Omron G9SP Series Reference Manual
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Omron G9SP Series Reference Manual

Safety controller
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Cat. No. Z923-E1-02
G9SP Series
Safety Controller
Instructions Reference Manual

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  • Page 1 Cat. No. Z923-E1-02 G9SP Series Safety Controller Instructions Reference Manual...
  • Page 3 OMRON. No patent liability is assumed with respect to the use of the information contained herein. Moreover, because OMRON is con- stantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice.
  • Page 5 G9SP-series Safety Controller: G9SP-N@@@ Instructions Reference Manual Revised September 2010...
  • Page 7 Introduction Thank you for purchasing a G9SP-series Safety Controller. This manual contains information required to use the G9SP-series Controller. Please thoroughly read and understand this manual before you use the G9SP-series Controller. Intended Audience This manual is intended for the following personnel, who must also have knowledge of electrical systems (an electrical engineer or the equivalent).

  • Page 8: Manual Configuration

    Manual Configuration Information on the operation of G9SP-series Safety Controllers is provided in the following manuals. Refer to the specific manual depending on the information that is required. Manual name Contents Cat. No. G9SP-series Safety This manual describes the safety programming methods, provides the Z923 Controller Instructions specifications, and describes the functions and operating methods of the...
  • Page 9 Sections in this Manual Function Block Overview Function Blocks Descriptions of Function Blocks...

  • Page 11: Table Of Contents

    TABLE OF CONTENTS Introduction ..............Manual Configuration .
  • Page 12 TABLE OF CONTENTS...
  • Page 13 WHETHER SUCH CLAIM IS BASED ON CONTRACT, WARRANTY, NEGLIGENCE, OR STRICT LIABILITY. In no event shall the responsibility of OMRON for any act exceed the individual price of the product on which liability is asserted. IN NO EVENT SHALL OMRON BE RESPONSIBLE FOR WARRANTY, REPAIR, OR OTHER CLAIMS...

  • Page 14: Application Considerations

    Application Considerations SUITABILITY FOR USE OMRON shall not be responsible for conformity with any standards, codes, or regulations that apply to the combination of products in the customer's application or use of the products. At the customer's request, OMRON will provide applicable third party certification documents identifying ratings and limitations of use that apply to the products.

  • Page 15: Dimensions And Weights

    Performance data given in this manual is provided as a guide for the user in determining suitability and does not constitute a warranty. It may represent the result of OMRON's test conditions, and the users must correlate it to actual application requirements. Actual performance is subject to the OMRON Warranty and Limitations of Liability.

  • Page 17: Safety Precautions

    Safety Precautions Definition of Precautionary Information The following notation is used in this manual to provide precautions required to ensure safe usage of a G9SP-series Controller. The safety precautions that are provided are extremely important to safety. Always read and heed the information provided in all safety precautions. The keywords and their definitions are as given below.
  • Page 18 WARNING This is the Instructions Reference Manual for the G9SP-series Safety Controllers. Obey the following warnings during system construction to ensure that safety-related components are configured to enable the system functions to sufficiently operate. ● Risk Assessment The proper use of the safety devices described in this manual as they relate to installation conditions and mechanical performance and functions is a prerequisite for its use.
  • Page 19 WARNING Electric shock may occur. Do not touch the terminals while power is being supplied. Serious injury may possibly occur due to loss of required safety functions. Do not use the G9SP-series Controller's Test Outputs or Standard Outputs as Safety Outputs. Serious injury may possibly occur due to loss of required safety functions.

  • Page 20: Glossary

    Expansion I/O Unit The name of the CP1W-20EDT(-1) and CP1W-32ET(-1). Some of the OMRON CP1-series Expansion I/O Units can be used in a G9SP-series Controller. Expansion I/O Units are connected to a G9SP-series Controller to increase the number of Standard I/O points.
  • Page 21 Acronyms Acronym Meaning Probability of Failure on Demand. Probability of Failure per Hour. Memory Cassette. Safety Input. An input from a Safety Input terminal. This term is used to differentiate from a Standard Input (IN). Safety Output. An output from a Safety Output terminal. This term is used to differentiate from a Standard Output (OUT).
  • Page 22 xxii...

