF1 Input device - Noise rejection filtering time DI1 0001h
PSD13 **SDIF2 Input device - Noise rejection filtering time DI2 0001h
PSD14 **SDIF3 Input device - Noise rejection filtering time DI3 0001h
PSD15 **SDIF4 Input device - Noise rejection filtering time DI4 0001h
PSD16 **SDIF5 Input device - Noise rejection filtering time DI5 0001h
PSD17 **SDIF6 Input device - Noise rejection filtering time DI6 0001h
PSD18 **SDIDT1 Mismatch permissible time DI1 20 [ms]
PSD19 **SDIDT2 Mismatch permissible time DI2 20 [ms]
PSD20 **SDIDT3 Mismatch permissible time DI3 20 [ms]
PSD21 **SDIDT4 Mismatch permissible time DI4 20 [ms]
PSD22 **SDIDT5 Mismatch permissible time DI5 20 [ms]
PSD23 **SDIDT6 Mismatch permissible time DI6 20 [ms]
PSD24 **SDIP1 Input device - Test pulse diagnosis execution selection 1 1111h
PSD25 **SDIP2 Input device - Test pulse diagnosis execution selection 2 0011h
PSD26 **SDIPW Input device - Test pulse off time 0001h
PSD27 **SDID1 Input device - Fixing-diagnosis execution selection 1 at start-up
1111h
PSD28 **SDID2 Input device - Fixing-diagnosis execution selection 2 at start-up
0011h
PSD29 **SDOP Output device - Test pulse execution selection 1111h
PSD30 **SDOPW Output device - Test pulse off time 0000h
PSD31 For manufacturer setting 0000h
PSD32 0000h
PSD33 0000h
PSD34 0000h
PSD35 0000h
PSD36 0000h
PSD37 0000h
PSD38 0000h
PSD39 0000h
PSD40 0000h
PSD41 0000h
PSD42 0000h
PSD43 0000h
PSD44 0000h
PSD45 0000h
PSD46 0000h
PSD47 0000h
PSD48 0000h
PSD49 0000h
5. PARAMETERS
5 - 6
No. Symbol Name Initial value
Unit
P as
sw or
d pr
ot ec
tio n Input mode Operation mode
S af
et y
ob se
rv at
io n
fu nc
tio n
co nt
ro l b
y ne
tw or
k
S af
et y
ob se
rv at
io n
fu nc
tio n
co nt
ro l b
y in
pu t
de vi
ce
S er
vo m
ot or
S er
vo m
ot or
w ith
fu
nc tio
na l s
af et
y
Li n.
F ul
l.
D D
PSD50 For manufacturer setting 0000h
PSD51 0000h
PSD52 0000h
PSD53 0000h
PSD54 0000h
PSD55 0000h
PSD56 0000h
PSD57 0000h
PSD58 0000h
PSD59 0000h
PSD60 0000h
PSD61 0000h
PSD62 0000h
PSD63 0000h
PSD64 0000h
5. PARAMETERS
5 - 7
5.2 Detailed list of parameters
POINT
Set a value to each "x" in the "Setting digit" columns.
This parameter cannot be used in the J3 compatibility mode.
5.2.1 Safety observation function parameters 1 ([Pr. PSA_ _ ])
No. Symbol Name and function Initial value [unit]
Setting range
PSA01 **SOA Safety observation function activation setting Select enabled/disabled of MR-D30 parameter settings.
Setting
digit Explanation
Initial value
Setting range
_ _ _ x Functional safety unit activation setting 0: Disabled 1: Enabled While this parameter is disabled, STO cannot be canceled due to [AL. 7A.2 Parameter setting range error (safety observation function)] occurrence. Before enabling this parameter, check the setting of each parameter that they have no problem.
0h 0h to 1h
_ _ x _ For manufacturer setting 0h
_ x _ _ 0h
x _ _ _ 0h
PSA02 **SMD Functional safety unit setting Make basic settings of MR-D30 functions.
Setting
digit Explanation
Initial value
Setting range
_ _ _ x Input mode selection 0: Safety observation function control by input device 1: Safety observation function control by network 2: Test operation
Please note that the safety observation function will not operate while test operation is selected. For the test operation, refer to each servo amplifier instruction manual.
0h 0h to 2h
_ _ x _ Safety observation function - Position/speed observation setting 0: Using STO/SS1/SBC without executing position/speed
observation (SLS/SSM/SOS/SS2) 1: Executing position/speed observation with the servo motor with
functional safety (This setting value can be used with MR-D30 with software version A1 or later. This setting value can be used with MR-J4-_A_-RJ and MR-J4-_B_-RJ servo amplifiers with software version B5 or later.)
2: Executing position/speed observation without the servo motor with functional safety
0h 0h to 2h
_ x _ _ For manufacturer setting 0h
x _ _ _ 0h
Incorrect setting of this parameter will trigger [AL. 7A.3]. Refer to section 7.2 for details.
5. PARAMETERS
5 - 8
No. Symbol Name and function Initial value [unit]
Setting range
PSA03 **SST SS1/SS2 monitoring deceleration time Set a deceleration time of the SS1 function and SS2/SOS function. This parameter is used for the following two functions. (1) When setting time passes during deceleration of the SS1 function, the STO function will
operate. (2) When setting time passes during deceleration of the SS2/SOS function, the stop
observation (SOS) will operate. (This function is available with MR-D30 with software version A1 or later. For MR-J4-_A_-RJ and MR-J4-_B_-RJ, this function is available with the servo amplifiers with software version B5 or later.)
1000 [ms]
0 to
60000
PSA04 **SSS SS2/SOS standstill speed Set a standstill speed. When an absolute value of the servo motor speed is lower than the set value of this parameter, the servo motor will be assumed as stopped. Concretely, this parameter is used for the following two functions. (1) When the speed becomes slower than the set value of this parameter during
deceleration of the SS2/SOS function, the stop observation (SOS) will operate. (2) When the speed becomes higher than the set value of this parameter during stop
observation (SOS) of the SS2/SOS function, the STO function will operate. This parameter is available with MR-D30 with software version A1 or later. For MR-J4-_A_- RJ and MR-J4-_B_-RJ, this parameter is available with the servo amplifiers with software version B5 or later.
50 [r/min]
0 to
10000
PSA05 **SSDP SOS allowance value of position deviation Specify an allowance value of a position deviation during stop observation (SOS) of the SS2/SOS function. When the position travels equal to or more than the specified value in this parameter after the stop observation has started, the STO function will operate. The SOS allowance value of the position deviation will be clamped at 100 rev when [Pr. PSA06 SOS allowance value of position deviation unit selection] is set to "0". This parameter is available with MR-D30 with software version A1 or later. For MR-J4-_A_- RJ and MR-J4-_B_-RJ, this parameter is available with the servo amplifiers with software version B5 or later.
3 [rev]
(Note)
0 to
1000
Note. Setting unit can be changed in [Pr. PSA06].
PSA06 **SAOP1 SOS allowance value of position deviation unit selection Select a setting unit of the SOS allowance value of the position deviation set in [Pr. PSA05]. This parameter is available with MR-D30 with software version A1 or later. For MR-J4-_A_-RJ and MR-J4-_B_- RJ, this parameter is available with the servo amplifiers with software version B5 or later.
Setting
digit Explanation
Initial value
Setting range
_ _ _ x SOS allowance value of position deviation unit selection 0: 1 rev 1: 0.1 rev 2: 0.01 rev
0h 0h to 2h
_ _ x _ For manufacturer setting 0h
_ x _ _ 0h
x _ _ _ 0h
PSA07 **SLSDT1 SLS deceleration monitoring time 1 Set a threshold of the time from when the SLS1 command is enabled to when the speed observation starts. Specify enough time for deceleration to a safety speed from the enabled SLS1 command. As necessary, execute such as deceleration control with the controller during the delay time.
1000 [ms]
0 to
60000
PSA08 **SLSDT2 SLS deceleration monitoring time 2 Set a threshold of the time from when the SLS2 command is enabled to when the speed observation starts. Specify enough time for deceleration to a safety speed from the enabled SLS2 command. As necessary, execute such as deceleration control with the controller during the delay time.
1000 [ms]
0 to
60000
PSA09 **SLSDT3 SLS deceleration monitoring time 3 Set a threshold of the time from when the SLS3 command is enabled to when the speed observation starts. Specify enough time for deceleration to a safety speed from the enabled SLS3 command. As necessary, execute such as deceleration control with the controller during the delay time.
