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MELSEC iQ-R
Safety Application Guide

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Table of Contents

   Summary of Contents for Mitsubishi Electric MELSEC iQ-R Series

  • Page 1 MELSEC iQ-R Safety Application Guide...
  • Page 3: Safety Precautions

    (Read these precautions before using this product.) Before using MELSEC iQ-R series programmable controllers, please read the manuals for the product and the relevant manuals introduced in those manuals carefully, and pay full attention to safety to handle the product correctly.
  • Page 4 [Design Precautions] WARNING ● In the case of a communication failure in the network, the status of the error station will be as follows: (1) All inputs from remote I/O stations are turned off. (2) All outputs from remote I/O stations are turned off. Check the communication status information and configure an interlock circuit in the program to ensure that the entire system will operate safely.
  • Page 5 [Installation Precautions] CAUTION ● Use each module mounted on a base unit with a safety programmable controller in an environment that meets the general specifications in the MELSEC iQ-R Module Configuration Manual. Use the safety remote I/O module and standard remote I/O module in an environment that meets the general specifications in the corresponding manuals (CC-Link IE Field Network Remote I/O Module (With Safety Functions) User's Manual and CC-Link IE Field Network Remote I/O Module User's Manual).
  • Page 6 [Wiring Precautions] WARNING ● Shut off the external power supply (all phases) used in the system before wiring. Failure to do so may result in electric shock or cause the module to fail or malfunction. ● After installation and wiring, attach the included terminal cover to the module before turning it on for operation.
  • Page 7 [Wiring Precautions] CAUTION ● Do not install the control lines or communication cables together with the main circuit lines or power cables. Failure to do so may result in malfunction due to noise. ● When an overcurrent caused by a failure of an external device or a module flows for a long time, it may cause smoke and fire.
  • Page 8 [Startup and Maintenance Precautions] CAUTION ● The online operations performed from a PC to a running safety programmable controller (Program change when a safety CPU module is RUN, device test, and operating status change such as RUNSTOP switching) have to be executed after the manual has been carefully read and the safety has been ensured.
  • Page 9: Conditions Of Use For The Product

    Before using this product, please read this manual and the relevant manuals carefully and develop familiarity with the functions and performance of the MELSEC iQ-R series programmable controller to handle the product correctly. When applying the program and circuit examples provided in this manual to an actual system, ensure the applicability and confirm that it will not cause system control problems.
  • Page 10: Table Of Contents

    CONTENTS SAFETY PRECAUTIONS ..............1 CONDITIONS OF USE FOR THE PRODUCT .
  • Page 11 Calculation example for response time ............244 Appendix 3 Checklist .
  • Page 12: Relevant Manuals

    Manual parameter setting, functions, and troubleshooting. e-Manual [SH-081114ENG] e-Manual refers to the Mitsubishi Electric FA electronic book manuals that can be browsed using a dedicated tool. e-Manual has the following features: • Required information can be cross-searched in multiple manuals.
  • Page 13: Terms

    A generic term for the signals that are output from the safety programmable controller for realizing the safety function Safety programmable controller A generic term for the MELSEC iQ-R series modules that perform safety control (such as a Safety CPU, safety function module, or the CC-Link IE Field Network remote I/O module (with safety functions))
  • Page 14: How To Use This Manual

    (This term is used to distinguish from safety control.) Standard CPU A generic term for MELSEC iQ-R series CPU modules (other than Safety CPU) that perform standard control (This term is used to distinguish from the Safety CPU.) Standard programmable controller...
  • Page 15: Chapter 1 Overview

    OVERVIEW Our safety programmable controllers obtained safety approval at the highest safety level that the programmable controller can obtain (ISO13849-1: 2006 Category 4 and PLe, IEC62061: 2012 SIL3, and IEC61508: 2010 SIL3). The customer can use safety programmable controllers for configuring safety station with ISO13849-1: 2006 Category 4 and PLe, IEC62061: 2012 SIL3, and IEC61508: 2010 SIL3.
  • Page 16 MEMO 1 OVERVIEW...
  • Page 17: Chapter 2 Application Example

    APPLICATION EXAMPLE Safety control for the entire line using a single safety programmable controller The following shows an application image for the car welding line as an application example of the safety programmable controller. The safety programmable controller processes safety control of the entire line as a safety application, and processes line integrated control, which integrates processes as a standard application.
  • Page 18 Integrated control panel First process Second process nth process Network* (Communications between standard CPU modules) Line control* Line control* Line control* Integrated line control* CC-Link IE Field Network (standard communications + safety communications) Safety input Safety input Safety Standard Standard output input output...
  • Page 19 Safety control for the entire line using multiple safety programmable controllers The following shows an application image for the safety control linked between multiple manufacturing processes, as an application example of the safety programmable controller. The safety programmable controller processes controls linked between safety control and standard control at each process, and control processes.
  • Page 20: Chapter 3 Risk Assessment And Safety Level

    RISK ASSESSMENT AND SAFETY LEVEL When using safety programmable controller, perform risk assessment on target equipment while observing ISO12100: 2010, and select appropriate SIL and PL, as well as reduce the risk conforming to ISO13849-1: 2006, IEC61508: 2010, and IEC62061: 2012. This chapter describes the risk assessment, risk reduction, and overview of SIL and PL.
  • Page 21 Start Risk assessment Determination of the limits of the machinery Hazard identification Risk estimation Risk evaluation SIL* Has the risk been adequately reduced? Documentation Can the hazard be removed? Step 1* Risk reduction by Is the intended risk inherently safe reduction achieved? design measures Can the risk be...
  • Page 22: Risk Reduction

    *1 SIL is standardized as an index showing the safety level. ( Page 21 SIL) *2 SIL is standardized as an index showing the safety level. ( Page 22 PL) *3 The risk is reduced by adding safety measures ( Page 20 Risk reduction). Risk reduction As a result of the risk assessment, when the machinery is judged as unsafe, the risk reduction must be performed by adding safety measures.
  • Page 23: Sil

    SIL and target failure measure (PFDavg/PFH) SIL is standardized by IEC61508: 2010 and used in IEC62061: 2012, as an index showing the safety level. The following risk graph method can select a SIL. Consequence Exposure Avoidance Demand rate Relatively Very high Minor Possible...
  • Page 24 The performance level (PL) is specified in ISO13849-1: 2006. Assess the risks of machines without undergoing risk reduction measures by the safety system first, and then select a required performance level (PLr) for the safety systems. The following shows a risk graph to be used for the PLr selection. Frequency and/or Possibility of avoiding Severity of injury...
  • Page 25 Category The category is a classification of safety function sustainability for the safety system. As shown in the following, categories can be classified into the items, according to the safety requirements and safety function sustainability. The following table shows the requirements of standard for categories. Category Summary of requirements Sustainability of safety functions...
  • Page 26 Mean Time to Dangerous Failure (MTTFd) Failures can be divided into safe failure triggering the fail safe after the failure occurs and dangerous failure not triggering safety functions because of an inability to detect the failure. Mean Time to Dangerous Failure (MTTFd) means a mean time regarding dangerous failure.
  • Page 27 Selecting performance level The following shows the relationship between PL and category, average diagnostics coverage (DCavg), and mean time to dangerous failure (MTTFd). Configure the safety system by selecting diagnostics methods to ensure achievement of the safety system PLr for the target machines. Category B Category 1 Category 2...
  • Page 28: Chapter 4 Precautions For Use Of Safety Programmable Controller

    PRECAUTIONS FOR USE OF SAFETY PROGRAMMABLE CONTROLLER The safety standards conformance approval must be obtained for the customer with entire safety system. The safety system inspection is made for the entire safety system including safety components and a program. The sample program is shown in chapter 5. However, the safety standards approval is not obtained. And all work for safety system configuration (e.g.
  • Page 29: Precautions For Designing Safety Application

    Precautions for Designing Safety Application Response time The response time is a time from the safety input off to the safety output off using the safety programmable controller. The response time is needed for determining the safety distance for a safety system. For calculation of the response time of a system to be configured, refer to the following description.
  • Page 30 ■When using a safety CPU and a safety remote I/O module (connecting extension module) Connect the emergency stop switch to the main module of the safety remote I/O module. Connect the safety relay to the same extension module of the safety remote I/O module. Safety CPU controls on/off of the safety relay according to the input from the emergency stop switch.
  • Page 31 ■Using a Safety CPU and two safety remote I/O modules (connecting the extension module to only one module) Connect the emergency stop switch to the main module of the safety remote I/O module. Connect the safety relay to another extension module of the safety remote I/O module. Safety CPU controls on/off of the safety relay according to the input from the emergency stop switch.
  • Page 32 ■Using a Safety CPU and two safety remote I/O modules (connecting extension module to both modules) Connect the emergency stop switch to the main module of the safety remote I/O module. Connect the safety relay to another extension module of the safety remote I/O module. Safety CPU controls on/off of the safety relay according to the input from the emergency stop switch.
  • Page 33 ■Using two Safety CPUs and two safety remote I/O modules (connecting extension module to both modules) Connect the emergency stop switch to the main module of the safety remote I/O module. Connect the safety relay to both of the extension modules of the safety remote I/O module. Safety CPU controls safety communications between Safety CPUs and safety relay on/off according to the input from the emergency stop switch.
  • Page 34 Connecting safety components Connect safety components according to the following safety level by dual wiring and single wiring. Double wiring Double wiring Safety relay Safety programmable Single wiring Single wiring controller Safety relay Use the doubling input signal to the CC-Link IE Field Network remote I/O module (with safety functions) with the following combinations of input terminals.
  • Page 35 Remote register (RWr/RWw) of the safety remote I/O module System uses 16 points each of the RWr/RWw to communicate with safety remote I/O module. Do not read/write data from/to the RWr/RWw to be used by the system. Writing data may cause malfunction of the safety programmable controller. For relationship between the Safety CPU device and remote register, refer to Page 72 Relationship between devices in the Safety CPU and remote inputs/outputs.
  • Page 36: Precautions For Programming