  • Page 23: Function Block Overview

    SECTION 1 Function Block Overview This section provides an overview of the G9SP function blocks. Outline............1-1-1 Function Block Basics .

  • Page 24: Outline

    Outline Section 1-1 Outline Logic programming for G9SP-series Controllers is performed using function blocks. Various safety applications can be created by using the function blocks described in this manual for programming that complies with safety standards. 1-1-1 Function Block Basics Function blocks are created using input tags, which indicate data input sources, and output tags, which indicate data output destinations.
  • Page 25 Section 1-1 Outline • Communications Reception Data The G9SP-series Controller can use data received from the Option Board. • Special Flags The following flags can be used. Flag name Meaning Always ON Always ON (value: 1). Always OFF Always OFF (value: 0). First Scan ON (value: 1) only for the first scan after startup.

  • Page 26: Programming

    Outline Section 1-1 Precautions for Safe Use Special measures have been implemented for data that is indicated by the safety mark so that this data can be used in safety controls. Do not use any data without the safety mark in safety controls. !WARNING Always sufficiently verify that the safety-related signals used in programming meet applicable standards and regulations.

  • Page 27: Function Block Editing

    Section 1-2 Function Block Editing Function Block Editing Function blocks can be edited to set parameters, add optional I/O, and add comments for the application. The displayed tabs and contents of the settings depend on the function block. Tabs: • Function block parameters •...

  • Page 28: Comments

    Section 1-2 Function Block Editing Fault Present Fault Present is a diagnostic status bit that is enabled by selecting a check box located on the In/Out Setting or Output Point Tab Page. This bit turns ON when the function block detects incorrect logic or other errors in the input data.

  • Page 29: Function Blocks

    SECTION 2 Function Blocks This section provides tables of the G9SP function blocks. Function Blocks ..........2-1-1 Logic Functions .

  • Page 30: Function Blocks

    Section 2-1 Function Blocks Function Blocks The G9SP-series Controllers support the following logic functions and func- tion blocks. 2-1-1 Logic Functions Name Notation on Icon Details Support by Page Function List NE1A-series Controllers Outputs the logical complement of the input All unit versions condition.

  • Page 31: Timer/Counter Functions

    Section 2-1 Function Blocks 2-1-2 Timer/Counter Functions Name Notation on Icon Details Support by Page Function List NE1A-series Controllers Off-Delay Timer Off-Delay Operates an OFF-delay timer. All unit versions Timer On-Delay Timer On-Delay Operates an ON-delay timer All unit versions Timer Pulse Genera- Pulse Genera-...

  • Page 32: Operation

    Redundant Generic Two- Monitors for discrepancies in two input signals. Not supported. Input input Monitor- Single Beam Single Beam Monitors the input signal of an OMRON E3ZS/ Not supported. Safety Sensor Safety Sensor E3FS Single-beam Safety Sensor. Monitoring Non-Contact Non-Contact The Non-Contact Door Switch function block Not supported.

  • Page 33: Descriptions Of Function Blocks

    SECTION 3 Descriptions of Function Blocks This section describes specifications that are common to all of the function blocks and describes how to use function blocks. Using this Section ..........Specifications for All Function Blocks .