1000 [ms]
0 to
60000
5. PARAMETERS
5 - 9
No. Symbol Name and function Initial value [unit]
Setting range
PSA10 **SLSDT4 SLS deceleration monitoring time 4 Set a threshold of the time from when the SLS4 command is enabled to when the speed observation strats. Specify enough time for deceleration to a safety speed from the enabled SLS4 command. As necessary, execute such as deceleration control with the controller during the delay time.
1000 [ms]
0 to
60000
PSA11 **SLSS1 SLS speed 1 Set a threshold of a safety speed for when the SLS function operates by the SLS1 command. When an absolute value of the servo motor speed exceeds this value during the speed observation of the SLS function, the STO function will operate.
50 [r/min]
0 to
10000
PSA12 **SLSS2 SLS speed 2 Set a threshold of a safety speed for when the SLS function operates by the SLS2 command. When an absolute value of the servo motor speed exceeds this value during the speed observation of the SLS function, the STO function will operate.
50 [r/min]
0 to
10000
PSA13 **SLSS3 SLS speed 3 Set a threshold of a safety speed for when the SLS function operates by the SLS3 command. When an absolute value of the servo motor speed exceeds this value during the speed observation of the SLS function, the STO function will operate.
50 [r/min]
0 to
10000
PSA14 **SLSS4 SLS speed 4 Set a threshold of a safety speed for when the SLS function operates by the SLS4 command. When an absolute value of the servo motor speed exceeds this value during the speed observation of the SLS function, the STO function will operate.
50 [r/min]
0 to
10000
PSA15 **SLST SLS/SS2/SOS speed detection delay time Specify filtering time of the delay filter which determines whether a servo motor speed is over or below the threshold during the speed observation. This parameter setting affects the response time of the next speed observation.
Time after the speed exceeds during the speed observation of the SLS function until the STO function starts Time after the speed decelerates lower than the standstill speed during the speed observation of the SS2/SOS function until the stop observation (SOS) starts (This function is available with MR-D30 with software version A1 or later. For MR-J4-_A_-RJ and MR-J4-_B_-RJ, this function is available with the servo amplifiers with software version B5 or later.) Time after the speed accelerates higher than standstill speed during the stop observation (SOS) of the SS2/SOS function until the STO function starts (This function is available with MR-D30 with software version A1 or later. For MR-J4-_A_-RJ and MR-J4- _B_-RJ, this function is available with the servo amplifiers with software version B5 or later.)
10 [ms]
0 to
2000
PSA17 **SOSPT SOS position detection delay time Set a filtering time of the delay filter which determines that motor position exceeds the threshold at position observation. This parameter setting affects the response time of the next position observation.
Time after the position deviation of position feedback becomes out of the allowance value of the position deviation during the stop observation of the SS2/SOS function until the STO function starts
This parameter is available with MR-D30 with software version A1 or later. For MR-J4-_A_- RJ and MR-J4-_B_-RJ, this parameter is available with the servo amplifiers with software version B5 or later.
0 [ms]
0 to
2000
PSA18 **SSMS SSM speed Set a threshold of a safety speed for when the SSM function operates. SSMS (SSM output) will turn off when an absolute value of the servo motor speed exceeds this speed and will turn on when the value is below this speed. However, these determinations include hysteresis specified with [Pr. PSA19]. When an alarm which disables SSM occurs, SSMS (SSM output) will turn off. Incorrect setting of this parameter will trigger [AL. 7A.3]. Refer to section 7.2 for details.
50 [r/min]
0 to
10000
PSA19 **SSMHW SSM hysteresis width Set the threshold of the hysteresis width to be used for the speed judgment of the SSM function. Be sure to specify a value lower than [Pr. PSA18]. Setting a value of [Pr. PSA18] or more will trigger [AL. 7A.3 Parameter combination error (safety observation function)]. Refer to section 7.2 for details.
20 [r/min]
0 to
10000
5. PARAMETERS
5 - 10
No. Symbol Name and function Initial value [unit]
Setting range
PSA20 **SMERL Servo motor encoder resolution - Lower Set an encoder resolution of the servo motor. Set lower four digits in decimal numbers with this parameter.
4304 [pulse/
rev]
0 to
9999
PSA21 **SMERH Servo motor encoder resolution - Upper Set an encoder resolution of the servo motor. Set upper four digits in decimal numbers with this parameter. Do not set "0" for the servo motor encoder resolution ("0" for both [Pr. PSA20] and [Pr. PSA21]). Setting "0" will trigger [AL. 7A.3 Parameter combination error (safety observation function)]. When the values set for the servo motor encoder resolution ([Pr. PSA20] and [Pr. PSA21]) do not match with the resolution of the actually connected encoder, [AL. 7A.3 Parameter combination error (safety observation function)] will occur. Refer to section 7.2 for details.
419 [10000 pulses/
rev]
0 to
9999
PSA22 **SAADT Position feedback fixing error detection time Set a time until [AL. 79.8 Position feedback fixing error] is detected. Setting "0" will disable a diagnosis for [AL. 79.8 Position feedback fixing error]. In addition, when servo motors with functional safety are used, detection of [AL. 79.8] is not performed.
60 [min]
0 to
65535
5.2.2 Network parameters ([Pr. PSC_ _ ])
No. Symbol Name and function Initial value [unit]
Setting range
PSC01 **SNC Safety communication - Communication cycle Select a communication cycle for the safety communication. 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.
Setting
digit Explanation
Initial value
Setting range
_ _ x x Safety communication - Communication cycle 06: 14.2 ms 07: 28.4 ms 16: 16.0 ms (Note) 17: 32.0 ms (Note)
06h 06h 07h 16h 17h
_ x _ _ For manufacturer setting 0h
x _ _ _ 0h
Note. This setting value can be used with MR-D30 with software version A2 or later.
5. PARAMETERS
5 - 11
No. Symbol Name and function Initial value [unit]
Setting range
PSC02 **SNAS Safety communication - Axis number selection Set an axis No. for the safety communication. This parameter is available with MR-D30 with software version A1 or later. As for MR-J4-_GF_-RJ, this parameter can be used with servo amplifiers with software version A3 or later. At this time, replace axis number with station number. As for MR-J4-_B_-RJ, this parameter can be used with servo amplifiers with software version B5 or later. As for MR-J4-_A_-RJ, this parameter is disabled.
Setting
digit Explanation
Initial value
Setting range
_ _ x x Safety communication - Axis number selection Refer to table 5.1 for settings. Set the same axis No. as the setting of servo amplifier. Setting a different No. will trigger [AL. 7A.3 Parameter combination error (safety observation function)]. For axis No. selection of servo amplifiers, refer to each servo amplifier instruction manual.
00h 00h to
77h
_ x _ _ For manufacturer setting 0h
x _ _ _ Safety communication - Enabling axis number selection 0: Disabled (using the axis selection rotary switch) 1: Enabled (using the first digit of the setting of [Pr. PSD02])
0h 0h to 1h
Table 5.1 Axis No. selection
Setting value
Axis No.
_ _ 0 0 1
_ _ 0 1 2
_ _ 0 2 3
_ _ 0 3 4
_ _ 0 4 5
_ _ 0 5 6
_ _ 0 6 7
_ _ 0 7 8
_ _ 7 0 113
_ _ 7 1 114
_ _ 7 2 115
_ _ 7 3 116
_ _ 7 4 117
_ _ 7 5 118
_ _ 7 6 119
_ _ 7 7 120
5. PARAMETERS
5 - 12
No. Symbol Name and function Initial value [unit]
Setting range
PSC03 **SNPOL Safety communication - Servo motor rotation direction selection with functional safety When a safety controller is used with a servo motor with functional safety, set the same value as the servo motor rotation direction set by the servo amplifier ([Pr. PA14 Rotation direction selection/travel direction selection]). For the setting of servo motor rotation direction of servo amplifiers, refer to each servo amplifier instruction manual. This parameter is available with MR-D30 with software version A1 or later. For MR-J4-_B_-RJ, this parameter is available with the servo amplifiers with software version B5 or later. For MR-J4-_A_-RJ, this parameter is disabled.
Setting
digit Explanation
Initial value
Setting range
_ _ _ x Safety communication - Servo motor rotation direction selection with functional safety Refer to table 5.2 for settings.