    Precautions for Programming Basic programming Configure a program for realizing safety functions with attention to the following points. • Program so that a machine is started only when safe state can be checked at the time the start switch is pressed. •...
  • Page 37 Creating programs for realizing the safety functions Configure a program for realizing the safety functions using a method different from the standard program describing standard control as a safety program. Configure a safety program using safety devices, safety labels, standard/safety shared labels, instructions for safety measure, and safety FB/FUN.
  • Page 38 Programs to be used in a program for realizing safety functions Configure input and output data of a program for realizing safety functions using safety data. Determine the safety/non-safety of input/output data as follows. ■Devices transferring safety data through safety communications with safety remote I/O module The safety data of devices transferring safety data to be refreshed by safety communications with the safety remote I/O module is a safety data.
  • Page 39 ■Standard/safety shared label This is a label to deliver data between safety program and standard program. The standard/safety shared label data are non- safety data. Input data from standard remote I/O module are input as non-safety data to safety program by standard/safety shared label, so that they cannot be used for safety control.
  • Page 40 • Standard program Checking data link status on the station number 2 (standard remote I/O module) (125) to (135) Write a program that establishes an interlock with standard remote I/O module. (139) Checking safety status signal (safe_state) Write a program that establishes an interlock with safety status signal. •...
  • Page 41 Detecting errors in the CC-Link IE Field Network Errors occurred in the CC-Link IE Field Network can be detected using safety refresh communication status. Create a program using safety refresh communication status, which turns off safety outputs in case of an error. ■Safety refresh communication status The following table lists the special register names and numbers to check safety refresh communication status for each safety connection.
  • Page 42 Name Description of bits of the special register areas (safety refresh communication status) Safety refresh status of each safety SA\SD1024 to SA\SD1031 Description of bits of the following table connection (3rd module) 0: Safety communications normal, safety connection not used 1: Safety communication error b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 SA\SD1024...
  • Page 43 Name Description of bits of the special register areas (safety refresh communication status) Safety refresh status of each safety SA\SD1056 to SA\SD1063 Description of bits of the following table connection (7th module) 0: Safety communications normal, safety connection not used 1: Safety communication error b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0 SA\SD1056...
  • Page 44 Clearing error in the CC-Link IE Field Network If an error is detected in CC-Link IE Field Network, the following safety station interlock status. Create a program using safety station interlock status, which turns off safety outputs in case of an error. To restart communications on the CC-Link IE Field Network, it is required to turn on the safety station interlock release request.
  • Page 45 Name Description of bits of special register Interlock release request for each safety SA\SD1256 to SA\SD1263 0: I/O interlock of safety station on CC-Link IE Field Network not released connection (2nd module) 1: I/O interlock of safety station on CC-Link IE Field Network released Turn off and on the bit corresponding to the safety connection to release the interlock.
  • Page 46 Name Description of bits of special register Interlock release request for each safety SA\SD1288 to SA\SD1295 0: I/O interlock of safety station on CC-Link IE Field Network not released connection (4th module) 1: I/O interlock of safety station on CC-Link IE Field Network released Turn off and on the bit corresponding to the safety connection to release the interlock.
  • Page 47 Name Description of bits of special register Interlock release request for each safety SA\SD1320 to SA\SD1327 0: I/O interlock of safety station on CC-Link IE Field Network not released connection (6th module) 1: I/O interlock of safety station on CC-Link IE Field Network released Turn off and on the bit corresponding to the safety connection to release the interlock.
  • Page 48 Name Description of bits of special register Interlock release request for each safety SA\SD1352 to SA\SD1359 0: I/O interlock of safety station on CC-Link IE Field Network not released connection (8th module) 1: I/O interlock of safety station on CC-Link IE Field Network released Turn off and on the bit corresponding to the safety connection to release the interlock.
  • Page 49 (1) to (6) below can be satisfied. ■MELSEC iQ-R series CC-Link IE Field Network master/local module • If the communication destination is a master station (safety station) or local station (safety station): (1) Transmission interval monitoring time [ms] ...
  • Page 50 Safety refresh monitoring time Safety refresh monitoring time is the time that the receiving station monitors in each connection to detect the following safety communication errors. • Stopping of sending safety data due to an error on the sending station •...
  • Page 51: Precautions For Startup

    Precautions for Startup When starting up a new safety system or changing existing safety system, check the following points. Checking network connection configuration Check that the safety remote I/O module parameter setting at the actual site is set as designed. Read the safety remote I/O module parameters to visually check if the parameters are consistent with the set values.
  • Page 52: Precautions For Safety Functions Maintenance

    5 years Also replace module/unit and devices other than described above, according to the replacement cycle shown in the following technical bulletin.  Mitsubishi Electric TECHNICAL BULLETIN: Recommendation of preventive maintenance and inspection for MELSEC programmable controllers No.FA-A-0018-A Safety operation mode while in operation Set the safety operation mode to safety mode when in operation.
  • Page 53: Chapter 5 Safety Application Configuration Examples

    The following table shows definitions of the symbols used in this chapter. Symbol Definition CCIEF master (1) MELSEC iQ-R series CC-Link IE Field Network master/local module (Master station number 0) CCIEF remote (1) Safety remote I/O module (station number 1) CCIEF remote (2)
  • Page 54: Network-related Switch Settings Of Module

    Network-related switch settings of module Set network-related switches on modules as follows. Safety CPU There is no network-related switch. Safety function module There is no network-related switch. CC-Link IE Field Network master/local module There is no network-related switch. Safety remote I/O module Set the station number setting switches.
  • Page 55: Parameter Setting Of The Safety Cpu

    Parameter setting of the Safety CPU Set Safety CPU parameters refer to the following. Operating procedure Create a new project and set user authentication. Perform "Write User Data to PLC". [Online]  [User Authentication]  [Write User Data to PLC] Perform "Log on to PLC".
  • Page 56 Setting system parameters Parameters can be set from [Module Configuration] to be displayed by double-clicking "Module Configuration" in [Navigation window]. Parameters can be set by allocating modules according to the configuration to be used. Before setting parameters, select a main base unit from the "Element Selection" window and drag and drop it to the "Module Configuration" window. Then, place the required modules on the main base unit.
  • Page 57 Setting safety device/safety label Safety programs are described using safety devices. Before creating safety programs, set safety devices at device/label memory area setting of the Safety CPU. ■Setting device/label memory capacity Set device area capacity to be used by safety programs according to the safety device to be used by the safety program. Set the total capacity of the safety device/label area, safety device area capacity, safety label area capacity, standard/safety shared label area capacity from the CPU parameter setting window of the Safety CPU for [Parameter] in the [Navigation window].
  • Page 58 Setting details of device/label memory areas Open the detailed settings window from the [Detailed Setting] for the [Device Setting]. Then set the safety device points on the following window. Set number of points so that the total of the points will not exceed the capacity of the device area. Set the parameters.
  • Page 59 Setting safety functions Set the safety cycle time, as a timing for executing safety programs and safety input/output. Set a "Safety Cycle Time" as an item in the safety function setting window from the CPU parameter setting window of the Safety CPU in the "Parameter" in the [Navigation window].
  • Page 60: Parameter Settings Of Cc-link Ie Field Network