  • Page 34: Using This Section

    Using this Section Section 3-1 Using this Section The following items are described for each function block. Item Contents Instruction Name The name of the function block is given. Example: Emergency Stop Switch Monitoring Overview An overview of the function block functions is provided. Diagram The Logic Editor symbol is shown.
  • Page 35 Section 3-2 Specifications for All Function Blocks 3-2-1 Operation at Startup When operation of the G9SP-series Controller is started, many function blocks will turn OFF all errors, restart all timers, and perform outputs accord- ing to the input status in the same manner as in the normal cycle. Some func- tion blocks require processing only at startup of operation.
  • Page 36 Specifications for All Function Blocks Section 3-2 The following truth tables outline the internal evaluations performed by the G9SP-series Controller for each type of input signal. In the tables, 0 indicates OFF and 1 indicates ON. Setting: Single Channel Input 1 (NC) Output Enable Setting: Dual Channel Equivalent...
  • Page 37 Section 3-2 Specifications for All Function Blocks Setting: Dual Channel Complementary (2 Pairs) Input 1 (NC) Input 2 (NO) Input 3 (NC) Input 4 (NO) Output Enable Discrepancy Time If the function block input type is set to Dual Channel, the discrepancy time (i.e., the time between changes in the inputs) can be evaluated.
  • Page 38 Section 3-2 Specifications for All Function Blocks Normal Operation Example for Dual Channel Equivalent Setting Input 1 Input 2 Discrepancy time Discrepancy time Output Enable Normal Discrepancy Error Discrepancy Error Operation Example for Dual Channel Equivalent Setting Input 1 Input 1 Input 2 Input 2 Discrepancy time...
  • Page 39 Specifications for All Function Blocks Section 3-2 Timer Operation Conditions for Discrepancy Time When operation is started, calculation of the discrepancy time will start regardless of whether a function test is required if the status of input 1 and input 2 are discrepant. Input 1 Input 2 Discrepancy...
  • Page 40 Section 3-2 Specifications for All Function Blocks The discrepancy time will be reset when input 1 and input 2 are inactive, and calculation will start when the status of input 1 and input 2 become discrepant. Input 1 Input 2 Discrepancy Error Discrepancy...

  • Page 41: Logic Function Blocks

    Section 3-3 Logic Function Blocks Logic Function Blocks Section Function Blocks Support Page Compatible unit versions Notation in Name G9SP NE1A function list ❍ ❍ 3-3-1 ❍ ❍ 3-3-2 ❍ ❍ 3-3-3 ❍ × 3-3-4 NAND NAND ❍ × 3-3-5 ❍...
  • Page 42 Section 3-3 Logic Function Blocks General Description An AND of the input signals will be output. Up to eight input signals can be evaluated. Optional Input The number of inputs can be increased on the In/Out Setting Tab Page in the Settings function block property dialog box.
  • Page 43 Logic Function Blocks Section 3-3 Truth Table for Six-input AND Evaluation Input 1 Input 2 Input 3 Input 4 Input 5 Input 6 Output 1 0: OFF, 1: ON, x: Either ON or OFF Truth Table for Seven- input AND Evaluation Input 1 Input 2 Input 3...

  • Page 44: General Description

    Logic Function Blocks Section 3-3 3-3-3 Basic Function An OR of the input signals will be output. Diagram Default Maximum Number of Inputs General Description An OR of the input signals will be output. Up to eight input signals can be evaluated. Optional Input Setting The number of inputs can be increased on In/Out Setting Tab Page in the function block property dialog box.
  • Page 45 Section 3-3 Logic Function Blocks Truth Table for Five-input OR Evaluation Input 1 Input 2 Input 3 Input 4 Input 5 Output 1 0: OFF, 1: ON, x: Either ON or OFF Truth Table for Six-input OR Evaluation Input 1 Input 2 Input 3 Input 4...
  • Page 46 Logic Function Blocks Section 3-3 3-3-4 NAND Basic Function A logical NAND of the input signals is output. Diagram Default Maximum Number of Inputs General Description A logical NAND of the input signals is output. Up to eight input signals can be evaluated. Optional Input Setting The number of inputs can be increased on In/Out Setting Tab Page in the function block property dialog box.
  • Page 47 Section 3-3 Logic Function Blocks Truth Table for Five-input NAND Evaluation Input 1 Input 2 Input 3 Input 4 Input 5 Output 1 0: OFF, 1: ON, x: Either ON or OFF Truth Table for Six-input NAND Evaluation Input 1 Input 2 Input 3 Input 4...
  • Page 48 Section 3-3 Logic Function Blocks 3-3-5 Basic Function A logical NOR of the input signals is output. Diagram Default Maximum Number of Inputs General Description A logical NOR of the input signals is output. Up to eight input signals can be evaluated. Optional Input Setting The number of inputs can be increased on In/Out Setting Tab Page in the function block property dialog box.
  • Page 49 Logic Function Blocks Section 3-3 Truth Table for Five-input NOR Evaluation Input 1 Input 2 Input 3 Input 4 Input 5 Output 1 0: OFF, 1: ON, x: Either ON or OFF Truth Table for Six-input NOR Evaluation Input 1 Input 2 Input 3 Input 4...