0h 0h to 1h
_ _ x _ For manufacturer setting 0h
_ x _ _ 0h
x _ _ _ 0h
Table 5.2 Servo motor rotation direction selection with
functional safety
Setting value
Servo motor rotation direction with functional safety
When forward rotation pulse is inputted
When reverse rotation pulse is inputted
_ _ _ 0 CCW CW
_ _ _ 1 CW CCW
Incorrect setting of this parameter will trigger [AL. 7A.3]. Refer to section 7.2 for details.
PSC04 **SNNO Safety communication - Network communication selection Set a network number for the safety communication. For MR-J4-_A_-RJ, this parameter is disabled. For MR-J4-_B_-RJ, set "0". Setting a value other than "0" will trigger [AL. 95.4 STO warning 2 (safety observation function)]. For MR-J4-_GF_-RJ, 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. When "0" is set, network No. 1 is assigned. Set the network number of MR-J4-_GF_-RJ with [Pr. PN04 CC-Link IE communication network number] of MR-J4-_GF_-RJ.
0 0 to
239
5. PARAMETERS
5 - 13
5.2.3 Safety I/O device parameters ([Pr. PSD_ _ ])
No. Symbol Name and function Initial value [unit]
Setting range
PSD01 **SDIA Input device automatic activation selection This setting is enabled only when an input device is used. The SLS function can be activated automatically with this setting. A command set to automatic activation with this setting will be off (the function enabled) at a system start-up, and a corresponding function will start automatically. When any of SLS1C to SLS4C is enabled for automatic activation, the speed observation of the corresponding commands of SLS1 to SLS4 is always enabled.
Setting digit
Explanation Initial value
Setting range
HEX BIN
_ _ _ x _ _ _ x SLS1C (SLS1 command) 0: Disable automatic activation 1: Enable automatic activation
0h 0h to Fh
_ _ x _ SLS2C (SLS2 command) 0: Disable automatic activation 1: Enable automatic activation
_ x _ _ SLS3C (SLS3 command) 0: Disable automatic activation 1: Enable automatic activation
x _ _ _ SLS4C (SLS4 command) 0: Disable automatic activation 1: Enable automatic activation
_ _ x _ For manufacturer setting 0h
_ x _ _ 0h
x _ _ _ 0h
Incorrect setting of this parameter will trigger [AL. 7A.3]. Refer to section 7.2 for details.
PSD02 **SDI1 Input device selection DI1 Select an input device to assign to DI1A (CN10A-4) and DI1B (CN10B-4). When you set "Safety observation function control by input device" with [Pr. PSA02], be sure to assign one or more device to [Pr. PSD02] to [Pr. PSD07]. When no device is set, [AL. 7A.3 Parameter combination error (safety observation function)] will occur. Additionally, the same input device cannot be assigned to multiple connector pins. When a device is assigned to multiple connector pins, [AL. 7A.3 Parameter combination error (safety observation function)] will occur.
Setting
digit Explanation
Initial value
Setting range
_ _ x x Input device selection DI1 Refer to table 5.3 for setting.
00h 00h to
07h
_ x _ _ For manufacturer setting 0h
x _ _ _ 0h
Table 5.3 Input device selection
Setting value
Input device
_ _ 0 0 None
_ _ 0 1 STOC (STO command)
_ _ 0 2 SS1C (SS1 command)
_ _ 0 3 SS2C (SS2 command)
_ _ 0 4 SLS1C (SLS1 command)
_ _ 0 5 SLS2C (SLS2 command)
_ _ 0 6 SLS3C (SLS3 command)
_ _ 0 7 SLS4C (SLS4 command)
Incorrect setting of this parameter will trigger [AL. 7A.3]. Refer to section 7.2 for details.
5. PARAMETERS
5 - 14
No. Symbol Name and function Initial value [unit]
Setting range
PSD03 **SDI2 Input device selection DI2 Select an input device to assign to DI2A (CN10A-13) and DI2B (CN10B-13). Setting method is the same as [Pr. PSD02].
Setting
digit Explanation
Initial value
Setting range
_ _ x x Input device selection DI2 Refer to table 5.3 for setting.
00h 00h to
07h
_ x _ _ For manufacturer setting 0h
x _ _ _ 0h
Incorrect setting of this parameter will trigger [AL. 7A.3]. Refer to section 7.2 for details.
PSD04 **SDI3 Input device selection DI3 Select an input device to assign to DI3A (CN10A-5) and DI3B (CN10B-5). Setting method is the same as [Pr. PSD02].
Setting
digit Explanation
Initial value
Setting range
_ _ x x Input device selection DI3 Refer to table 5.3 for setting.
00h 00h to
07h
_ x _ _ For manufacturer setting 0h
x _ _ _ 0h
Incorrect setting of this parameter will trigger [AL. 7A.3]. Refer to section 7.2 for details.
PSD05 **SDI4 Input device selection DI4 Select an input device to assign to DI4A (CN10A-14) and DI4B (CN10B-14). Setting method is the same as [Pr. PSD02].
Setting
digit Explanation
Initial value
Setting range
_ _ x x Input device selection DI4 Refer to table 5.3 for setting.
00h 00h to
07h
_ x _ _ For manufacturer setting 0h
x _ _ _ 0h
Incorrect setting of this parameter will trigger [AL. 7A.3]. Refer to section 7.2 for details.
PSD06 **SDI5 Input device selection DI5 Select an input device to assign to DI5A (CN10A-6) and DI5B (CN10B-6). Setting method is the same as [Pr. PSD02].
Setting
digit Explanation
Initial value
Setting range
_ _ x x Input device selection DI5 Refer to table 5.3 for setting.
00h 00h to
07h
_ x _ _ For manufacturer setting 0h
x _ _ _ 0h
Incorrect setting of this parameter will trigger [AL. 7A.3]. Refer to section 7.2 for details.
5. PARAMETERS
5 - 15
No. Symbol Name and function Initial value [unit]
Setting range
PSD07 **SDI6 Input device selection DI6 Select an input device to assign to DI6A (CN10A-15) and DI6B (CN10B-15). Setting method is the same as [Pr. PSD02].
Setting
digit Explanation
Initial value
Setting range
_ _ x x Input device selection DI6 Refer to table 5.3 for setting.
00h 00h to
07h
_ x _ _ For manufacturer setting 0h
x _ _ _ 0h
Incorrect setting of this parameter will trigger [AL. 7A.3]. Refer to section 7.2 for details.
PSD08 **SDO1 Output device selection DO1 Select an input device to assign to DO1A (CN10A-8) and DO1B (CN10B-8).
Setting
digit Explanation
Initial value
Setting range
_ _ x x Output device selection DO1 Refer to table 5.4 for setting.
00h 00h to
0Ah
_ x _ _ For manufacturer setting 0h
x _ _ _ 0h
Table 5.4 Output device selection
Setting value
Output device
_ _ 0 0 None
_ _ 0 1 STOS (STO output)
_ _ 0 2 SS1S (SS1 output)
_ _ 0 3 SS2S (SS2 output)
_ _ 0 4 SLS1S (SLS1 output)
_ _ 0 5 SLS2S (SLS2 output)
_ _ 0 6 SLS3S (SLS3 output)
_ _ 0 7 SLS4S (SLS4 output)
_ _ 0 8 SSMS (SSM output)
_ _ 0 9 SOSS (SOS output)
_ _ 0 A SBCS (SBC output)
Incorrect setting of this parameter will trigger [AL. 7A.3]. Refer to section 7.2 for details.
PSD09 **SDO2 Output device selection DO2 Select an input device to assign to DO2A (CN10A-17) and DO2B (CN10B-17). Setting method is the same as [Pr. PSD08].
Setting
digit Explanation
Initial value
Setting range
_ _ x x Output device selection DO2 Refer to table 5.4 for setting.
00h 00h to
0Ah
_ x _ _ For manufacturer setting 0h
x _ _ _ 0h
Incorrect setting of this parameter will trigger [AL. 7A.3]. Refer to section 7.2 for details.
5. PARAMETERS
5 - 16
No. Symbol Name and function Initial value [unit]
Setting range
PSD10 **SDO3 Output device selection DO3 Select an input device to assign to DO3A (CN10A-9) and DO3B (CN10B-9). Setting method is the same as [Pr. PSD08].
