Safety Communication Function; Safety Connection - Mitsubishi Electric CR800-R Instruction Manual

4.7 Safety Communication Function

This function communicates with the external safety device (safety programmable controller) using functional
safety-compatible protocols. Input signals are used to switch the safety monitoring function, and output signals
are used to output the status of the safety monitoring functions. If a communication error is detected, the SS1
function will stop the robot.

Safety connection

4.7.1
Safety connection has three states: disconnected, waiting for connection establishment, and established. The
safety connection status can be checked using a state variable or dedicated signals. After safety connection
has been established, operate the robot.
Connection
establishment failed
Safety monitoring
functions: enabled
<1> Disconnected
Connection error (H level)
SS1 (STO) enabled
SCNI input: OFF
Connection establishment failed
<1> Disconnected
If a communication error occurs or safety connection establishment fails, the robot controller will
generate an error to stop the robot safely using SS1/STO, and disconnect safety connection. When
safety connection is disconnected, all safety inputs SCNI are recognized as OFF. Safety communication
cannot restart while a safety communication function error is occurring. If any of the errors shown in
Table 4-14 occurs, ensure safety and reset the error. The robot controller will wait for safety connection
to be established. The safety station interlock function is also activated for the safety CPU module of
the master station. Release the safety station interlock. Refer to the following manuals.
□ MELSEC iQ-R CPU Module User's Manual (Startup) (SH-081263ENG)
□ MELSEC iQ-R CPU Module User's Manual (Application) (SH-081264ENG)
□ MELSEC iQ-R Safety Application Guide (SH-081538ENG)
<2> Waiting for
connection establishment
Ready to receive a
connection establishment
request
SS1 (STO) enabled
Safety monitoring functions:
disabled
SCNI input: OFF
<2> Waiting for
Reset operation connection establishment
→ error cleared
Ready to receive a
connection establishment
request
SS1 (STO) enabled
SCNI input: OFF
Communication error occurring
Fig. 4-67: Safety connection status
4 SAFETY MONITORING FUNCTIONS
Powering on and starting up the robot controller
A connection establishment
request from the
master station
A connection
establishment
request from
the master
station
Safety Communication Function 4-73
Safety monitoring
functions: enabled
<3> Established
Servo on ready