Mitsubishi Electric MR-J4-10A(-RJ) Instruction Manual page 15

13. USING STO FUNCTION
13.1 Introduction ................................................................................................................................... 13- 1
13.1.1 Summary ................................................................................................................................ 13- 1
13.1.2 Terms related to safety .......................................................................................................... 13- 1
13.1.3 Cautions ................................................................................................................................. 13- 1
13.1.4 Residual risks of the STO function ......................................................................................... 13- 2
13.1.5 Specifications ......................................................................................................................... 13- 3
13.1.6 Maintenance ........................................................................................................................... 13- 4
13.2 STO I/O signal connector (CN8) and signal layouts ..................................................................... 13- 4
13.2.1 Signal layouts ......................................................................................................................... 13- 4
13.2.2 Signal (device) explanations .................................................................................................. 13- 5
13.2.3 How to pull out the STO cable ............................................................................................... 13- 5
13.3 Connection example ..................................................................................................................... 13- 6
13.3.1 Connection example for CN8 connector ................................................................................ 13- 6
13.3.2 External I/O signal connection example using an MR-J3-D05 safety logic unit .................... 13- 7
13.3.3 External I/O signal connection example using an external safety relay unit ........................ 13-10
13.4 Detailed description of interfaces ................................................................................................ 13-11
13.4.1 Sink I/O interface ................................................................................................................... 13-11
13.4.2 Source I/O interface .............................................................................................................. 13-12
14.
COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL)
14.1 Structure ....................................................................................................................................... 14- 2
14.1.1 Configuration diagram ............................................................................................................ 14- 2
14.1.2 Precautions for using RS-422/RS-232C/USB communication function ................................ 14- 4
14.2 Communication specifications ...................................................................................................... 14- 5
14.2.1 Outline of communication ...................................................................................................... 14- 5
14.2.2 Parameter setting ................................................................................................................... 14- 5
14.3 Protocol ......................................................................................................................................... 14- 6
14.3.1 Transmission data configuration ............................................................................................ 14- 6
14.3.2 Character codes ..................................................................................................................... 14- 7
14.3.3 Error codes ............................................................................................................................. 14- 8
14.3.4 Checksum .............................................................................................................................. 14- 8
14.3.5 Time-out processing............................................................................................................... 14- 8
14.3.6 Retry processing .................................................................................................................... 14- 9
14.3.7 Initialization ............................................................................................................................ 14- 9
14.3.8 Communication procedure example ..................................................................................... 14-10
14.4 Command and data No. list ......................................................................................................... 14-11
14.4.1 Reading command ................................................................................................................ 14-11
14.4.2 Writing commands ................................................................................................................ 14-17
14.5 Detailed explanations of commands ............................................................................................ 14-19
14.5.1 Data processing .................................................................................................................... 14-19
14.5.2 Status display mode .............................................................................................................. 14-21
14.5.3 Parameter ............................................................................................................................. 14-22
14.5.4 External I/O signal status (DIO diagnosis) ............................................................................ 14-26
14.5.5 Input device on/off ................................................................................................................. 14-29
14.5.6 Disabling/enabling I/O devices (DIO) .................................................................................... 14-30
14.5.7 Input devices on/off (test operation) ...................................................................................... 14-31
14.5.8 Test operation mode ............................................................................................................. 14-32
14.5.9 Output signal pin on/off (output signal (DO) forced output) .................................................. 14-36
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