Setting
digit Explanation
Initial value
Setting range
_ _ x x Output device selection DO3 Refer to table 5.4 for setting.
00h 00h to
0Ah
_ x _ _ For manufacturer setting 0h
x _ _ _ 0h
Incorrect setting of this parameter will trigger [AL. 7A.3]. Refer to section 7.2 for details.
PSD11 **SDO4 Output device selection DO4 Select an output device to assign to DO4NA (CN10A-18) and DO4PB (CN10B-16). Setting method is the same as [Pr. PSD08].
Setting
digit Explanation
Initial value
Setting range
_ _ x x Output device selection DO4 Refer to table 5.4 for setting.
00h 00h to
0Ah
_ x _ _ For manufacturer setting 0h
x _ _ _ 0h
Incorrect setting of this parameter will trigger [AL. 7A.3]. Refer to section 7.2 for details.
5. PARAMETERS
5 - 17
No. Symbol Name and function Initial value [unit]
Setting range
PSD12 **SDIF1 Input device - Noise rejection filtering time DI1 Select a filtering time to reduce noise of DI1A (CN10A-4) and DI1B (CN10B-4).
Setting
digit Explanation
Initial value
Setting range
_ _ x x Noise rejection filtering time DI1 Refer to table 5.5 for setting.
01h 00h to
05h
_ x _ _ For manufacturer setting 0h
x _ _ _ 0h
Table 5.5 Filtering time selection
Setting value
Filtering time [ms]
_ _ 0 0 0.888
_ _ 0 1 1.777
_ _ 0 2 3.555
_ _ 0 3 7.111
_ _ 0 4 14.22
_ _ 0 5 28.44
Set a proper value referring to the following table.
Configuration Noise rejection filtering time
Using a switch Executing a test pulse diagnosis
Set 0.888 ms or longer time than the setting time in [Pr. PSD26 Input device - Test pulse off time].
Not executing a test pulse diagnosis
Set 0.888 ms or longer time.
Using a device which has diagnosis function
Test pulses are in superposition at output signal of the device.
Set 0.888 ms or longer time than the test pulse off-time outputted from the device.
Test pulses are not in superposition at output signal of the device.
Set 0.888 ms or longer time.
Incorrect setting of this parameter will trigger [AL. 7A.3]. Refer to section 7.2 for details.
PSD13 **SDIF2 Input device - Noise rejection filtering time DI2 Select a filtering time to reduce noise of DI2A (CN10A-13) and DI2B (CN10B-13). Setting method is the same as [Pr. PSD12].
Setting
digit Explanation
Initial value
Setting range
_ _ x x Noise rejection filtering time DI2 Refer to table 5.5 for setting.
01h 00h to
05h
_ x _ _ For manufacturer setting 0h
x _ _ _ 0h
Incorrect setting of this parameter will trigger [AL. 7A.3]. Refer to section 7.2 for details.
5. PARAMETERS
5 - 18
No. Symbol Name and function Initial value [unit]
Setting range
PSD14 **SDIF3 Input device - Noise rejection filtering time DI3 Select a filtering time to reduce noise of DI3A (CN10A-5) and DI3B (CN10B-5). Setting method is the same as [Pr. PSD12].
Setting
digit Explanation
Initial value
Setting range
_ _ x x Noise rejection filtering time DI3 Refer to table 5.5 for setting.
01h 00h to
05h
_ x _ _ For manufacturer setting 0h
x _ _ _ 0h
Incorrect setting of this parameter will trigger [AL. 7A.3]. Refer to section 7.2 for details.
PSD15 **SDIF4 Input device - Noise rejection filtering time DI4 Select a filtering time to reduce noise of DI4A (CN10A-14) and DI4B (CN10B-14). Setting method is the same as [Pr. PSD12].
Setting
digit Explanation
Initial value
Setting range
_ _ x x Noise rejection filtering time DI4 Refer to table 5.5 for setting.
01h 00h to
05h
_ x _ _ For manufacturer setting 0h
x _ _ _ 0h
Incorrect setting of this parameter will trigger [AL. 7A.3]. Refer to section 7.2 for details.
PSD16 **SDIF5 Input device - Noise rejection filtering time DI5 Select a filtering time to reduce noise of DI5A (CN10A-6) and DI5B (CN10B-6). Setting method is the same as [Pr. PSD12].
Setting
digit Explanation
Initial value
Setting range
_ _ x x Noise rejection filtering time DI5 Refer to table 5.5 for setting.
01h 00h to
05h
_ x _ _ For manufacturer setting 0h
x _ _ _ 0h
Incorrect setting of this parameter will trigger [AL. 7A.3]. Refer to section 7.2 for details.
PSD17 **SDIF6 Input device - Noise rejection filtering time DI6 Select a filtering time to reduce noise of DI6A (CN10A-15) and DI6B (CN10B-15). Setting method is the same as [Pr. PSD12].
Setting
digit Explanation
Initial value
Setting range
_ _ x x Noise rejection filtering time DI6 Refer to table 5.5 for setting.
01h 00h to
05h
_ x _ _ For manufacturer setting 0h
x _ _ _ 0h
Incorrect setting of this parameter will trigger [AL. 7A.3]. Refer to section 7.2 for details.
5. PARAMETERS
5 - 19
No. Symbol Name and function Initial value [unit]
Setting range
PSD18 **SDIDT1 Mismatch permissible time DI1 Set a threshold of mismatch time of DI1A (CN10A-4) and DI1B (CN10B-4). When the mismatch time of DI1A and DI1B reaches the setting value, [AL. 79.7 Mismatched input signal error] will occur. Setting "0" disables alarm detections.
20 [ms]
0 to
60000
PSD19 **SDIDT2 Mismatch permissible time DI2 Set a threshold of mismatch time of DI2A (CN10A-13) and DI2B (CN10B-13). When the mismatch time of DI2A and DI2B reaches the setting value, [AL. 79.7 Mismatched input signal error] will occur. Setting "0" disables alarm detections.
20 [ms]
0 to
60000
PSD20 **SDIDT3 Mismatch permissible time DI3 Set a threshold of mismatch time of DI3A (CN10A-5) and DI3B (CN10B-5). When the mismatch time of DI3A and DI3B reaches the setting value, [AL. 79.7 Mismatched input signal error] will occur. Setting "0" disables alarm detections.
20 [ms]
0 to
60000
PSD21 **SDIDT4 Mismatch permissible time DI4 Set a threshold of mismatch time of DI4A (CN10A-14) and DI4B (CN10B-14). When the mismatch time of DI4A and DI4B reaches the setting value, [AL. 79.7 Mismatched input signal error] will occur. Setting "0" disables alarm detections.
20 [ms]
0 to
60000
PSD22 **SDIDT5 Mismatch permissible time DI5 Set a threshold of mismatch time of DI5A (CN10A-6) and DI5B (CN10B-6). When the mismatch time of DI5A and DI5B reaches the setting value, [AL. 79.7 Mismatched input signal error] will occur. Setting "0" disables alarm detections.
20 [ms]
0 to
60000
PSD23 **SDIDT6 Mismatch permissible time DI6 Set a threshold of mismatch time of DI6A (CN10A-15) and DI6B (CN10B-15). When the mismatch time of DI6A and DI6B reaches the setting value, [AL. 79.7 Mismatched input signal error] will occur. Setting "0" disables alarm detections.
20 [ms]
0 to
60000
PSD24 **SDIP1 Input device - Test pulse diagnosis execution selection 1 Select whether or not to diagnose DI1_ to DI4_ by test pulses outputted from PLSA and PLSB. When executing the test pulse diagnosis with an external device, etc., set "0 (Not diagnose)".
Setting
digit Explanation
Initial value
Setting range
_ _ _ x Test pulse diagnosis execution selection DI1 Select whether diagnose DI1_ or not. 0: Not diagnose 1: Diagnose
1h 0h to 1h
_ _ x _ Test pulse diagnosis execution selection DI2 Select whether diagnose DI2_ or not. 0: Not diagnose 1: Diagnose
1h 0h to 1h
_ x _ _ Test pulse diagnosis execution selection DI3 Select whether diagnose DI3_ or not. 0: Not diagnose 1: Diagnose
1h 0h to 1h
x _ _ _ Test pulse diagnosis execution selection DI4 Select whether diagnose DI4_ or not. 0: Not diagnose 1: Diagnose
1h 0h to 1h
5. PARAMETERS
5 - 20
No. Symbol Name and function Initial value [unit]
Setting range
PSD25 **SDIP2 Input device - Test pulse diagnosis execution selection 2 Select whether or not to diagnose DI5_ and DI6_ by test pulses outputted from PLSA and PLSB. When executing the test pulse diagnosis with an external device, etc., set "0 (Not diagnose)".
