1.1 Summary ........................................................................................................................................... 1- 1

1.2 Outline of safety observation function .............................................................................................. 1- 5

1.3 Function block diagram ..................................................................................................................... 1- 6

1.3.1 MR-J4-_GF_-RJ ......................................................................................................................... 1- 6

1.3.2 MR-J4-_B_-RJ ........................................................................................................................... 1- 8

1.3.3 MR-J4-_A_-RJ .......................................................................................................................... 1-10

1.3.4 MR-J4-DU_B_-RJ ..................................................................................................................... 1-11

1.3.5 MR-J4-DU_A_-RJ ..................................................................................................................... 1-13

1.4 System configuration ....................................................................................................................... 1-14

1.4.1 MR-J4-_GF_-RJ ........................................................................................................................ 1-14

1.4.2 MR-J4-_B_-RJ/MR-J4-DU_B-RJ .............................................................................................. 1-16

1.4.3 MR-J4-_A_-RJ/MR-J4-DU_A-RJ .............................................................................................. 1-18

1.5 Standard specifications .................................................................................................................... 1-19

1.6 Function list ...................................................................................................................................... 1-21

1.7 Combinations with servo amplifiers and servo motors .................................................................... 1-21

1.8 Rating plate ...................................................................................................................................... 1-26

1.9 Risk assessments ............................................................................................................................ 1-26

1.9.1 Common residual risks in each function ................................................................................... 1-26

1.9.2 Residual risks in each function ................................................................................................. 1-27

2. INSTALLATION

2.1 Installation direction and clearances ................................................................................................ 2- 2

2.2 Keep out foreign materials ................................................................................................................ 2- 4

2.3 Inspection items ................................................................................................................................ 2- 4

2.4 Parts having service life .................................................................................................................... 2- 4

2.5 Maintenance ..................................................................................................................................... 2- 4

2.6 Attachment and detachment of MR-D30 .......................................................................................... 2- 5

3. SIGNALS AND WIRING

3.1 Connectors and pin assignment ....................................................................................................... 3- 3

3.2 I/O signal connection example .......................................................................................................... 3- 4

3.2.1 Input signal ................................................................................................................................. 3- 4

3.2.2 Output signal .............................................................................................................................. 3- 5

3.3 Connection of I/O interface ............................................................................................................... 3- 6

3.3.1 Source output ............................................................................................................................. 3- 6

3.3.2 Sink input .................................................................................................................................... 3- 7

3.3.3 DO1_ to DO3_ source output .................................................................................................... 3- 9

3.3.4 DO4NA source output and DO4NB sink output ......................................................................... 3- 9

3.4 Wiring for SBC output ...................................................................................................................... 3-10

3.5 Noise reduction techniques ............................................................................................................. 3-11

3.6 Signal explanations .......................................................................................................................... 3-13

3.6.1 Input device ............................................................................................................................... 3-13

3.6.2 Output device ............................................................................................................................ 3-14

3.6.3 Power supply ............................................................................................................................. 3-15

CONTENTS

1- 1 to 1-28

2- 1 to 2- 8

3- 1 to 3-22