    Parameter settings of CC-Link IE Field Network Set parameters of the CC-Link IE Field Network according to the following procedure. Operating procedure [Navigation window]  [Parameter]  [Module Information]  Select the model name of the CC-Link IE Field Network master/local module to be set.
  • Page 61 Required Settings Set the station type, network number, and parameters of the CC-Link IE Field Network master/local module. Display the required settings. Then, select and input parameters as shown below. Complete the input. Then, click the [Apply] button in the lower right of the window.
  • Page 62 Basic settings Set the network configuration settings and other parameters of the CC-Link IE Field Network master/local module. Display the basic settings. Then, select and input parameters as shown below. Complete the input. Then, click the [Apply] button in the lower right of the window.
  • Page 63 ■Network configuration settings Set the number of link device points and assignment of slave stations to the master station. Operating procedure Select a module from "Module List", and drag and drop it to the list of stations or the network map. Select and input parameters as shown below.
  • Page 64 Set slave station parameters refer to the following. Before setting parameters, complete the required settings and the network configuration settings under the basic settings. Write the parameters to the Safety CPU and restart it. Then, set the slave station parameters. Operating procedure On the list of stations or the network map, right-click the slave station to be set.
  • Page 65 Window 5 SAFETY APPLICATION CONFIGURATION EXAMPLES 5.1 System Configured by a Safety CPU...
  • Page 66 ■Refresh settings Set transfer range between link device of standard remote I/O module and Safety CPU devices. Operating procedure Select and input parameters as shown below. Click the [Apply] button and complete "Refresh Settings". Window Displayed items Link side CPU side Device Name Points Start...
  • Page 67 Application settings Set the supplementary cyclic settings, safety communication settings, and other parameters of the CC-Link IE Field Network master/local module. Display the application settings. Then, select and input parameters as shown below. Complete the input. Then, click the [Apply] button in the lower right of the window. When setting "Safety Function Setting", double-click a line of the safety function setting in item window, or click the right-side button to be displayed when selecting line.
  • Page 68 ■Supplementary cyclic settings Set link scan mode, station-based block data assurance, and input/output hold clear setting. Operating procedure Select and input parameters as shown below. Click the [Apply] button and complete "Supplementary Cyclic Settings". Window Displayed items Item Range/value Link scan mode Sequence scan asynchronous Constant link scan time (Unavailable)
  • Page 69 ■Safety communication settings Set items related to safety communication function Operating procedure Set "Setting of Safety Communication Use or Not" to "Use" from "Application Settings" window and select detailed setting on "Safety Communication Setting". Selecting own network as the party to communicate with in the "Safety Communication Setting" window displays "Select the target module for the Safety Communication Setting"...
  • Page 70 Displayed items Item Range/value Module CCIEF remote (1) Communication destination Own network Network Configuration Network number Station No. Station Type Remote device station Open system Active Sending Interval Monitoring Time 24ms Safety Refresh Monitoring Time 60ms Safety data transfer device setting Receive data storage device Device Name: SA\X Points: 32...
  • Page 71 Checking the position of safety remote I/O module Check if the safety remote I/O module with set parameters is installed in the intended location using the "Start of checking the module position" function. Check all safety remote I/O modules according to the following procedure. Operating procedure Display the detailed settings window of "Network Configuration Settings"...
  • Page 72 Window 5 SAFETY APPLICATION CONFIGURATION EXAMPLES 5.1 System Configured by a Safety CPU...
  • Page 73 Checking parameter settings Read parameters in the safety remote I/O module to check if the parameters are consistent with the set values, according to the following procedure. Display the "Parameter Processing of Slave Station" window of the safety remote I/O module to be checked. Select "Parameter read"...
  • Page 74: Relationship Between Devices In The Safety Cpu And Remote Inputs/outputs

    Relationship between devices in the Safety CPU and remote inputs/outputs The following shows the relationship between the Safety CPU device, the inputs/outputs of safety remote I/O module, and the standard remote I/O module according to the settings on Page 58 Parameter settings of CC-Link IE Field Network. Use devices in shaded areas in the program.
  • Page 75: Setting Standard Inputs

    Setting standard inputs Wiring Wiring example of reset switch, start switch, and stop switch to CC-Link IE Field Network remote I/O module (NZ2GF2B1- 16D) CCIEF remote (2) NZ2GF2B1-16D Terminal block for power supply and FG 24VDC +24V Terminal block for input Reset switch (NO) Start switch (NO) Stop switch (NC)
  • Page 76 Example of standard/safety shared label area capacity settings Assign standard input reset signal (X100), start signal (X101), and stop signal (X102) to standard/safety shared label to deliver to safety program. Receive safety information data with the standard/safety shared label in the safety program. Right- click [Navigation window] ...
  • Page 77 Checking data link status on the station number 2 (standard remote I/O module) (125) Turn on the initial processing completion flag (RWw0.b8). (127) Turn off the initial processing completion flag (RWw0.b8). (129) to (135) Assign inputs from standard remote I/O module (X100, X101, and X102) to standard/safety shared label. (139) Checking safety status signal (safe_state) Write a program that establishes an interlock with safety status signal.
  • Page 78: Case Examples