Setting
digit Explanation
Initial value
Setting range
_ _ _ x Test pulse diagnosis execution selection DI5 Select whether or not to diagnose DI5_. 0: Not diagnose 1: Diagnose
1h 0h to 1h
_ _ x _ Test pulse diagnosis execution selection DI6 Select whether or not to diagnose DI6_. 0: Not diagnose 1: Diagnose
1h 0h to 1h
_ x _ _ For manufacturer setting 0h
x _ _ _ 0h
PSD26 **SDIPW Input device - Test pulse off time Select off-pulse time of test pulses outputted from PLSA and PLSB.
Setting
digit Explanation
Initial value
Setting range
_ _ _ x Input device - Test pulse off time 1: 0.888 ms 2: 1.777 ms
1h 1h to 2h
_ _ x _ For manufacturer setting 0h
_ x _ _ 0h
x _ _ _ 0h
Incorrect setting of this parameter will trigger [AL. 7A.3]. Refer to section 7.2 for details.
PSD27 **SDID1 Input device - Fixing-diagnosis execution selection 1 at start-up Select whether or not to execute a fixing-diagnosis of DI1_ to DI4_ at start-up.
Setting
digit Explanation
Initial value
Setting range
_ _ _ x Fixing-diagnosis execution selection DI1 at start-up Select whether or not to execute a fixing-diagnosis of DI1_ at start- up. 0: Not diagnose 1: Diagnose
1h 0h to 1h
_ _ x _ Fixing-diagnosis execution selection DI2 at start-up Select whether or not to execute a fixing-diagnosis of DI2_ at start- up. 0: Not diagnose 1: Diagnose
1h 0h to 1h
_ x _ _ Fixing-diagnosis execution selection DI3 at start-up Select whether or not to execute a fixing-diagnosis of DI3_ at start- up. 0: Not diagnose 1: Diagnose
1h 0h to 1h
x _ _ _ Fixing-diagnosis execution selection DI4 at start-up Select whether or not to execute a fixing-diagnosis of DI4_ at start- up. 0: Not diagnose 1: Diagnose
1h 0h to 1h
5. PARAMETERS
5 - 21
No. Symbol Name and function Initial value [unit]
Setting range
PSD28 **SDID2 Input device - Fixing-diagnosis execution selection 2 at start-up Select whether or not to execute a fixing-diagnosis of DI5_ and DI6_ at start-up.
Setting
digit Explanation
Initial value
Setting range
_ _ _ x Fixing-diagnosis execution selection DI5 at start-up Select whether or not to execute a fixing-diagnosis of DI5_ at start- up. 0: Not diagnose 1: Diagnose
1h 0h to 1h
_ _ x _ Fixing-diagnosis execution selection DI6 at start-up Select whether or not to execute a fixing-diagnosis of DI6_ at start- up. 0: Not diagnose 1: Diagnose
1h 0h to 1h
_ x _ _ For manufacturer setting 0h
x _ _ _ 0h
PSD29 **SDOP Output device - Test pulse execution selection Select whether or not to diagnose DO1_ to DO4_ by test pulses. Selecting "0" (Not diagnose) will not transmit the test pulses from DO1_ to DO4_.
Setting
digit Explanation
Initial value
Setting range
_ _ _ x Test pulse diagnosis execution selection DO1 Select whether or not to diagnose DO1_ by test pulses. 0: Not diagnose 1: Diagnose
1h 0h to 1h
_ _ x _ Test pulse diagnosis execution selection DO2 Select whether or not to diagnose DO2_ by test pulses. 0: Not diagnose 1: Diagnose
1h 0h to 1h
_ x _ _ Test pulse diagnosis execution selection DO3 Select whether or not to diagnose DO3_ by test pulses. 0: Not diagnose 1: Diagnose
1h 0h to 1h
x _ _ _ Test pulse diagnosis execution selection DO4 Select whether or not to diagnose DO4_ by test pulses. 0: Not diagnose 1: Diagnose This digit is available with MR-D30 manufactured in October, 2014 or later.
1h 0h to 1h
5. PARAMETERS
5 - 22
No. Symbol Name and function Initial value [unit]
Setting range
PSD30 **SDOPW Output device - Test pulse off time Select off-pulse time of the test pulses outputted from the devices of DO1_ to DO4_. This setting is enabled for DO1_ to DO4_ in which "1" (Diagnose) is set with [Pr. PSD29].
Setting
digit Explanation
Initial value
Setting range
_ _ _ x Test pulse off time DO1 Select off-pulse time outputted from DO1_. Refer to table 5.6 for settings.
0h 0h to 2h
_ _ x _ Test pulse off time DO2 Select off-pulse time outputted from DO2_. Refer to table 5.6 for settings.
0h 0h to 2h
_ x _ _ Test pulse off time DO3 Select off-pulse time outputted from DO3_. Refer to table 5.6 for settings.
0h 0h to 2h
x _ _ _ Test pulse off time DO4 Select off pulse time outputted from DO4_. Refer to table 5.6 for settings. This digit is available with MR-D30 manufactured in October, 2014 or later.
0h 0h to 2h
Table 5.6 Off time selection
Setting value
Off time [ms]
0 0.444
1 0.888
2 1.777
6. DISPLAY
6 - 1
6. DISPLAY
MR-D30 has four LED indications. They indicate the following.
POWER RUN STO ERROR
Green Green Yellow Red
LED Lighting status
Description
POWER On Power is being supplied.
Off Power is not supplied.
RUN On The safety observation function is in activation. STO, SS1, SS2/SOS, or SLS function is being executed, shutting off normally or observing.
Off The safety observation function is not in activation because an operation command of the safety observation function is not inputted or an internal diagnosis error has occurred.
STO On STO function is in activation. The power to the motors is shut off.
Off STO function is not in activation. The power to the motors is not shut off.
ERROR On An error has been detected for MR-D30. (Note)
Blinking An error has been detected for MR-D30.
Off An error is not detected in MR-D30.
Note. When MR-D30 is attached to a servo amplifier not supporting MR-D30, "ERROR" turns on. Refer to
section 1.1 for the software version of a servo amplifier that is compatible with MR-D30.
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 in activation.
The safety observation function is not in activation.
95._
Safety observation function is in activation. (shut-off)
STO or SS1 functions are in activation.
Normal
Safety observation function is in activation. (observation in progress)
SLS or SS2/SOS function is in activation.
/ / Alarm No. Error has occurred. An error has been detected. Refer to chapter 7 for error details. (Note)
Alarm No. Error has occurred (watchdog)
Watchdog is occurring due to parts error, such as the CPU.
( : On, : Blinking, : Off) Note. When MR-D30 is attached to a servo amplifier not supporting MR-D30, "ERROR" turns on. Refer to section 1.1 for the software
version of a servo amplifier that is compatible with MR-D30.
6. DISPLAY
6 - 2
MEMO
7. TROUBLESHOOTING
7 - 1
7. TROUBLESHOOTING
POINT
Refer to "MELSERVO-J4 Servo Amplifier Instruction Manual (Troubleshooting)"
for details of alarms and warnings.
This chapter shows alarms and warnings which may occur by using a servo
amplifier with MR-D30. For other alarms, refer to each servo amplifier instruction
manual.
As soon as an alarm occurs, make the servo-off status and shut off the main
circuit power.
[AL. 37 Parameter error] and warnings are not recorded in the alarm history.
7.1 Alarm and warning list
The following shows alarms and warnings which are added for the functional safety unit.
When the alarm or the warning occurs, refer to "MELSERVO-J4 Servo Amplifier Instruction Manual
(Troubleshooting)" to remove the failure. When an alarm occurs, ALM (Malfunction) will be off.
After its cause has been removed, the alarm can be deactivated in any of the methods marked in the
alarm deactivation column in the following table. For the procedures of alarm reset, refer to section 4.5.10.
Warnings are automatically canceled after the cause of occurrence is removed.