  • Page 50: Exclusive Or (Exor)

    Section 3-3 Logic Function Blocks 3-3-6 Exclusive OR (EXOR) Basic Function An exclusive OR of the input signals will be output. Diagram General Description An exclusive OR of the input signals will be output. Truth Table Truth Table for Exclusive OR Evaluation Input 1 Input 2...

  • Page 51: Reset Set Flip-Flop (Rs-Ff)

    Section 3-3 Logic Function Blocks 3-3-8 Reset Set Flip-Flop (RS-FF) Basic Function When the input signal turns ON, RS-FF holds the ON status in the function block and continuously connects to the output. Diagram Default Maximum Number of Outputs General Description When the input condition to the Reset Set Flip-Flop function block is turned ON, that ON status is maintained (latched) in the function block and the ON output is maintained at the Output Enable signal.
  • Page 52 Section 3-3 Logic Function Blocks 3-3-9 Comparator Basic Function Input signals are compared to the set value, and the Output Enable signal is turned ON when they match. Diagram Default Maximum Number of Inputs General Description The Comparator function block compares the specified inputs (up to 8 inputs) with the set parameters, and turns ON the Output Enable signal when all of the inputs match the set values.
  • Page 53 Section 3-3 Logic Function Blocks Truth Table ■ Truth Table for Comparator Evaluation (CD = Comparison Data): Input signals to Comparator Output signals from Com- parator Input 1 Input 2 Input 3 Input 4 Input 5 Input 6 Input 7 Input 8 Output Enable...
  • Page 54 Section 3-3 Logic Function Blocks Timing Chart Input1 Input2 Input3 Input4 Input5 Input6 Input7 Input8 Output Enable The horizontal broken lines in the above diagram represent the comparison data for each input. 1. Output Enable turns ON when all of the input signals match the compari- son data.
  • Page 55 Section 3-3 Logic Function Blocks Set Parameters Parameter Setting range Default setting Comparison Data 0x00 (00000000) to 0xFF (11111111) 0x01 (00000001) (Input 1 is ON.) Input 8 is the leftmost bit, and Input 1 is the rightmost bit. The range of values that can be set depends on the number of inputs.

  • Page 56: Timer/Counter Function Blocks

    Section 3-4 Timer/Counter Function Blocks Timer/Counter Function Blocks Section Function Blocks Support Page Compatible unit versions Notation in Name G9SP NE1A function list ❍ ❍ 3-4-1 Off-Delay Timer Off-Delay Timer ❍ ❍ 3-4-2 On-Delay Timer On-Delay Timer ❍ ❍ 3-4-3 Pulse Generator Pulse Generator NE1A-series Controllers with unit version 1.0 or later...

  • Page 57: Pulse Generator

    Section 3-4 Timer/Counter Function Blocks Diagram The set value is displayed. General Description The ON-delay Timer function block performs an ON-delay timer operation. Set Parameters Parameter Setting range Default setting Delay Time 0 ms to 300 s in 10-ms increments 0 ms The delay time must be equal to or greater than the cycle time.

  • Page 58: Counter

    Section 3-4 Timer/Counter Function Blocks Set Parameters Parameter Setting range Default setting On Pulse Time 10 ms to 3 s in 10-ms increments 500 ms Off Pulse Time 10 ms to 3 s in 10-ms increments 500 ms The timer SV must be longer than the G9SP-series Controller's cycle time. Timing Chart Input Output...
  • Page 59 Section 3-4 Timer/Counter Function Blocks The count value (present value) is saved in the function block work area and can be monitored from the Logic Editor. Reset Methods The Reset Condition used to reset the input count (PV) can be set to Manual (Reset Condition) Reset or Auto Reset.