    Case examples Emergency stop circuit ■Application overview This safety application cuts off a power to robots using an emergency stop switch. This controls the start and stop of a robot by turning on or off the main contact of the contractor which opens and closes the power source of a robot at the safety relay contact.
  • Page 79 ■Connection of safety devices CCIEF remote (1): SR_IO1 Network No.1 Station No.1 CCIEF remote (2): R_IO2 Network No.1 Station No.2 CCIEF master (1) Network No.1 Station No.0 Emergency Safety Reset Start stop switch relay switch switch 5 SAFETY APPLICATION CONFIGURATION EXAMPLES 5.1 System Configured by a Safety CPU...
  • Page 80 ■Wiring diagram and parameter settings Connect the emergency stop switch and safety relay to safety remote I/O module as follows. For details on the terminal block, refer to the following.  CC-Link IE Field Network Remote I/O Module (With Safety Functions) User's Manual CCIEF remote (1) NZ2GFSS2-32D Network No.1...
  • Page 81 For the emergency stop switches and the safety relays, set the parameters as follows. Item Setting details Transmission interval monitoring time 24ms Wiring selection of input X0 Double wiring (NC/NC) Wiring selection of input X1 Double wiring (NC/NC) Wiring selection of input X2 Double wiring (NC/NC) Wiring selection of input X3 Double wiring (NC/NC)
  • Page 82 ■Safety devices and safety labels to be used To create a safety program, use the safety devices and standard/safety shared labels listed in the table below. Module External device Safety device/safety label SR_IO1 Emergency stop SA\X0 or SA\X1 Safety relay SA\Y0 and SA\Y1 Safety relay (check for welding) SA\X2 or SA\X3...
  • Page 83 ■Program example This is a safety program. For precautions for creating safety program and setting method, refer to Page 34 Precautions for Programming and Page 53 Parameter setting of the Safety CPU. The program performs the following processing. 5 SAFETY APPLICATION CONFIGURATION EXAMPLES 5.1 System Configured by a Safety CPU...
  • Page 84 (0) to (7) This is a circuit to check fall of the off of the reset switch, and release the interlock established in the CC-Link IE Field Network. (18) This is a circuit to complete the interlocking process and cancel the request for interlocking. (21) to (28) This is a circuit to check fall of the off of the start switch, and accept a request to start the circuit.
  • Page 85 ■Timing chart CCIEF Emergency stop Emergency stop Relay contact remote (1) error switch pressed switch pressed welding detected Reset switch Start switch Reset switch Start switch Reset switch Reset switch Start switch Reset switch pressed pressed pressed pressed pressed pressed pressed pressed Reset switch (X100)
  • Page 86 ■Example of program using safety FBs • Safety FBs to be used Name Function Description M+SF_ESTOP_R Emergency stop This FB is a safety-related FB for monitoring an emergency stop button. This FB can be used for emergency switch off functionality (stop category 0). M+SF_EDM_R External device monitor This FB controls a safety output and monitors controlled actuators, e.g.
  • Page 87 ■Timing chart Emergency CCIEF Emergency Contact welding stop switch remote (1) stop switch detected in the When the reset switch is pressed, pressed error pressed safety relay the M+SF_ESTOP_R safety output Reset Start Start Reset Start Start Reset Reset Start Start (SA\M1) is turned on, enabling the switch...
  • Page 88 Guard monitoring circuit ■Safety application overview This application de-energizes a robot with the safety switch on the guard of a safety barrier when the guard is opened. The robot cannot be started while the guard of the safety barrier is open. The application controls the start and stop of a robot by turning on or off the main contact of the contactor which opens and closes the power source of a robot at the safety relay contact.
  • Page 89 ■Connection of safety devices CCIEF remote (1): SR_IO1 Network No.1 Station No.1 CCIEF remote (2): R_IO2 Network No.1 Station No.2 CCIEF master (1) Network No.1 Station No.0 Reset Start Stop Safety Electromagnetic switch switch switch switch contactor 5 SAFETY APPLICATION CONFIGURATION EXAMPLES 5.1 System Configured by a Safety CPU...
  • Page 90 ■Wiring diagram and parameter settings Wire the safety switch and electromagnetic contactor to safety remote I/O module as follows. For details on the terminal block, refer to the following.  CC-Link IE Field Network Remote I/O Module (With Safety Functions) User's Manual CCIEF remote (1) NZ2GFSS2-32D Network No.1...
  • Page 91 For safety switch and electromagnetic contactors, set the parameters as follows. Item Setting details Transmission interval monitoring time 24ms Wiring selection of input X0 and X1 Double wiring (NC/NC) Wiring selection of input X2 and X3 Double wiring (NC/NC) Input response time X0 and X1 Input response time X2 and X3 Double input discrepancy detection setting X0 and X1 Detect...
  • Page 92 ■Example of program using safety FBs • Safety FBs to be used Name Function Description M+SF_GMON_R Guard monitoring This FB monitors the relevant safety guard. There are two independent input parameters for two switches at the safety guard coupled with a time difference (i_dMonitoringTime) for closing the guard. M+SF_EDM_R External device monitor This FB controls a safety output and monitors controlled actuators, e.g.
  • Page 93 In this example, the guard status (open or close) is monitored using one safety switch. The input signals of M+SF_GMON_R (i_bS_GuradSwitch1 and i_bS_GuradSwitch2) are connected to the same signal for opening/closing the guard (SA\X0 or SA\X1) of the safety switch. In addition, the set value of the input signal, i_dDiscrepancyTime, is 0 so that an error occurs immediately after a doubling input discrepancy is detected between i_bS_GuradSwitch1 and i_bS_GuradSwitch2.
  • Page 94 Entering detection and existence detection circuit 1 ■Application overview This application detects entering and existence of a person in a hazardous area and turns off the power source of a robot. The entrance of a person to the hazardous area is detected with a light curtain. The existence of a person in the hazardous area is detected with a laser scanner.
  • Page 95 ■Connection of safety devices CCIEF remote (1): SR_IO1 Network No.1 Station No.1 CCIEF remote (2): R_IO2 Network No.1 Station No.2 CCIEF master (1) Network No.1 Station No.0 Laser Light Electromagnetic Reset Start scanner curtain contactor switch switch 5 SAFETY APPLICATION CONFIGURATION EXAMPLES 5.1 System Configured by a Safety CPU...
  • Page 96 ■Wiring diagram and parameter settings Connect the light curtain, laser scanner, and electromagnetic contactor to safety remote I/O module as follows. For details on the terminal block, refer to the following.  CC-Link IE Field Network Remote I/O Module (With Safety Functions) User's Manual CCIEF remote (1) NZ2GFSS2-32D Network No.1...
  • Page 97 For light curtains, laser scanners, and electromagnetic contactors, set the parameters as follows. Item Setting details Transmission interval monitoring time 24ms Wiring selection of input X2 Double wiring (NC/NC) Wiring selection of input X3 Double wiring (NC/NC) Wiring selection of input X4 Double wiring (NC/NC) Wiring selection of input X5 Double wiring (NC/NC)
  • Page 98 *1 Adjust the values of input response time, input dark test pulse off time, and output dark test pulse off time according to the installation environment and wiring length. *2 Set double input discrepancy detection time to 100ms for mechanical switches and 20ms for sensor inputs as standard. *3 For details on setting range, refer to the following.
  • Page 99 (0) to (7) This is a circuit to check fall of the off of the reset switch, and release the interlock established in the CC-Link IE Field Network. (18) This is a circuit to complete the interlocking process and cancel the request for interlocking. (21) to (28) This is a circuit to check fall of the off of the start switch, and accept a request to start the circuit.
  • Page 100 ■Timing chart Entry Exit CCIEF remote (1) Entry Relay contact detected confirmed error detected welding detected Reset switch Start switch Reset switch Start switch Reset switch Reset switch Start switch Reset switch pressed pressed pressed pressed pressed pressed pressed pressed Reset switch (X100) Restart status (SA\D0.0) Restart status (SA\D0.1)
  • Page 101 ■Example of program using safety FBs • Safety FBs to be used Name Function Description M+SF_ESPE_R Light curtain (ESPE) This FB is a safety-related FB for monitoring electro-sensitive protective equipment (ESPE). M+SF_EDM_R External device monitor This FB controls a safety output and monitors controlled actuators, e.g. subsequent contactors. 5 SAFETY APPLICATION CONFIGURATION EXAMPLES 5.1 System Configured by a Safety CPU...
  • Page 102 (0) to (5) This is a circuit to release the interlock when a communication or I/O error occurs on the safety remote I/O station. This is a circuit to convert the reset input bit of M+SF_EDM_R. (16) This is a circuit to monitor the light curtain status. The safety FB is enabled by activating the reset switch after the system is powered on or after the light curtain is blocked and the safety output is turned off.
  • Page 103 ■Timing chart CCIEF Contact welding Entry Exit Entry When the reset switch is remote (1) detected in the detected confirmed detected pressed, the M+SF_ESPE_R error contactor 1 safety outputs (SA\M1 and Reset Start Reset Start Reset Reset Start SA\M11) are turned on, switch switch switch...
  • Page 104 Entering detection and existence detection circuit 2 ■Application overview This application detects entering and existence of a person in a hazardous area and turns off the power source of a robot. The entrance of a person to the hazardous area is detected with a light curtain. The existence of a person in the hazardous area is detected with a mat switch.
  • Page 105 ■Connection of safety devices CCIEF remote (1): SR_IO1 Network No.1 Station No.1 CCIEF remote (2): R_IO2 Network No.1 Station No.2 CCIEF master (1) Network No.1 Station No.0 Reset Start Light Electromagnetic switch switch switch curtain contactor 5 SAFETY APPLICATION CONFIGURATION EXAMPLES 5.1 System Configured by a Safety CPU...
  • Page 106 ■Wiring diagram and parameter settings Wire the light curtain, mat switch, and electromagnetic contactor to safety remote I/O module as follows. For details on terminal block details, refer to the following.  CC-Link IE Field Network Remote I/O Module (With Safety Functions) User's Manual CCIEF remote (1) NZ2GFSS2-32D Network No.1...
  • Page 107 *1 Connect two points (PNP output) of the Type 4 light curtain control output to between input and COM. *2 Connect four-wire mat to the relay, and two relay contacts between the input terminal and test pulse terminal. Connect input terminal to NO side.
  • Page 108 Item Setting details Ext. module 1_Number of pulse output for output dark test 1 time *1 Adjust the values of input response time, input dark test pulse off time, and output dark test pulse off time according to the installation environment and wiring length.
  • Page 109 ■Program example This is a safety program. For precautions for creating safety program and setting method, refer to Page 34 Precautions for Programming and Page 53 Parameter setting of the Safety CPU. The program performs the following processing. (0) to (7) This is a circuit to check fall of the off of the reset switch, and release the interlock established in the CC-Link IE Field Network.
  • Page 110 The following shows the constant and safety user devices used in the program. • Way of using the constant K: indicates decimal number K1 1 of decimal number • Way of using the safety user devices Safety user devices Description SA\D0 This is used as restart status.
  • Page 111 ■Timing chart CCIEF remote Entry Entry Exit Relay contact (1) error detected confirmed detected welding detected Reset switch Start switch Reset switch Start switch Reset switch Reset switch Start switch Reset switch pressed pressed pressed pressed pressed pressed pressed pressed Reset switch (X100) Restart status (SA\D0.0) Restart status (SA\D0.1)