7. TROUBLESHOOTING
7 - 2
(1) Alarms
No. Name Detail No.
Detail name Stop
method
(Note 1, 2)
Alarm which
SSM is disabled
(Note 4)
Alarm reset
E rr
or r
es et
C P
U r
e se
t
P ow
er o
ff
to o
n
A la
rm
34 SSCNET receive error 1
34.5 SSCNET receive data error (safety observation function)
SD
34.6 SSCNET communication data error (safety observation function)
SD
36 SSCNET receive error 2 36.2 Continuous communication data error (safety observation function)
SD
63 STO timing error 63.5 STO by functional safety unit STO/DB
64 Functional safety unit setting
error
64.1 STO input error DB
64.2 Compatibility mode setting error DB
64.3 Operation mode setting error DB
65.1 Functional safety unit communication error 1 SD
65.2 Functional safety unit communication error 2 SD
65.3 Functional safety unit communication error 3 SD
Functional safety unit
connection error
65.4 Functional safety unit communication error 4 SD
65 65.5 Functional safety unit communication error 5 SD
65.6 Functional safety unit communication error 6 SD
65.7 Functional safety unit communication error 7 SD
65.8 Functional safety unit shut-off signal error 1 DB
65.9 Functional safety unit shut-off signal error 2 DB
66 Encoder initial communication
error (safety observation function)
66.1 Encoder initial communication - Receive data error 1 (safety observation function)
DB
66.2 Encoder initial communication - Receive data error 2 (safety observation function)
DB
66.3 Encoder initial communication - Receive data error 3 (safety observation function)
DB
66.7 Encoder initial communication - Transmission data error 1 (safety observation function)
DB
66.9 Encoder initial communication - Process error (safety observation function)
DB
67.1 Encoder communication - Receive data error 1 (safety observation function)
DB
Encoder normal communication error 1 (safety observation
function)
67.2 Encoder communication - Receive data error 2 (safety observation function)
DB
67 67.3 Encoder communication - Receive data error 3 (safety observation function)
DB
67.4 Encoder communication - Receive data error 4 (safety observation function)
DB
67.7 Encoder communication - Transmission data error 1 (safety observation function)
DB
79.1 Functional safety unit power voltage error STO/DB
(Note 3)
79.2 Functional safety unit internal error STO/DB
79 Functional safety unit diagnosis
error
79.3 Abnormal temperature of functional safety unit SS1/SD
(Note 3)
79.4 Servo amplifier error SS1/SD
79.5 Input device error SS1/SD
79.6 Output device error SS1/SD
79.7 Mismatched input signal error SS1/SD
79.8 Position feedback fixing error STO/DB
7A Parameter setting error
(safety observation function)
7A.1 Parameter verification error (safety observation function)
STO/DB
7A.2 Parameter setting range error (safety observation function)
STO/DB
7A.3 Parameter combination error (safety observation function)
STO/DB
7A.4 Functional safety unit combination error (safety observation function)
STO/DB
7. TROUBLESHOOTING
7 - 3
No. Name Detail No.
Detail name Stop
method
(Note 1, 2)
Alarm which
SSM is disabled
(Note 4)
Alarm reset
E rr
or r
es et
C P
U r
e se
t
P ow
er o
ff
to o
n
A la
rm
7B.1 Encoder diagnosis error 1 (safety observation function)
SS1/EDB
7B Encoder diagnosis error
(safety observation function)
7B.2 Encoder diagnosis error 2 (safety observation function)
SS1/EDB
7B.3 Encoder diagnosis error 3 (safety observation function)
SS1/EDB
7B.4 Encoder diagnosis error 4 (safety observation function)
SS1/EDB
7C Functional safety unit
communication diagnosis error (safety observation function)
7C.1 Functional safety unit communication setting error (safety observation function)
SS1/SD
(Note 3)
7C.2 Functional safety unit communication data error (safety observation function)
SS1/SD
(Note 3)
7D Safety observation error
7D.1 Stop observation error STO/DB
7D.2 Speed observation error STO/DB
(Note 3)
Note 1. The following shows stop methods. For other stop methods, refer to section 4.5.2 (3) (a).
DB: Stops with dynamic brake. (Coasts for the servo amplifier without dynamic brake.)
SD: Forced stop deceleration
STO/DB: Dynamic brake stop with STO function
SS1/SD: Forced stop deceleration with SS1 function
SS1/EDB: Electronic dynamic brake stop (available with specified servo motors)
Refer to the following table for the specified servo motors. The stop method for other than the specified servo
motors is SS1/DB.
Series Servo motor
HG-KR HG-KR053/HG-KR13/HG-KR23/HG-KR43
HG-MR HG-MR053/HG-MR13/HG-MR23/HG-MR43
HG-SR HG-SR51/HG-SR52
2. This is applicable when [Pr. PA04] is set to the initial value. The stop system of SD can be changed to DB using [Pr. PA04].
[Pr. PA04] is a parameter for servo amplifiers.
3. Reset this while all the safety observation functions are stopped.
4. The SSM function will be disabled and each output device will turn off.
(2) Warnings
No. Name Detail No.
Detail name Stop
method
(Note 1, 2)
Alarm which
SSM is disabled
with
(Note 3)
W ar
ni ng
95 STO warning
95.3 STO warning 1 (safety observation function) STO/DB
95.4 STO warning 2 (safety observation function) STO/DB
95.5 STO warning 3 (safety observation function) STO/DB
E6 Servo forced stop warning
E6.2 SS1 forced stop warning 1 (safety observation function)
SS1/SD
E6.3 SS1 forced stop warning 2 (safety observation function)
SS1/SD
Note 1. The following shows stop methods.
STO/DB: Dynamic brake stop operating the STO function
SS1/SD: Forced stop deceleration operating the SS1 function
2. This is applicable when [Pr. PA04] is set to the initial value. The stop method of SS1/SD can be changed to SS1/DB with [Pr.
PA04]. [Pr. PA04] is a parameter for servo amplifiers.
3. The SSM function will be disabled and each output device will turn off.
7. TROUBLESHOOTING
7 - 4
7.2 Combinations of the parameters that trigger [AL. 7A.3 Parameter combination error (safety observation
function)]
Incorrect setting of the parameters described in this section will trigger [AL. 7A.3].
(1) Parameters related to [Pr. PSA02 Functional safety unit setting]
Safety observation function control by input device Safety observation function control by network Motor-less operation
Safety observation function
STO/SS1/SBC STO/SS1/SBC/ SLS/SSM/SOS/
SS2
STO/SS1/SBC/ SLS/SSM
STO/SS1/SBC STO/SS1/SBC/ SLS/SSM/SOS/
SS2
STO/SS1/SBC/ SLS/SSM
Servo motor with functional safety
Not required Required Not required Not required Required Not required
[Pr. PSA02 Functional safety unit setting]
_ _ 0 0 _ _ 1 0 _ _ 2 0 _ _ 0 1 _ _ 1 1 _ _ 2 1 _ _ _ 2
[Pr. PSD01 Input device automatic activation selection]
_ _ _ 0 _ _ _ 0/_ _ _ 1 _ _ _ 0/_ _ _ 1 _ _ _ 0
[Pr. PSD02 Input device selection DI1] to [Pr. PSD07 Input device selection DI6] (Note 1)
_ _ 0 0 to _ _ 0 2 _ _ 0 0 to _ _ 0 7 _ _ 0 0 to _ _ 0 2
_ _ 0 4 to _ _ 0 7
[Pr. PSD08 Output device selection DO1] to [Pr. PSD11 Output device selection DO4] (Note 2)
_ _ 0 0 to _ _ 0 2
_ _ 0 A _ _ 0 0 to _ _ 0 A
_ _ 0 0 to _ _ 0 2
_ _ 0 4 to _ _ 0 8
_ _ 0 A
[Pr. PSA20 Servo motor encoder resolution - Lower]
[Pr. PSA21 Servo motor encoder resolution - Upper]
Set the servo motor encoder
resolution.
Set the servo motor encoder
resolution.
[Pr. PSC03 Safety communication - Servo motor rotation direction selection with functional safety]
Set the same value as that of
[Pr. PA14] of the servo amplifier.
Motor-less operation Impossible Possible Note 1. Set a value other than "00" for at least one of DI1 to DI6. Assign different devices to DI1 to DI6.