  • Page 60: Up-Down Counter

    Section 3-4 Timer/Counter Function Blocks Incrementing Counter: Input Set value Count Output Enable IDLE to RUN 2. Manual Reset Decrementing Counter: Input Reset Set value Count Output Enable IDLE to RUN Decrementing Counter: Input Reset Set value Count Output Enable IDLE to RUN 3-4-5 Up-Down Counter...
  • Page 61 Section 3-4 Timer/Counter Function Blocks General Description The Up-Down Counter function block increments the counter on the rising edge (OFF to ON transition) of an up count input and decrements the counter on the rising edge of a down count input. The Output Enable signal turns ON when the present value is incremented to 0 from the set value, and it turns OFF when the present value is incremented from 0 to 1.

  • Page 62: Serial-Parallel Converter

    Section 3-4 Timer/Counter Function Blocks Timing Charts Increment input Decrement input Counter (Set value) Present value Output Enable IDLE to RUN 3-4-6 Serial-Parallel Converter Basic Function Counts the number of input signals and outputs the count value. Diagram Maximum Number of Outputs (default) General Description The Serial-Parallel Converter function block counts the number of input sig- nals and outputs the count value on outputs 1 to 8.

  • Page 63: Timing Chart

    Timer/Counter Function Blocks Section 3-4 Output signal Output value Output 5 Bit 4 of the count value Output 6 Bit 5 of the count value Output 7 Bit 6 of the count value Output 8 Bit 7 of the count value Startup The count value is reset at the start of operation.

  • Page 64: Safety Device Function Blocks

    Safety Device Function Blocks Section 3-5 Safety Device Function Blocks Section Function Blocks Support Page Compatible unit versions Notation in Name G9SP NE1A function list ❍ ❍ 3-5-1 External Device Monitoring ❍ ❍ 3-5-2 Enable Switch Enable Switch Monitoring NE1A-series Controllers with unit version 1.0 or later ❍...

  • Page 65: External Device Monitoring (Edm)

    Section 3-5 Safety Device Function Blocks 3-5-1 External Device Monitoring (EDM) Basic Function The External Device Monitoring function block evaluates the input signal and the status of an external device and outputs safety outputs to an external device. This function block is used to detect fused contacts or external wiring problems (disconnected lines) for safety relays, contactors, and other safety devices.

  • Page 66: Enable Switch Monitoring

    Safety Device Function Blocks Section 3-5 Fault Present Output Fault Present output can also be used in programming. Setting To enable this output, select the Fault Present check box on the Output Point Tab Page of the function block properties dialog box. Error Handling and Error Resetting Error Behavior for error detection...
  • Page 67 Section 3-5 Safety Device Function Blocks In addition, if the enable-switch device is the type that outputs a grip signal and release signal, the device’s Grip Input and Release Input signal status can be monitored. The received Grip Input and Release Input signals do not affect the status of the Output Enable signal.
  • Page 68 Section 3-5 Safety Device Function Blocks Grip Input and Grip Enable Grip Input Grip Enable Release Input and Release Enable Release Input Release Enable Error Handling and Error Resetting Error condition Behavior for error detection Resetting the error condition Output Fault Error output Enable...

  • Page 69: Emergency Stop Pushbutton Monitoring (E-Stop)

    Safety Device Function Blocks Section 3-5 3-5-3 Emergency Stop Pushbutton Monitoring (E-Stop) Basic Function The Emergency Stop Pushbutton Monitoring function block allows the user to monitor an emergency stop pushbutton switch. Diagram Default Maximum Number of Outputs General Description The Emergency Stop Pushbutton Monitoring function block allows the user to monitor an emergency stop pushbutton switch.

