External I/O Signal Connection Example Using A Motion Controller - Mitsubishi Electric MR-J4 Instruction Manual

13. USING STO FUNCTION

13.3.4 External I/O signal connection example using a motion controller

This connection diagram is an example of STO circuit configured with a servo amplifier and motion
controller. Use the switch that complies with the requirement of ISO/EN ISO 13849-1 category 3 PL d as an
emergency stop switch. This connection example complies with the requirement of ISO/EN ISO 13849-1
category 3 PL d. The following shows an example of I/O (X and Y) signal assignment of the motion controller
safety signal module. For details, refer to the motion controller user's manual.
24 V
Motion controller
CPU safety signal module
(iQ platform compatible) (Q173DSXY)
Door signal (MC)
Q17_DSCPU
Shut-off
signal (MC)
Shut-off verification
signal (M)
Shut-off verification
signal (PLC)
Programmable
controller CPU
(iQ platform
compatible) Shut-off
signal (PLC)
Door signal (PLC)
0 V
S1: STO shut-off switch (STO switch)
KM1: Magnetic contactor
EMG: Emergency stop switch
POINT
This connection is for source interface. For the other I/O signals, refer to the
connection examples in section 3.2.2.
For MC-Y0B and PC-Y0B, design a sequence program to output MC-Y0B and
PC-Y0B after the servo motor stops.
S1
MC I/O
B20
MC-X00
A1
0 V
B09
MC-Y0B
B1
24 V DC
B19
MC-X01
PLC I/O
B19
PC-X01
B1
24 V DC
B09
PC-Y0B
B20
PC-X00
A1
0 V
EMG
EM2
STO1
TOFCOM
TOFB1
TOFB2
STOCOM
STO2
KM1
13 - 10
KM1
Servo amplifier
CN8
Control circuit
CN3
EM2
Servo motor
M