  • Page 112 Guard interlock circuit ■Safety application overview This application prevents the guard from being opened until a robot is de-energized with the spring-lock safety switch on the guard of a safety barrier. The safety switch is usually interlocked with spring. By applying a voltage to a solenoid, the interlock is released and the guard can be opened.
  • Page 113 ■Connection of safety devices CCIEF remote (1): SR_IO1 Network No.1 Station No.1 CCIEF remote (2): R_IO2 Network No.1 Station No.2 CCIEF master (1) Network No.1 Station No.0 Reset Start Stop Safety Electromagnetic switch switch switch switch contactor 5 SAFETY APPLICATION CONFIGURATION EXAMPLES 5.1 System Configured by a Safety CPU...
  • Page 114 ■Wiring diagram and parameter settings Wire the safety switch and electromagnetic contactor to safety remote I/O module as follows. For details on the terminal block, refer to the following.  CC-Link IE Field Network Remote I/O Module (With Safety Functions) User's Manual CCIEF remote (1) NZ2GFSS2-32D Network No.1...
  • Page 115 This example shows when the guard open/close signal of the safety switch is input. When using a safety switch whose interlock status can be monitored, input the locking status signal to the safety remote I/O module as well. For safety switch and electromagnetic contactors, set the parameters as follows. Item Setting details Transmission interval monitoring time...
  • Page 116 ■Safety devices and safety labels to be used To create a safety program, use the safety devices and standard/safety shared labels listed in the table below. Module External device Safety device/safety label SR_IO1 Safety switch SA\X4 or SA\X5 Release of interlock to safety switch SA\Y2 Contactor SA\Y0 and SA\Y1...
  • Page 117 ■Program example This is a safety program. For precautions for creating safety program and setting method, refer to Page 34 Precautions for Programming and Page 53 Parameter setting of the Safety CPU. The program performs the following processing. (0) to (7) This is a circuit to check fall of the off of the reset switch, and release the interlock established in the CC-Link IE Field Network.
  • Page 118 (63) This is a circuit to cancel guard interlock. (72) This is a circuit to control outputs to the electromagnetic contactor. The following shows the constant and safety user devices used in the program. • Way of using the constant K: indicates decimal number K1...
  • Page 119 ■Timing chart Electromagnetic System Stop switch CCIEF remote CCIEF remote Stop switch Guard Guard contactor welding powered on opened closed pressed (1) error (1) recovered pressed detected Reset switch Start switch Reset switch Start switch Reset switch Reset switch Start switch Reset switch pressed pressed...
  • Page 120 ■Example of program using safety FBs • Safety FBs to be used Name Function Description M+SF_GLOCK_R Guard lock and This FB controls an entrance to a hazardous area via an interlocking guard with guard locking ("four state interlocking interlocking"). M+SF_EDM_R External device monitor This FB controls a safety output and monitors controlled actuators, e.g.
  • Page 121 In this example, the door open/close signal of the safety switch is used as an input signal. Therefore, this signal (SA\X0) is connected to the input signal, i_bS_GuardLock (Status of the mechanical guard locking), of M+SF_GLOCK_R as well. When using a safety switch whose locking status can be monitored, connect the locking status signal to i_bS_GuardLock. If a safety switch that cannot monitor the door open/close signal is used, connect the locking status signal to the two input signals of M+SF_GLOCK_R, i_bS_GuardMon (Monitor of the guard interlocking) and i_bS_GuardLock.
  • Page 122 Three-position enabling switch ■Safety application overview This application controls energization of a robot with the three-position enabling switch while the safety barrier guard is open for teaching or maintenance of a robot which is performed in the safety barrier. For interlocking the safety barrier and releasing the interlock during automatic operation, refer to the following.
  • Page 123 ■Connection of safety devices CCIEF remote (1): SR_IO1 Network No.1 Station No.1 CCIEF remote (2): R_IO2 Network No.1 Station No.2 CCIEF master (1) Network No.1 Station No.0 Reset Start Stop Safety Electromagnetic switch switch switch switch contactor 5 SAFETY APPLICATION CONFIGURATION EXAMPLES 5.1 System Configured by a Safety CPU...
  • Page 124 ■Wiring diagram and parameter settings <CCIEF remote (1): SR_IO1> Wire the enabling switch, electromagnetic contactor, and safety switch to safety remote I/O module as follows. For details on the terminal block, refer to the following.  CC-Link IE Field Network Remote I/O Module (With Safety Functions) User's Manual CCIEF remote (1) NZ2GFSS2-32D Network No.1...
  • Page 125 For the enabling switch, safety switch, and electromagnetic contactors, set the parameters as follows. Item Setting details Transmission interval monitoring time 24ms Wiring selection of input X0 and X1 Double wiring (NC/NC) Wiring selection of input XA and XB Double wiring (NC/NC) Wiring selection of input XC and XD Double wiring (NC/NC) Input response time X0 and X1...
  • Page 126 <CCIEF remote (2): SR_IO2> Wire the reset switch, start switch and mode selector (manual or automatic) to the standard remote I/O module as follows. +24V 24VDC Reset switch Start switch Mode input (manual) Mode input (automatic) ■Safety devices and safety labels to be used To create a safety program, use the safety devices and standard/safety shared labels listed in the table below.
  • Page 127 ■Example of program using safety FBs • Safety FBs to be used Name Function Description M+SF_MODSEL_R Mode selector This FB selects the system operation mode, such as manual, automatic, semi-automatic. M+SF_ENBLSW_R Enabling switch This FB evaluates the input signals of a three-position enabling switch. M+SF_GMON_R Guard monitoring This FB monitors the relevant safety guard.
  • Page 128 (0) to (5) This is a circuit to release the interlock when a communication or I/O error occurs on the safety remote I/O station. This is a circuit to convert the reset input bit of M+SF_EDM_R. (17) This is a circuit to select the operation mode (manual or automatic). (64) This is a circuit to monitor the status of the enabling switch.
  • Page 129 For details on the safety FBs, refer to the following.  MELSEC iQ-R Safety Function Block Reference In this example, an enabling switch with no monitor signal for position 3 is used. Therefore, SA\SM400 (Always on) is connected to the input signal, i_bS_EnableSwCh2, of M+SF_ENBLSW_R. When using an enabling switch with monitor signal for position 3, connect the signal to i_bS_EnableSwCh2 to monitor the status of position 3.
  • Page 130 Sequential muting ■Safety application overview This application temporarily invalidates a shading detection signal such as a light curtain. This application allows carrying members into a hazardous area without de-energizing a robot. The muting is controlled with a muting sensor. This section describes a sequential muting with four muting sensors. This controls the start and stop of a robot by turning on or off the main contact of the contractor which opens and closes the power source of a robot.
  • Page 131 ■Connection of safety devices CCIEF remote (1): SR_IO1 Network No.1 Station No.1 CCIEF remote (2): R_IO2 Network No.1 Station No.2 CCIEF master (1) Network No.1 Station No.0 Reset Start Stop Safety Electromagnetic switch switch switch switch contactor 5 SAFETY APPLICATION CONFIGURATION EXAMPLES 5.1 System Configured by a Safety CPU...
  • Page 132 ■Wiring diagram and parameter settings <CCIEF remote (1): SR_IO1> Wire the light curtain and electromagnetic contactors to safety remote I/O module as follows. For details on the terminal block, refer to the following.  CC-Link IE Field Network Remote I/O Module (With Safety Functions) User's Manual CCIEF remote (1) NZ2GFSS2-32D Network No.1...
  • Page 133 One muting lamp is connected in this example. When two muting lamps are connected between Y2 and Y3 (the same wiring as the electromagnetic contactors 1 and 2 in the wiring diagram above), the muting is not suspended even if disconnection occurs to wiring of either of the muting lamp. (The muting is suspended if disconnection occurs to wiring of both of the muting lamps) For the light curtain and electromagnetic contactors, set the parameters as follows.
  • Page 134 *1 Adjust the values of input response time, input dark test pulse off time, and output dark test pulse off time according to the installation environment and wiring length. *2 Set double input discrepancy detection time to 100ms for mechanical switches and 20ms for sensor inputs as standard. *3 For details on each setting range, refer the following manual.
  • Page 135 ■Example of program using safety FBs • Safety FBs to be used Name Function Description M+SF_MUTES_R Sequential muting In this FB, sequential muting with four muting sensors is specified. M+SF_EDM_R External device monitor This FB controls a safety output and monitors controlled actuators, e.g. subsequent contactors. 5 SAFETY APPLICATION CONFIGURATION EXAMPLES 5.1 System Configured by a Safety CPU...
  • Page 136 (0) to (5) This is a circuit to release the interlock when a communication or I/O error occurs on the safety remote I/O station. This is a circuit to convert the reset input bit of M+SF_EDM_R. (16) to (22) This is a circuit to convert the i_bMutingEnable input bit of M+SF_MUTES_R. (31) This is a circuit to control muting.
  • Page 137 ■Timing chart When the reset switch is CCIEF Contact welding Entry Exit Muting Muting Entry pressed, the remote (1) detected in the detected confirmed started completed detected M+SF_MUTES_R safety error contactor 1 output (SA\M1) is turned on, Reset Start Reset Start Reset Reset...
  • Page 138 Two-hand operation switch ■Safety application overview This application prevents a worker from approaching to hazardous area by energizing a robot only when two buttons are simultaneously pressed with both hands. A press machine that starts sliding by pressing two buttons is the typical application example. Start and stop of a robot is controlled by turning on or off the main contact of the contractor which opens and closes the power source of a robot.
  • Page 139 ■Connection of safety devices CCIEF remote (1): SR_IO1 Network No.1 Station No.1 CCIEF remote (2): R_IO2 Network No.1 Station No.2 CCIEF master (1) Network No.1 Station No.0 Laser Light Electromagnetic Reset Start scanner curtain contactor switch switch 5 SAFETY APPLICATION CONFIGURATION EXAMPLES 5.1 System Configured by a Safety CPU...
  • Page 140 ■Wiring diagram and parameter settings Wire the electromagnetic contactors to safety remote I/O module as follows. For details on the terminal block, refer to the following.  CC-Link IE Field Network Remote I/O Module (With Safety Functions) User's Manual CCIEF remote (1) NZ2GFSS2-32D Network No.1 Station No.1...
  • Page 141 For electromagnetic contactors, set the parameters as follows. Item Setting details Transmission interval monitoring time 24ms Wiring selection of input X0 and X1 Not used Wiring selection of input X2 Double wiring (NC/NC) Wiring selection of input X3 Double wiring (NC/NC) Wiring selection of input X4 to XB Double wiring (NC/NC) Wiring selection of input XC to X1F...
  • Page 142 ■Example of program using safety FBs • Safety FBs to be used Name Function Description Two-hand switch Type  This FB provides the two-hand control functionality (See ISO13851, Type . Fixed specified time difference M+SF_2HAND3_R is 500ms). M+SF_EDM_R External device monitor This FB controls a safety output and monitors controlled actuators, e.g.
  • Page 143 ■Timing chart CCIEF Contact welding Two-hand Two-hand Two-hand remote (1) detected in the operation operation operation error contactor 1 switch 1 pressed switch 2 pressed switch 1 released Reset switch pressed Reset switch (reset_in) Interlock status (SA\SD1232.0) When either of the two-hand operation Interlock release request switches turns off, the contactor output (SA\SD1240.0)
  • Page 144: System To Which Multiple Safety Cpus Are Connected