  • Page 70: Light Curtain Monitoring

    Section 3-5 Safety Device Function Blocks Setting: Dual Channel Equivalent Input 1 Input 2 Output Enable (NC) (NC) 0: OFF, 1: ON Setting: Dual Channel Complementary Input 1 Input 2 Output Enable (NC) (NO) 0: OFF, 1: ON Error Handling and Error Resetting Error Behavior for error detection Resetting the error...
  • Page 71 Section 3-5 Safety Device Function Blocks Diagram Default Maximum Number of Outputs General Description The Light Curtain Monitoring function block monitors a type-4 safety light cur- tain. The Output Enable signal will turn ON if the input from the safety light curtain being monitored is active.
  • Page 72 Section 3-5 Safety Device Function Blocks Error Handling and Error Resetting Error Behavior for error detection Resetting the error condition Output Fault Error output condition Enable Present Discrepancy Discrepancy Remove the cause of the error error Error output: and then do the following: (safety state) 1.
  • Page 73 Section 3-5 Safety Device Function Blocks Supported Muting Any of the following four muting modes can be selected to enable typical mut- Applications ing applications. Muting Mode Application Parallel Muting with 2 This mode is suitable for applications at a conveyor entrance. Sensors Use this mode when two Retro-reflective Photoelectric Sensors are set up as the muting sensors with intersecting detection zones.
  • Page 74 Section 3-5 Safety Device Function Blocks 2. The maximum muting time has elapsed. In the following cases, however, muting will stop and Output Enable will also turn OFF. 3. The light curtain is obstructed with the muting status stopped in conditions 1 or 2.
  • Page 75 Section 3-5 Safety Device Function Blocks Set Parameters Parameter Setting range Default setting Muting Mode • Position detection Parallel Muting (See note 1.) with 2 Sensors • Parallel Muting with 2 Sensors • Sequential Muting in Forward Direction • Sequential Muting in Both Directions Synchronization Time 30 ms to 3 s in 10-ms increments (See note 2.) (See note 3.)
  • Page 76 Section 3-5 Safety Device Function Blocks The condition for a synchronization error are give for each muting mode in the following table. Muting Mode Condition for synchronization error Parallel Muting with 2 Sensors The time difference between muting signal 11 and muting signal 12 has exceeded the set value of the synchronization time.
  • Page 77 Section 3-5 Safety Device Function Blocks Resetting Errors Error Operation when error occurs Resetting Output Enable Fault Present Error output Discrepancy error OFF (safe state) ON Discrepancy • Change the safety light curtain input pair during AOPD input Error (AOPD): (AOPD inputs 1 and 2) from inactive to active.
  • Page 78 Section 3-5 Safety Device Function Blocks Block Diagram Light curtain Reflected M S 12 MS12 Board Workpiece MS 1 1 Reflected MS11 Board MS11: Muting sensor connected to Muting Signal 11 MS12: Muting sensor connected to Muting Signal 12 Note The intersection of the two sensors must be after the light curtain.
  • Page 79 Section 3-5 Safety Device Function Blocks ■ Timing Chart Normal Operation AOPD Input 1 (NC) AOPD Input 2 (NC) Muting Signal 11 Muting Signal 12 Output Enable Muting Status Fault Present IDLE to Synchronization time Muting Starting Conditions Muting Status will turn ON when all of the following muting detection condi- tions are satisfied.
  • Page 80 Section 3-5 Safety Device Function Blocks ■ Sequential Muting in Forward Direction In this example, four Through-beam Photoelectric Sensors are set up as the sensors with intersecting detection zones. Use this configuration when the length of the workpiece being transported is longer than a fixed length. Block Diagram Light curtain M S12...
  • Page 81 Section 3-5 Safety Device Function Blocks ■ Timing Chart AOPD Input 1 (NC) AOPD Input 2 (NC) Muting Signal 11 Muting Signal 12 Muting Signal 21 Muting Signal 22 Output Enable Muting Status Fault Present IDLE to RUN Synchronization time Muting Starting Conditions 1.
  • Page 82 Section 3-5 Safety Device Function Blocks ■ Sequential Muting (Both Directions) Block Diagrams 1. Entrance Light Curtain MS11 MS12 MS21 MS22 Workpiece MS11 MS12 MS21 MS22 2. Exit Light Curtain MS21 MS22 MS11 MS12 Workpiece MS12 MS21 MS11 MS22 MS11: Muting sensor connected to Muting Signal 11 MS12: Muting sensor connected to Muting Signal 12 MS21: Muting sensor connected to Muting Signal 21 MS22: Muting sensor connected to Muting Signal 22...
  • Page 83 Section 3-5 Safety Device Function Blocks ■ Timing Charts Entrance AOPD Input 1 (NC) AOPD Input 2 (NC) Muting Signal 11 Muting Signal 12 Muting Signal 21 Muting Signal 22 Output Enable Muting Status Synchronization time Exit AOPD Input 1 (NC) AOPD Input 2 (NC) Muting Signal 11 Muting Signal 12...
  • Page 84 Section 3-5 Safety Device Function Blocks 2. Synchronization Time Check 1. Entrance The time (T1) from when MS11 is detected until MS12 is detected must not be greater than the maximum synchronization time. A synchronization er- ror will occur in the following case. •...
  • Page 85 Section 3-5 Safety Device Function Blocks Machine’s Dangerous Area is on the Opposite Side of the Operator (Figure 2): Operator Light curtain Light curtain Guard fence Work platform Limit switch 2 Limit switch 1 (N.C. contact) (N.O. contact) G9SP-series Controller Note In the above example, limit switch 1 (S1) is wired to Si0 on the G9SP-series Controller and limit switch 2 (S2) is wired to Si1.
  • Page 86 Section 3-5 Safety Device Function Blocks 4. When the operator completes his task and the Safety Light Current is un- obstructed as the robotic arm rotates, Muting Signal 11 goes OFF, the mut- ing status is cleared, and the Muting Status goes OFF. ■...

