Operation Sequence - Mitsubishi Electric MELSERVO-J4 MR-J4 A Series Instruction Manual

APPENDIX
(7) Perform all risk assessments and safety 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.
(8) To prevent accumulation of multiple malfunctions, perform a malfunction check at regular intervals as
deemed necessary by the applicable safety standard. Regardless of the system safety level, malfunction
checks should be performed at least once per year.
(9) If the upper and lower power module in the servo amplifier are shorted and damaged simultaneously, the
servo motor may make a half revolution at a maximum.
App. 7.5 Block diagram and timing chart
(1) Function block diagram
+24V
DCDC
DCDC
power
0V
SW1 SW2

(2) Operation sequence

Power supply
A-axis shutdown 1 and 2 Energizing (close) A 1 2
SDI
B-axis shutdown 1 and 2 Shut-off (open)
B 1 2
A-axis EMG start/reset Release (close)
A
SRES
B-axis EMG start/reset Normal (open)
B
A-axis STO state 1 and 2 Normal (close) A STO1 2
STO
B-axis STO state 1 and 2 Shut-off (open) B STO1 2
Note. Refer to App. 7.10.
SRESA+ SRESA- TOF1A TOF2A
Safety logic
TIMER1
TIMER2
SDI1A- SDI2A- SDI1B- SDI2B-
15 ms or longer
15ms
( )
( )
50 ms or longer
50ms
( )
( )
( )
( )
STO status
STO
App. - 12
TOFA STO1A+ STO2A+
STO1A- STO2A-
10 ms or shorter
10ms
Control enabled
A-axis circuit
A
SDO1A+ SDO2A+
B-axis circuit
B
SDO1A- SDO2A-
Shut off delay (SW1 and SW2) (Note)
(SW1 SW2)( )
STO status
STO
Control enabled