    Symbol Definition CCIEF master (A-0) MELSEC iQ-R series CC-Link IE Field Network master/local module (network number 2, 3, 4, station number 0) (A = 2, 3, 4) This is used when communicating with safety remote I/O module. CCIEF remote (A-1)
  • Page 145: Network-related Switch Settings Of Module

    Network-related switch settings of module Set network-related switches on modules as follows. Safety CPU There is no network-related switch. Safety function module There is no network-related switch. CC-Link IE Field Network master/local module There is no network-related switch. Safety remote I/O module Set the station number setting switches.
  • Page 146 ■Standard remote I/O module Set the station number setting switches. Switch number Remote I/O CCIEF remote (2-2) CCIEF remote (3-2) CCIEF remote (4-2) in the figure Module number R_M2IO2 R_M3IO2 R_M4IO2 above (Network number 2) (Network number 3) (Network number 4) Station number setting switch The setting value of the station number becomes valid when the module is powered on.
  • Page 147: Parameter Setting Of The Safety Cpu

    Parameter setting of the Safety CPU Set Safety CPU parameters refer to the following. Operating procedure Create a new project and set user authentication. Perform "Write User Data to PLC". [Online]  [User Authentication]  [Write User Data to PLC] Perform "Log on to PLC".
  • Page 148 Setting system parameters Parameters can be set from [Module Configuration] to be displayed by double-clicking "Module Configuration" in [Navigation window]. Parameters can be set by allocating modules according to the configuration to be used. Before setting parameters, select a main base unit from the "Element Selection" window and drag and drop it to the "Module Configuration" window. Then, place the required modules on the main base unit.
  • Page 149 Setting safety device/label Safety programs are described using safety devices. Before creating safety programs, set safety devices at device/label memory area setting of the Safety CPU. ■Setting device/label memory capacity Set device area capacity to be used by safety programs according to the safety device to be used by the safety program. Set the total capacity of the safety device/label area, safety device area capacity, safety label area capacity, standard/safety shared label area capacity from the CPU parameter setting window of the Safety CPU for [Parameter] in the [Navigation window].
  • Page 150 ■Setting details of device/label memory areas Open the detailed settings window from the [Detailed Setting] for the [Device Setting]. Then set the safety device points on the following window. Set number of points so that the total of the points will not exceed the capacity of the device area. Set the parameters.
  • Page 151 Setting safety functions Set the safety cycle time, as a timing for executing safety programs and safety input/output. Set a "Safety Cycle Time" as an item in the safety function setting window from CPU parameter setting window of Safety CPU in the [Parameter] in the [Navigation window].
  • Page 152: Parameter Settings Of Cc-link Ie Field Network

    Parameter settings of CC-Link IE Field Network Set parameters of the CC-Link IE Field Network according to the following procedure. Operating procedure [Navigation window]  [Parameter]  [Module Information]  Select the model name of the CC-Link IE Field Network master/local module to be set.
  • Page 153 Communications between Safety CPU and safety and standard remote I/O module This section describes network parameters setting required for communications between Safety CPU and safety remote I/O module and standard remote I/O module. ■Required Settings Set the station type, network number, and parameters of the CC-Link IE Field Network master/local module. Display the required settings.
  • Page 154 ■Basic settings Set the network configuration settings and other parameters of the CC-Link IE Field Network master/local module. Display the basic settings. Then, select and input parameters as shown below. Complete the input. Then, click the [Apply] button in the lower right of the window.
  • Page 155 • Network configuration settings Set the number of link device points and assignment of slave stations to the master station. Operating procedure Select a module from "Module List", and drag and drop it to the list of stations or the network map. Select and input parameters as shown below.
  • Page 156 Displayed items Item Description Assignment Number of points or Start number Method Total number of slave stations Item Range/value CCIEF master (A-0) CCIEF remote (A-1) CCIEF remote (A-2) Model RJ71GF11-T2 NZ2GFSS2-32D NZ2EXSS2-8TE NZ2GF2B1-16D STA# (Unavailable) Station Type Master Station Remote device station (Unavailable) Remote device station RX/RY...
  • Page 157 Window 5 SAFETY APPLICATION CONFIGURATION EXAMPLES 5.2 System to Which Multiple Safety CPUs are Connected...
  • Page 158 • Refresh settings Set transfer range between link device of standard remote I/O module and Safety CPU devices. Operating procedure Select and input parameters as shown below. Click the [Apply] button and complete "Refresh Settings". Window Displayed items Link side CPU side Device Points...
  • Page 159 ■Application settings Set the supplementary cyclic settings, safety communication settings, and other parameters of the CC-Link IE Field Network master/local module. Display the application settings. Then, select and input parameters as shown below. Complete the input. Then, click the [Apply] button in the lower right of the window. When setting "Safety Function Setting", double-click a line of the safety function setting in item window, or click the right-side button to be displayed when selecting line.
  • Page 160 • Supplementary cyclic settings Set link scan mode, station-based block data assurance, and input/output hold clear setting. Operating procedure Select and input parameters as shown below. Click the [Apply] button and complete "Supplementary Cyclic Settings". Window Displayed items Item Range/value Link scan mode Sequence scan asynchronous Constant link scan time...
  • Page 161 • Safety communication settings Set items related to safety communication function Operating procedure Set "Setting of Safety Communication Use or Not" to "Use" from "Application Settings" window and select detailed setting on "Safety Communication Setting". Selecting own network as the party to communicate with in the "Safety Communication Setting" window displays "Select the target module for the Safety Communication Setting"...
  • Page 162 Displayed items Item Range/value Module CCIEF remote (2-0) CCIEF remote (3-0) CCIEF remote (4-0) Communication destination Own network Own network Own network Network Configuration Network number Station No. Station Type Remote device station Remote device station Remote device station Open system Active Active Active...
  • Page 163 ■Checking the position of safety remote I/O module Check if the safety remote I/O module with set parameters is installed in the intended location using the "Start of checking the module position" function. Check all safety remote I/O modules according to the following procedure. Operating procedure Display the detailed settings window of "Network Configuration Settings"...
  • Page 164 Window 5 SAFETY APPLICATION CONFIGURATION EXAMPLES 5.2 System to Which Multiple Safety CPUs are Connected...
  • Page 165 ■Checking parameter settings Read parameters in the safety remote I/O module to check if the parameters are consistent with the set values, according to the following procedure. Display the "Parameter Processing of Slave Station" window of the safety remote I/O module to be checked. Select "Parameter read"...
  • Page 166 ■Basic settings Set the network configuration settings and other parameters of the CC-Link IE Field Network master/local module. Display the basic settings. Then, select and input parameters as shown below. Complete the input. Then, click the [Apply] button in the lower right of the window.
  • Page 167 • Network configuration settings Set the number of link device points and assignment of slave stations to the master station. If selecting "Local Station" in "Required Settings", setting is not possible. Operating procedure Select a module from "Module List", and drag and drop it to the list of stations or the network map. Select and input parameters as shown below.
  • Page 168 Item Range/value CCIEF programmable controller CCIEF programmable controller CCIEF programmable controller Master (1-0) Local (1-1) Local (1-2) Station Alias (Blank) (Blank) (Blank) information Comment (Blank) (Blank) (Blank) ■Application settings Set the supplementary cyclic settings, safety communication settings, and other parameters of the CC-Link IE Field Network master/local module.
  • Page 169 • Supplementary cyclic settings Set link scan mode, station-based block data assurance, and input/output hold clear setting. Operating procedure Select and input parameters as shown below. Click the [Apply] button and complete "Supplementary Cyclic Settings". Window Displayed items Item Range/value CCIEF programmable CCIEF programmable CCIEF programmable...
  • Page 170 • Safety communication settings Set items related to safety communication function Operating procedure Set "Setting of Safety Communication Use or Not" to "Use" from "Application Settings" window and select detailed setting on "Safety Communication Setting". Selecting own network as the party to communicate with in the "Safety Communication Setting" window displays "Select the target module for the Safety Communication Setting"...
  • Page 171 Displayed items This indicates master station setting mounted on safety programmable controller (1). Item Safety programmable controller (1) CCIEF programmable controller local CCIEF programmable controller local (1-1) (1-2) Communication destination Own network Own network Network Configuration Network number Station No. Station Type Local station Local station...
  • Page 172: Relationship Between Devices In The Safety Cpu And Remote Inputs/outputs

    Relationship between devices in the Safety CPU and remote inputs/outputs Relationship between devices in the Safety CPU and remote inputs/outputs The following shows the relationship between the Safety CPU device, the inputs/outputs of safety remote I/O module, and the standard remote I/O module according to the settings on Page 150 Parameter settings of CC-Link IE Field Network. Use devices in shaded areas in the program.
  • Page 173: Setting Standard Inputs

    Setting standard inputs Wiring Wiring example of reset switch, start switch, and stop switch to CC-Link IE Field Network remote I/O module (NZ2GF2B1- 16D) CCIEF remote (A-2) (A = 2, 3, 4) NZ2GF2B1-16D Terminal block for power supply and FG 24VDC +24V Terminal block for input...
  • Page 174 Example of standard/safety shared label area capacity settings Assign standard input reset signal (X100), start signal (X101), and stop signal (X102) to standard/safety shared label to deliver to safety program. Receive safety information data with the standard/safety shared label in the safety program. Perform standard/safety shared label setting for all safety programmable controllers (1) to (3).
  • Page 175 Checking data link status on the station number 2 (standard remote I/O module) (125) Turn on the initial processing completion flag (RWw0.b8). (127) Turn off the initial processing completion flag (RWw0.b8). (129) to (135) Assign inputs from standard remote I/O module (X100, X101, and X102) to standard/safety shared label. (139) Checking safety status signal (safe_state) Write a program that establishes an interlock with safety status signal.
  • Page 176: Case Examples