  • Page 87: Safety Gate Monitoring

    Section 3-5 Safety Device Function Blocks 3. When the workpiece moves to the right until it is no longer detected by the MS12, the muting status set for the Override will be cleared, and the Over- ride Status will go OFF. Note Muting Status •...
  • Page 88 Section 3-5 Safety Device Function Blocks Set Parameters Parameter Setting range Default setting Input Type Single Channel Dual Channel Equivalent Dual Channel Equivalent (1 pair) (1 pair) Dual Channel Complementary (1 pair) Two Dual Channel Equivalent (2 pairs) Two Dual Channel Complementary (2 pairs) Function Test No Function Test/Function Test Required No function test...
  • Page 89 Section 3-5 Safety Device Function Blocks Setting: Dual Channel Complementary (1 Pair) Input 1 Input 2 Output (pair 1-NC) (pair 1-NO) Enable 0: OFF, 1: ON Setting: Two Dual Channel Equivalent (2 Pairs) Input 1 Input 2 Input 3 Input 4 Output (pair 1-NC) (pair 1-NC)
  • Page 90 Section 3-5 Safety Device Function Blocks Error Handling and Error Resetting Error Behavior for error detection Resetting the condition Output Fault Error output error condition Enable Present Discrepancy error at Discrepancy Error Pair 1: 1. Function Test Disabled pair 1 Remove the cause of the error and then make the inputs inactive and then active again (See note.) Discrepancy error at...
  • Page 91 Section 3-5 Safety Device Function Blocks If a safety gate test ends and a function test request occur in the same cycle when there is a request for a function test, the function test will be given prior- ity and a function test error will occur. The safety gate must be closed (ON), opened (OFF), and then closed again for the safety gate test.

  • Page 92: Two-Hand Control

    Section 3-5 Safety Device Function Blocks 3-5-7 Two-hand Control Basic Function The Two-hand Control function block enables monitoring the status of a two- hand switch. Diagram Default Maximum Number of Outputs General Description The Two-hand Control function block enables monitoring the status of a two- hand switch.
  • Page 93 Safety Device Function Blocks Section 3-5 Truth Table Truth Table for Two-hand Control Input 1 Input 2 Input 3 Input 4 Output (Pair 1-NO) (Pair 1-NC) (Pair 2-NO) (Pair 2-NC) Enable 0: OFF, 1: ON Error Handling and Error Resetting Error Behavior for error detection Resetting the error...

  • Page 94: User Mode Switch

    Safety Device Function Blocks Section 3-5 Timing Chart Input1 (Pair1-NO) Input2 (Pair1-NC) Input3 (Pair2-NO) Input4 (Pair2-NC) Output Enable Discrepancy Error Pair1 Discrepancy Error Pair2 Fault Present IDLE to RUN 500 ms 500 ms 500 ms Discrepancy Time 3-5-8 User Mode Switch Basic Function The User Mode Switch function block is used to monitor an operating mode switch in the user system or device.
  • Page 95 Section 3-5 Safety Device Function Blocks Fault Present Output Fault Present output can also be used in programming. Setting To enable this output, select the Fault Present check box on the In/Out Setting Tab Page of the function block properties dialog box. Truth Table Truth Table for User Mode Monitoring Inputs...