2. Set a value other than "00" for at least one of DO1 to DO4.
When [Pr. PSA02 Functional safety unit setting] is set to "_ _ _ 1" and [Pr. PSC03 Safety communication
- Servo motor rotation direction selection with functional safety] is set to "1 _ _ _", set the same value in
the servo amplifier's station number setting or rotary switch axis No. and the [Pr. PSC02 Safety
communication - Axis number selection] (_ _ x x).
(2) Parameters related to [Pr. PSA18 SSM speed]
Set [Pr. PSA18 SSM speed] to a value larger than the SSM hysteresis width ([Pr. PSA19 SSM
hysteresis width]).
(3) Parameters related to [Pr. PSD12 Input device - Noise rejection filtering time DI1] to [Pr. PSD17 Input
device - Noise rejection filtering time DI6].
Set [Pr. PSD12 Input device - Noise rejection filtering time DI1] to [Pr. PSD17 Input device - Noise
rejection filtering time DI6] to a value smaller than that of [Pr. PSD26 Input device - Test pulse off time].
8. DIMENSIONS
8 - 1
8. DIMENSIONS
8.1 MR-D30 functional safety unit
[Unit: mm]
20
28
95.4
99.2
104.2
1 6
1
9 7
2 4
.5 1
1 4
.5
Rating plate
Four fixing screws for connectors Tightening torque: 0.2 Nm to 0.3 Nm
Mounting screw Screw size: M4 Tightening torque: 1.65 Nm
5 6 mounting hole for grounding
Mass: 0.15 kg
8. DIMENSIONS
8 - 2
8.2 When an MR-D30 is attached to a servo amplifier
POINT
For MR-J4-DU900_-RJ to MR-J4-DU22K_-RJ servo amplifiers, the dimensions
remain the same because MR-D30 is attached inside the drive unit.
Servo amplifierServo amplifier
L
L
MR-D30 MR-D30
100 V/200 V 0.1 kW to 3.5 kW 400 V 0.6 kW to 2 kW
200 V 5 kW/7 kW 400 V 3.5 kW to 7 kW
Servo amplifier L [mm]
MR-J4-10_1-RJ to MR-J4-40_1-RJ MR-J4-10_-RJ to MR-J4-100_-RJ MR-J4-60_4-RJ to MR-J4-100_4-RJ
20
MR-J4-200_-RJ/MR-J4-350_-RJ MR-J4-200_4-RJ
15
MR-J4-500_-RJ/MR-J4-700_-RJ MR-J4-350_4-RJ to MR-J4-700_4-RJ
10
MR-J4-11K_-RJ to MR-J4-22K_-RJ MR-J4-11K_4-RJ to MR-J4-22K_4-RJ MR-J4-DU30K_-RJ to MR-J4-DU37K_-RJ MR-J4-DU30K_4-RJ to MR-J4-DU55K_4-RJ
0
APPENDIX
App. - 1
APPENDIX
App. 1 EC declaration of conformity
MR-D30 complies with the safety components laid down in the machinery directive.
When the servo motor with functional safety is not used, some functions are rated SIL 2, PL d, category 3
(indicated with "with Non-safety encoder" in the certificate).
The functions described in the certificate are unusable, unless otherwise explained in this instruction manual.
REVISION
*The manual number is given on the bottom left of the back cover. Revision Date *Manual Number Revision
Apr. 2014 SH(NA)030132ENG-A First edition
Jan. 2015 SH(NA)030132ENG-B Servo motors with functional safety are added.
SS2/SOS/SM functions are added.
DO4_ is added.
The status monitor function is added.
MR-J4-_A_-RJ is added.
Safety Instructions
(2) Wiring
Section 1.1
Section 1.1 (1)
Section 1.1 (2)
Section 1.2
Section 1.3.1
Section 1.3.2
Section 1.4.1
Section 1.4.2
Section 1.5
Section 1.6
Section 1.7
Section 1.9.1 (8)
Section 1.9.2 (2), (3)
Section 2.1 (1) (b)
Section 2.6
Section 2.6 (1)
Chapter 3
Section 3.1
Section 3.2.1
Section 3.2.2
Section 3.3.1 (1)
Section 3.3.2 (1)
Section 3.3.3
Section 3.3.4
Section 3.5
Section 3.6.1
Section 3.6.2
Section 3.6.3
Section 3.8.1 (1)
Section 3.8.1 (2)
Section 3.8.2
Section 3.9
Chapter 4
Section 4.1
Section 4.1 (1)
Section 4.1 (2)
Section 4.1 (3)
Section 4.3.1
Section 4.3.2 (e)
Section 4.3.3
Section 4.3.3 (3)
Section 4.3.4 (1)
Section 4.3.4 (2)
Section 4.4.1 (1) (d)
Section 4.4.1 (2) (a)
The diagram is added.
The table is changed.
The sentences are changed.
The table is changed.
Added.
The diagram is changed.
Added.
POINT is added.
Added.
The table is changed.
The table is changed.
Sentences of POINT and table are changed.
The sentences are changed.
The sentences are changed.
The sentences in POINT are changed.
The sentences of Note are changed.
The diagram is changed.
The diagram of CAUTION and POINT are changed.
The sentences and diagram are changed. Note is added.
The diagram is changed.
The diagram is changed.
The diagram is changed.
The diagram is changed.
The sentences and diagram are changed.
Added.
Item name and sentences are changed.
The table is changed.
The sentences and table are changed.
The table is changed.
The sentences are added and diagram is changed.
The sentences are added and diagram is changed.
Added.
Added.
POINT is changed.
Added.
The table is changed.
The table is changed.
The table is changed.
The table is changed.
Added.
The table is changed.
The item name is changed.
The sentences are changed.
The sentences are changed.
The sentences are added.
The table is changed.
Revision Date *Manual Number Revision
Jan. 2015 SH(NA)030132ENG-B Section 4.4.1 (3) (a)
Section 4.4.1 (4) (a)
Section 4.4.1 (4) (b)
Section 4.4.1 (5) (a)
Section 4.4.1 (5) (b)
Section 4.4.1 (6)
Section 4.4.2 (1) (a)
Section 4.4.2 (1) (b)
Section 4.4.2 (2)
Section 4.4.2 (3) (a)
Section 4.4.2 (3) (b)
Section 4.4.2 (4) (a)
Section 4.4.3 (1) (b)
Section 4.4.3 (1) (c)
Section 4.4.4
Section 4.4.5
Section 4.5.1 (2) (a)
Section 4.5.1 (2) (b)
Section 4.5.2 (2) (a)
Section 4.5.2 (2) (a)
Section 4.5.2 (2) (b)
Section 4.5.2 (2) (c)
Section 4.5.2 (3) (b)
Section 4.5.2 (3) (c)
Section 4.5.2 (3) (d)
Section 4.5.3
Section 4.5.4
Section 4.5.4 (4) (a)
Section 4.5.4 (4) (b)
Section 4.5.4 (5)
Section 4.5.5 (2) (a)
Section 4.5.6 (2)
Section 4.5.6 (3)
Section 4.5.9 (2)
Chapter 5
Section 5.1
Section 5.2.1
Section 5.2.2
Section 5.2.3
Chapter 6
Section 7.1 (1)
Section 8.1
Section 8.2
APPENDIX
The sentences are added.
The diagram is changed.
The diagram is changed.
The sentences are added.
The sentences are added.
The table is changed.
The sentences are changed.
The sentences are changed.
The sentences and table are changed.
The sentences are changed.
The sentences are changed.
The sentences and diagram are changed.
The sentences are changed.
Deleted.
Added.
Added.
The sentences and diagram are changed.
The sentences and diagram are changed.
The sentences and diagram are changed.
The sentences and diagram are changed.
The sentences and diagram are changed.
The sentences and diagram are changed.
The sentences and diagram are changed.
The sentences and diagram are changed.
The sentences and diagram are changed.
Added.
The sentences are changed.
The sentences are changed.
The sentences are changed.
The table is changed.
The diagram is changed.
The sentences and diagram are changed.
The sentences are changed.
Added.
The sentences in POINT are changed.
The table is changed.
The table is changed.
The table is changed.
The table is changed.
The table and Note are changed.
The table is changed.
The diagram is changed.
The table is changed.
Added.
Dec. 2016 SH(NA)030132ENG-C MR-J4-DU_-RJ and MR-J4-_GF_-RJ are added.