    Case examples Emergency stop circuit (stop of the entire equipment) ■Application overview This application uses a safety programmable controller in each process and cuts off a power to robots in all processes using an emergency stop switch in any process. This controls the start and stop of a robot by turning on or off the main contact of the contractor which opens and closes the power source of a robot at the safety relay contact.
  • Page 177 ■Connection of safety devices GX Works3 CC-Link IE Field Network CCIEF programmable controller master (1-0) CCIEF master (2-0) CCIEF programmable CCIEF master (3-0) CCIEF programmable CCIEF master (4-0) N1, S0 N2, S0 controller local (1-1) N3, S0 controller local (1-2) N4, S0 N1, S1 N1, S2...
  • Page 178 ■Wiring diagram and parameter setting Wire the emergency stop switches and safety relays to safety remote I/O module of safety programmable controllers (1) to (3) as follows. For details on the terminal block, refer to the following.  CC-Link IE Field Network Remote I/O Module (With Safety Functions) User's Manual CCIEF remote (A-1) NZ2GFSS2-32D Network No.A (A = 2, 3, 4)
  • Page 179 For the emergency stop switches and the safety relays, set the parameters as follows. Item Setting details SR_M2IO1 SR_M3IO1 SR_M4IO1 Transmission interval monitoring time 24ms 24ms 24ms Wiring selection of input X0 Double wiring (NC/NC) Double wiring (NC/NC) Double wiring (NC/NC) Wiring selection of input X1 Double wiring (NC/NC) Double wiring (NC/NC)
  • Page 180 Item Setting details SR_M2IO1 SR_M3IO1 SR_M4IO1 Ext. module 1_Number of pulse output for 1 time 1 time 1 time output dark test *1 Adjust the values of input response time, input dark test pulse off time, and output dark test pulse off time according to the installation environment and wiring length.
  • Page 181 ■Safety devices and safety labels to be used To create a safety program, use the safety devices and standard/safety shared labels listed in the table below. Safety programmable Module External device Safety device/safety label controller Safety programmable SR_M2IO1 Emergency stop switch SA\X0 or SA\X1 controller (1) Safety relay...
  • Page 182 • Safety programmable controller (1) 5 SAFETY APPLICATION CONFIGURATION EXAMPLES 5.2 System to Which Multiple Safety CPUs are Connected...
  • Page 183 (0) to (7) This is a circuit to check fall of the off of the reset switch, and release the interlock established in the CC-Link IE Field Network. (24) to (30) This is a circuit to complete the interlocking process and cancel the request for interlocking. (33) to (37) This is a circuit to notify emergency stop request to the Safety CPU of the safety programmable controllers (2) and (3).
  • Page 184 • Safety programmable controller (2) (0) to (7) This is a circuit to check fall of the off of the reset switch, and release the interlock established in the CC-Link IE Field Network. (21) to (24) This is a circuit to complete the interlocking process and cancel the request for interlocking. (27) This is a circuit to notify emergency stop request to the Safety CPU of the safety programmable controller (1).
  • Page 185 • Safety programmable controller (3) (0) to (7) This is a circuit to check fall of the off of the reset switch, and release the interlock established in the CC-Link IE Field Network. (21) to (24) This is a circuit to complete the interlocking process and cancel the request for interlocking. (27) This is a circuit to notify emergency stop request to the Safety CPU of the safety programmable controller (1).
  • Page 186 The following shows the constant and safety user devices used in the program. • Way of using the constant K: indicates decimal number K1 1 of decimal number • Way of using the safety user devices Safety user devices Description SA\D0 This is used as restart status.
  • Page 187 ■Timing chart The following shows the entire timing chart when connecting three safety programmable controllers and enlarged timing charts for each safety programmable controller. Safety programmable controller (1) Reset switch (X100) Restart status (SA\D0.0) Restart status (SA\D0.1) Start switch (X101) Start status (SA\D1.0) Start status (SA\D1.1) Interlock status (SA\SD1232.0)
  • Page 188 • Timing chart for safety programmable controller (1) Emergency stop Emergency stop Network error in the switch connected switch connected safety programmable to the safety to the safety controller (1) programmable programmable controller (1) pressed controller (2) pressed Reset switch Start switch Reset switch Start switch...
  • Page 189 • Timing chart for safety programmable controller (2) From the safety programmable To the safety programmable controller (1) controller (1) Emergency stop switch Emergency stop switch connected to the safety Network error in the safety connected to the safety programmable controller (1) programmable controller programmable controller (2) pressed...
  • Page 190 • Timing chart for safety programmable controller (3) From the safety From the safety programmable programmable controller (1) controller (1) Emergency stop switch Emergency stop switch Network error in the connected to the safety connected to the safety safety programmable programmable controller programmable controller (1)
  • Page 191 Entering detection and existence detection circuit 1 ■Application overview This application uses a safety programmable controller in each process and detect the entrance and existence of a person in a hazardous area and turns off the power source of a robot. The entrance of a person to the hazardous area is detected with a light curtain.
  • Page 192 ■Connection of safety devices GX Works3 CC-Link IE Field Network CCIEF programmable CCIEF CCIEF controller master (1-0) CCIEF master (2-0) CCIEF master (3-0) CCIEF master (4-0) programmable programmable N1, S0 N2, S0 N3, S0 N4, S0 controller local (1-1) controller local (1-2) N1, S1 N1, S2 Safety programmable...
  • Page 193 ■Wiring diagram and parameter settings Wire the light curtain, laser scanner, and electromagnetic contactor to safety remote I/O module of safety programmable controllers (1) to (3) as follows. For details on the terminal block, refer to the following.  CC-Link IE Field Network Remote I/O Module (With Safety Functions) User's Manual CCIEF remote (A-1) NZ2GFSS2-32D Network No.A (A = 2, 3, 4)
  • Page 194 For light curtains, laser scanners, and electromagnetic contactors, set the parameters as follows. Item Setting details SR_M2IO1 SR_M3IO1 SR_M4IO1 Transmission interval monitoring time 24ms 24ms 24ms Wiring selection of input X2 Double wiring (NC/NC) Double wiring (NC/NC) Double wiring (NC/NC) Wiring selection of input X3 Double wiring (NC/NC) Double wiring (NC/NC)
  • Page 195 Item Setting details SR_M2IO1 SR_M3IO1 SR_M4IO1 Ext. module 1_Output dark test execution setting Y2 to Do not perform Do not perform Do not perform Ext. module 1_Output dark test pulse OFF time Y0 Ext. module 1_Output dark test pulse OFF time Y1 Ext.
  • Page 196 ■Safety devices and safety labels to be used To create a safety program, use the safety devices and standard/safety shared labels listed in the table below. Safety programmable Module External device Safety device/safety label controller Safety programmable SR_M2IO1 Light curtain SA\X4 or SA\X5 controller (1) Laser scanner...
  • Page 197 • Safety programmable controller (1) (0) to (7) This is a circuit to check fall of the off of the reset switch, and release the interlock established in the CC-Link IE Field Network. (24) to (30) This is a circuit to complete the interlocking process and cancel the request for interlocking. (33) to (38) This is a circuit to notify emergency stop request to the Safety CPU of the safety programmable controllers (2) and (3).
  • Page 198 • Safety programmable controller (2) (0) to (7) This is a circuit to check fall of the off of the reset switch, and release the interlock established in the CC-Link IE Field Network. (21) to (24) This is a circuit to complete the interlocking process and cancel the request for interlocking. (27) This is a circuit to notify emergency stop request to the Safety CPU of the safety programmable controller (1).
  • Page 199 • Safety programmable controller (3) (0) to (7) This is a circuit to check fall of the off of the reset switch, and release the interlock established in the CC-Link IE Field Network. (21) to (24) This is a circuit to complete the interlocking process and cancel the request for interlocking. (27) This is a circuit to notify emergency stop request to the Safety CPU of the safety programmable controller (1).
  • Page 200 The following shows the constant and safety user devices used in the program. • Way of using the constant K: indicates decimal number K1 1 of decimal number • Way of using the safety user devices Safety user devices Description SA\D0 This is used as restart status.
  • Page 201 ■Timing chart The following shows the entire timing chart when connecting three safety programmable controllers and enlarged timing charts for each safety programmable controller. Safety programmable controller (1) Reset switch (X100) Restart status (SA\D0.0) Restart status (SA\D0.1) Start switch (X101) Start status (SA\D1.0) Start status (SA\D1.1) Interlock status (SA\SD1232.0)
  • Page 202 • Timing chart for safety programmable controller (1) Person went Person entered Person entered Person went out from the to the area to the area out from the Network error in the area controlled controlled by controlled by area controlled safety programmable by the safety the safety...
  • Page 203 • Timing chart for safety programmable controller (2) From the safety To the safety programmable programmable controller (1) controller (1) Person went out Person went out Person entered to Person entered to from the area from the area Network error in the the area controlled the area controlled controlled by the...
  • Page 204 • Timing chart for safety programmable controller (3) From the safety From the safety programmable programmable controller (1) controller (1) Person went out Person went out Person entered to Person entered to from the area from the area the area controlled Network error in the the area controlled controlled by...
  • Page 205 Entering detection and existence detection circuit 2 ■Application overview This application uses a safety programmable controller in each process and detect the entrance and existence of a person in a hazardous area by light curtain and mat switch installed to each process, and turns off the power source of a robot. The entrance of a person to the hazardous area is detected with a light curtain.
  • Page 206 ■Connection of safety devices GX Works3 CC-Link IE Field Network CCIEF programmable CCIEF CCIEF controller master (1-0) CCIEF master (2-0) CCIEF master (3-0) CCIEF master (4-0) programmable programmable N1, S0 N2, S0 N3, S0 N4, S0 controller local (1-1) controller local (1-2) N1, S1 N1, S2 Safety programmable...