  • Page 96: Redundant Input

    OFF. Set Parameters There are no set parameters. Timing Chart Input Output Enable IDLE to RUN 3-5-11 Non-Contact Door Switch Basic Function The Non-Contact Door Switch function block monitors the status of an OMRON D40A or D40Z Non-contact Door Switch.

  • Page 97: Safety Mat

    Default General Description The OMRON UM Safety Mat performs diagnosis using the safety input termi- nals, and so the value is input to the function block after evaluation. Therefore, the Safety Mat Monitoring function block judges whether the values for Input 1 and Input 2 are the same.

  • Page 98: Reset And Restart Function Blocks

    Section 3-6 Reset and Restart Function Blocks Reset and Restart Function Blocks Section Function Blocks Support Page Compatible unit versions Notation in function list Name G9SP NE1A ❍ ❍ 3-6-1 Reset Reset ❍ ❍ 3-6-2 Restart Restart ×: No, ❍: Yes 3-6-1 Reset Basic Function...
  • Page 99 Reset and Restart Function Blocks Section 3-6 Low-High-Low Monitored 350 ms min. Input Reset Output Enable The reset input must turn OFF after 350 ms or longer has elapsed from when the reset signal turns from OFF to ON once the Monitored Input and all enabled Optional Inputs turn ON.
  • Page 100 Section 3-6 Reset and Restart Function Blocks Timing Chart Reset Signal set to Low-High-Low: Monitored input Optional Input N Reset Output Enable Static Release Reset Req. Indication IDLE 350 ms min. 350 ms min. to RUN Reset Signal set to Rising Edge: Monitored input Optional...

  • Page 101: Connector Function Blocks

    Section 3-7 Connector Function Blocks Connector Function Blocks Section Function Blocks Support Page Compatible unit versions Notation in function list Name G9SP NE1A ❍ ❍ 3-7-1 Multi Connector Multi Connector NE1A-series Controllers with unit version 1.0 or later ❍ ❍ 3-7-2 Routing Routing...
  • Page 102 Section 3-7 Connector Function Blocks Optional Output The number of outputs can be increased on the In/Out Setting Tab Page in the Settings function block property dialog box. Parameter Setting range Default setting Number of I/O 1 to 8 3-7-2 Routing Basic Function Used for routing an input signal to multiple signals.
  • Page 103 Section 3-7 Connector Function Blocks Truth Table Truth Table for Routing Evaluation Input 1 Output Output Output Output Output Output Output Output 0: OFF, 1: ON...
  • Page 104 Section 3-7 Connector Function Blocks...

  • Page 105: Index

    Index Light Curtain Monitoring Auto Reset logic functions comments manual reset function Comparator Multi Connector Comparator2 Muting connector function blocks Counter NAND Non-Contact Door Switch discrepancy error discrepancy time dual channel OFF-delay timer ON-delay timer Emergency Stop Pushbutton Monitoring operation at startup EN 574 (type III C) operation example for dual channel equivalent setting Enable Switch...
  • Page 106 Index safety device function blocks safety gate Safety Gate Monitoring Safety Mat Sequential Muting in Both Directions Sequential Muting in Forward Direction Serial-Parallel Converter setting dual channel complementary dual channel complementary (2 pairs) dual channel equivalent dual channel equivalent (2 pairs) single channel Single Beam Safety Sensor Monitoring timer operation conditions for discrepancy time...

  • Page 107: Revision History

    Revision History A manual revision code appears as a suffix to the catalog number on the front cover of the manual. Cat. No. Z923-E1-02 Revision code The following table outlines the changes made to the manual during each revision. Page numbers refer to the previous version.
  • Page 108 Revision History...
  • Page 110 CA 94555-3605 U.S.A. The Netherlands Tel: (31)2356-81-300/Fax: (31)2356-81-388 Tel: (1) 510-608-3400/Fax: (1) 510-744-1442 © OMRON Corporation 2010 All Rights Reserved. OMRON (CHINA) CO., LTD. OMRON ASIA PACIFIC PTE. LTD. In the interest of product improvement, Room 2211, Bank of China Tower, No.

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