Safety Instructions
1. To prevent electric shock,
note the following
The sentences are partially deleted.
4. Additional instructions
(1) Transportation and
installation
The environment is partially changed.
(2) Wiring The sentence is added.
(5) Corrective actions The sentences are added.
(6) Maintenance, inspection
and parts replacement
The sentences are added.
Revision Date *Manual Number Revision
Dec. 2016 SH(NA)030132ENG-C About the manuals The sentence is added and table is changed.
Section 1.1 The sentences are added to POINT. The tables are changed.
The sentences are changed.
Section 1.1 (2) (b) Table 1.1 is changed.
Section 1.3.1 (1) Added.
Section 1.3.4 Added.
Section 1.3.5 Added.
Section 1.5 The part of table is changed.
Section 1.6 The part of table is changed.
Section 1.7 The part of table is changed.
Section 2.1 POINT is added.
Section 2.3 The sentence is added.
Section 2.6 CAUTION is added. POINT is added.
Section 3.4 POINT is added.
Section 3.8.1 Added.
Section 4.1 (1) (b) The part of table is changed.
Section 4.4.3 (1) (a) The sentence is changed.
Section 4.4.3 (1) (b) The sentence is changed.
Section 4.5.5 (2) (a) The sentences are changed.
Section 4.5.9 (2) (b) The diagram is changed.
Chapter 5 POINT is changed.
Section 5.1.2 PSC04 is added.
Section 5.2.1 PSA02 to PSA06, PSA15, PSA17, PSA19, and PSA21 are
partially changed.
Section 5.2.2 The sentences are added to PSC01 to PSC03. PSC04 is
added.
Section 5.2.3 The sentences are added to PSD01 to PSD17, and PSD26.
Chapter 6 The notes of the table are changed.
Section 7.2 Added.
Section 8.2 POINT is added. The table is changed.
App. 1 The certificate is updated.
Apr. 2017 SH(NA)030132ENG-D The description of the safety observation function control by network is added for
MR-J4-_GF_-RJ.
Section 1.1 (1) (a) 2) Added.
Section 1.1 (2) (b) Added.
Section 1.3.1 (2) Added.
Section 1.4.1 (2) Added.
Section 1.5 The part of table is changed.
Section 1.6 The part of table is changed.
Section 3.8.1 (2) Added.
Section 4.1 (1) (a) Added.
Section 4.4.3 (1) The content is changed.
Section 4.4.3 (3) Added.
May 2018 SH(NA)030132ENG-E MR-J4-DU45KB4-RJ100 and MR-J4-DU55KB4-RJ100 are added.
HG-JR110K24W0C, HG-JR150K24W0C, HG-JR180K24W0C, HG-JR200K24W0C, and
HG-JR220K24W0C are added.
Section 1.1 Partially added.
Section 2.11 Partially added.
Section 3.1 Partially added.
Section 3.3 Partially changed.
Section 3.4 Partially added.
Section 4.2.2 Partially added.
Section 4.3 Partially changed. Partially added.
Section 5.1.2 Partially added.
Section 5.2 Partially added.
Revision Date *Manual Number Revision
May 2018 SH(NA)030132ENG-E Section 5.6 Partially added.
Section 7.2 Partially changed.
Chapter 8 POINT is partially changed.
Section 8.1 Partially added.
Section 8.2 Partially added.
Section 8.3 Partially added.
Section 8.3.2 Partially added.
Section 8.5 Partially added.
Section 8.6 Partially added.
Section 8.7 Partially added.
Section 8.8.1 Partially added.
Section 8.8.2 Partially added.
App. 4 Partially added.
App. 6 Partially added.
This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.
2014 MITSUBISHI ELECTRIC CORPORATION
MEMO
MELSERVO is a trademark or registered trademark of Mitsubishi Electric Corporation in Japan and/or other countries. All other product names and company names are trademarks or registered trademarks of their respective companies.
Warranty
1. Warranty period and coverage We will repair any failure or defect hereinafter referred to as "failure" in our FA equipment hereinafter referred to as the "Product" arisen during warranty period at no charge due to causes for which we are responsible through the distributor from which you purchased the Product or our service provider. However, we will charge the actual cost of dispatching our engineer for an on-site repair work on request by customer in Japan or overseas countries. We are not responsible for any on-site readjustment and/or trial run that may be required after a defective unit are repaired or replaced.
[Term]
The term of warranty for Product is twelve (12) months after your purchase or delivery of the Product to a place designated by you or eighteen (18) months from the date of manufacture whichever comes first (Warranty Period). Warranty period for repaired Product cannot exceed beyond the original warranty period before any repair work.
[Limitations]
(1) You are requested to conduct an initial failure diagnosis by yourself, as a general rule. It can also be carried out by us or our service company upon your request and the actual cost will be charged. However, it will not be charged if we are responsible for the cause of the failure.
(2) This limited warranty applies only when the condition, method, environment, etc. of use are in compliance with the terms and
conditions and instructions that are set forth in the instruction manual and user manual for the Product and the caution label affixed to the Product.
(3) Even during the term of warranty, the repair cost will be charged on you in the following cases;
(i) a failure caused by your improper storing or handling, carelessness or negligence, etc., and a failure caused by your
hardware or software problem
(ii) a failure caused by any alteration, etc. to the Product made on your side without our approval
(iii) a failure which may be regarded as avoidable, if your equipment in which the Product is incorporated is equipped with a
safety device required by applicable laws and has any function or structure considered to be indispensable according to a common sense in the industry
(iv) a failure which may be regarded as avoidable if consumable parts designated in the instruction manual, etc. are duly
maintained and replaced
(v) any replacement of consumable parts (battery, fan, smoothing capacitor, etc.)
(vi) a failure caused by external factors such as inevitable accidents, including without limitation fire and abnormal fluctuation of
voltage, and acts of God, including without limitation earthquake, lightning and natural disasters
(vii) a failure generated by an unforeseeable cause with a scientific technology that was not available at the time of the shipment
of the Product from our company
(viii) any other failures which we are not responsible for or which you acknowledge we are not responsible for
2. Term of warranty after the stop of production (1) We may accept the repair at charge for another seven (7) years after the production of the product is discontinued. The
announcement of the stop of production for each model can be seen in our Sales and Service, etc.
(2) Please note that the Product (including its spare parts) cannot be ordered after its stop of production.
3. Service in overseas countries Our regional FA Center in overseas countries will accept the repair work of the Product. However, the terms and conditions of the repair work may differ depending on each FA Center. Please ask your local FA center for details.
4. Exclusion of loss in opportunity and secondary loss from warranty liability
Regardless of the gratis warranty term, Mitsubishi shall not be liable for compensation to:
(1) Damages caused by any cause found not to be the responsibility of Mitsubishi.
(2) Loss in opportunity, lost profits incurred to the user by Failures of Mitsubishi products.
(3) Special damages and secondary damages whether foreseeable or not, compensation for accidents, and compensation for damages to products other than Mitsubishi products.
(4) Replacement by the user, maintenance of on-site equipment, start-up test run and other tasks.
5. Change of Product specifications
Specifications listed in our catalogs, manuals or technical documents may be changed without notice.
6. Application and use of the Product (1) For the use of our General-Purpose AC Servo, its applications should be those that may not result in a serious damage even if any
failure or malfunction occurs in General-Purpose AC Servo, and a backup or fail-safe function should operate on an external system to General-Purpose AC Servo when any failure or malfunction occurs.
(2) Our General-Purpose AC Servo is designed and manufactured as a general purpose product for use at general industries.
Therefore, applications substantially influential on the public interest for such as atomic power plants and other power plants of electric power companies, and also which require a special quality assurance system, including applications for railway companies and government or public offices are not recommended, and we assume no responsibility for any failure caused by these applications when used In addition, applications which may be substantially influential to human lives or properties for such as airlines, medical treatments, railway service, incineration and fuel systems, man-operated material handling equipment, entertainment machines, safety machines, etc. are not recommended, and we assume no responsibility for any failure caused by these applications when used. We will review the acceptability of the abovementioned applications, if you agree not to require a specific quality for a specific application. Please contact us for consultation.
SH(NA)030132ENG-E
SH(NA)030132ENG-E(1805)MEE Printed in Japan Specifications are subject to change without notice. This Instruction Manual uses recycled paper.
MODEL
MODEL CODE
General-Purpose
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