Contents

Mitsubishi MR-D30 Servo Instruction Manual PDF

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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

C on

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X0 X1

T0 T1

S1

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

A pp

lic at

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A pp

lic at

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C on

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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

C on

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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

A pp

lic at

io n

A pp

lic at

io n

Safety controller MELSEC-WS series CPU module WSO-CPU0 Safety I/O combined module WS0-XTIO

C on

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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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