External I/O Signal Connection Example Using An External Safety Relay Unit - Mitsubishi Electric MR-J4-10B(-RJ) Instruction Manual

13. USING STO FUNCTION

13.3.3 External I/O signal connection example using an external safety relay unit

This connection example complies with the requirement of ISO/EN ISO 13849-1 Category 3 PL d.
For details, refer to the safety relay module user's manual.
24 V
Fuse
+24V
Safety relay module
Power
MELSEC
supply
(QS90SR2S)
24G
S1 or
EMG
(Note)
0 V
S1: STO shut-off switch (STO switch)
S2: Start switch (STO release switch)
S3: On switch
S4: Off switch
KM1: Magnetic contactor
K3: Safety relay
EMG: Emergency stop switch
Note. To enable the STO function of the servo amplifier by using "Emergency switching off", change S1 to EMG. The stop category at
this time is "0". If STO is turned off while the servo motor is rotating, [AL. 63 STO timing error] will occur.
POINT
This connection is for source interface. For the other I/O signals, refer to the
connection examples in section 3.2.2.
S2
K3
XS0 XS1 Z00 Z10
Control
circuit
COM0 X0 COM1 X1 Z01 Z11
Z20
Z21
STOCOM
TOFB1
K3
TOFB2
TOFCOM
13 - 10
S4 EMG
S3
KM1
KM1
Servo amplifier
CN8
Control circuit
STO1
STO2
20
CN3
EM1
or
EM2
KM1
M
Servo motor