  • Page 207 ■Wiring diagram and parameter settings Wire the light curtain, mat switch, and electromagnetic contactor to safety remote I/O module of safety programmable controllers (1) to (3) as follows. For details on the terminal block, refer to the following.  CC-Link IE Field Network Remote I/O Module (With Safety Functions) User's Manual CCIEF remote (A-1) NZ2GFSS2-32D Network No.A (A = 2, 3, 4)
  • Page 208 *1 Connect two points (PNP output) of the Type 4 light curtain control output to between input and COM. *2 Connect four-wire mat to the relay, and two relay contacts between the input terminal and test pulse terminal. Connect input terminal to NO side.
  • Page 209 Item Setting details SR_M2IO1 SR_M3IO1 SR_M4IO1 Ext. module 1_Wiring selection of output Y2 to Y7 Not used Not used Not used Ext. module 1_Output dark test execution setting Y0 Perform Perform Perform Ext. module 1_Output dark test execution setting Y1 Perform Perform Perform...
  • Page 210 ■Safety devices and safety labels to be used To create a safety program, use the safety devices and standard/safety shared labels listed in the table below. Safety programmable Module External device Safety device/safety label controller Safety programmable SR_M2IO1 Light curtain SA\X4 or SA\X5 controller (1) Mat switch...
  • Page 211 • Safety programmable controller (1) 5 SAFETY APPLICATION CONFIGURATION EXAMPLES 5.2 System to Which Multiple Safety CPUs are Connected...
  • Page 212 (0) to (7) This is a circuit to check fall of the off of the reset switch, and release the interlock established in the CC-Link IE Field Network. (24) to (30) This is a circuit to complete the interlocking process and cancel the request for interlocking. (33) to (38) This is a circuit to notify emergency stop request to the Safety CPU of the safety programmable controllers (2) and (3).
  • Page 213 • Safety programmable controller (2) (0) to (7) This is a circuit to check fall of the off of the reset switch, and release the interlock established in the CC-Link IE Field Network. (21) to (24) This is a circuit to complete the interlocking process and cancel the request for interlocking. (27) This is a circuit to notify emergency stop request to the Safety CPU of the safety programmable controller (1).
  • Page 214 • Safety programmable controller (3) (0) to (7) This is a circuit to check fall of the off of the reset switch, and release the interlock established in the CC-Link IE Field Network. (21) to (24) This is a circuit to complete the interlocking process and cancel the request for interlocking. (27) This is a circuit to notify emergency stop request to the Safety CPU of the safety programmable controller (1).
  • Page 215 The following shows the constant and safety user devices used in the program. • Way of using the constant K: indicates decimal number K1 1 of decimal number • Way of using the safety user devices Safety user devices Description SA\D0 This is used as restart status.
  • Page 216 ■Timing chart The following shows the entire timing chart when connecting three safety programmable controllers and enlarged timing charts for each safety programmable controller. Safety programmable controller (1) Reset switch (X100) Restart status (SA\D0.0) Restart status (SA\D0.1) Start switch (X101) Start status (SA\D1.0) Start status (SA\D1.1) Interlock status (SA\SD1232.0)
  • Page 217 • Timing chart for safety programmable controller (1) Person Person Person Person went out from went out from entered to the entered to the the area Network error in the the area area controlled area controlled controlled by safety programmable controlled by by the safety by the safety...
  • Page 218 • Timing chart for safety programmable controller (2) From the safety To the safety programmable programmable controller (1) controller (1) Person Person Person Person went out from went out from entered to the entered to the the area Network error in the the area area controlled area controlled...
  • Page 219 • Timing chart for safety programmable controller (3) From the safety From the safety programmable programmable controller (1) controller (1) Person Person Person Person went out from went out entered to the entered to the the area Network error in the from the area area controlled area controlled...
  • Page 220 Guard interlock circuit ■Safety application overview This application uses a safety programmable controller in each process and prevents the guard from being opened until a robot is de-energized with the spring-lock safety switch on the guard of a safety barrier. The safety switch is usually interlocked with spring.
  • Page 221 ■Connection of safety devices GX Works3 CC-Link IE Field Network CCIEF programmable controller master (1-0) CCIEF master (2-0) CCIEF programmable CCIEF master (3-0) CCIEF programmable CCIEF master (4-0) N1, S0 N2, S0 controller local (1-1) N3, S0 controller local (1-2) N4, S0 N1, S1 N1, S2...
  • Page 222 ■Wiring diagram and parameter settings Wire the safety switch and electromagnetic contactor to safety remote I/O module of safety programmable controllers (1) to (3) as follows. For details on the terminal block, refer to the following.  CC-Link IE Field Network Remote I/O Module (With Safety Functions) User's Manual CCIEF remote (A-1) NZ2GFSS2-32D Network No.A (A = 2, 3, 4)
  • Page 223 This example shows when the guard open/close signal of the safety switch is input. When using a safety switch whose interlock status can be monitored, input the locking status signal to the safety remote I/O module as well. For safety switch and electromagnetic contactors, set the parameters as follows. Item Setting details SR_M2IO1...
  • Page 224 Item Setting details SR_M2IO1 SR_M3IO1 SR_M4IO1 Ext. module 1_Output dark test pulse OFF time Y3 to Ext. module 1_Number of pulse output for output dark 1 time 1 time 1 time test *1 Adjust the values of input response time, input dark test pulse off time, and output dark test pulse off time according to the installation environment and wiring length.
  • Page 225 ■Program example This is a safety program. For precautions for creating safety program and setting method, refer to Page 34 Precautions for Programming and Page 145 Parameter setting of the Safety CPU. The program performs the following processing. The following shows programs to be used for safety programmable controllers (1) to (3). •...
  • Page 226 (0) to (7) This is a circuit to check fall of the off of the reset switch, and release the interlock established in the CC-Link IE Field Network. (26) to (32) This is a circuit to complete the interlocking process and cancel the request for interlocking. (35) to (40) This is a circuit to notify emergency stop request to the Safety CPU of the safety programmable controllers (2) and (3).
  • Page 227 • Safety programmable controller (2) 5 SAFETY APPLICATION CONFIGURATION EXAMPLES 5.2 System to Which Multiple Safety CPUs are Connected...
  • Page 228 (0) to (7) This is a circuit to check fall of the off of the reset switch, and release the interlock established in the CC-Link IE Field Network. (23) to (26) This is a circuit to complete the interlocking process and cancel the request for interlocking. (29) This is a circuit to notify emergency stop request to the Safety CPU of the safety programmable controller (1).
  • Page 229 • Safety programmable controller (3) 5 SAFETY APPLICATION CONFIGURATION EXAMPLES 5.2 System to Which Multiple Safety CPUs are Connected...
  • Page 230 (0) to (7) This is a circuit to check fall of the off of the reset switch, and release the interlock established in the CC-Link IE Field Network. (23) to (26) This is a circuit to complete the interlocking process and cancel the request for interlocking. (29) This is a circuit to notify emergency stop request to the Safety CPU of the safety programmable controller (1).
  • Page 231 The following shows the constant and safety user devices used in the program. • Way of using the constant K: indicates decimal number K1 1 of decimal number • Way of using the safety user devices Safety user devices Description SA\D0 This is used as restart status.
  • Page 232 ■Timing chart The following shows the entire timing chart when connecting three safety programmable controllers and enlarged timing charts for each safety programmable controller. Safety programmable controller (1) Reset switch (X100) Restart status (SA\D0.0) Restart status (SA\D0.1) Start switch (X101) Start status (SA\D1.0) Start status (SA\D1.1) Interlock status (SA\SD1232.0)
  • Page 233 • Timing chart for safety programmable controller (1) Safety Safety Network error in the programmable programmable safety programmable controller (1) stop controller (2) stop controller (1) switch pressed switch pressed Guard Guard Guard Guard System opened closed opened closed powered on Reset switch Start switch Reset switch...
  • Page 234 • Timing chart for safety programmable controller (2) From the safety programmable controller (1) To the safety programmable controller (1) Safety Safety Network error programmable programmable in the safety controller (1) controller (2) programmable stop switch stop switch controller (1) pressed pressed Guard...
  • Page 235 • Timing chart for safety programmable controller (3) From the safety programmable controller (1) From the safety programmable controller (1) Safety Safety Network error in programmable programmable the safety controller (1) controller (2) programmable stop switch stop switch controller (1) pressed pressed Guard...
  • Page 236: Appendices

    APPENDICES Appendix 1 Calculating Safety Response Time for System Configured with a Safety CPU This section describes the maximum value of safety response time for a system configured with a Safety CPU. For systems connected to multiple Safety CPUs, refer to Page 242 Calculating Safety Response Time for System Connected to Multiple Safety CPUs.
  • Page 237 The maximum value of safety response time will be the sum of (a) to (c) of the following. Item Maximum value (a) Input device response time (b) Safety data transmission time (maximum value) Transmission time of CC-Link IE Field Network from safety input to safety output (c) Output device response time Total DT1 + DT2 + Safety data transmission time (maximum value)
  • Page 238: Method For Calculating Safety Response Time Of Cc-link Ie Field Network

    Method for calculating safety response time of CC-Link IE Field Network CC-Link IE Field Network transmission time The following shows a calculation formula for the transmission time of the CC-Link IE Field Network from safety input to safety output. (SCcpu  3) + (SRref  4.5) + (RM  2) + SRin + SRout + (n  4) SCcpu: Safety cycle time of the Safety CPU SRref: Safety remote station refresh response processing time RM: Safety refresh monitoring time...
  • Page 239 (1) to (6) below can be satisfied. ■MELSEC iQ-R series CC-Link IE Field Network master/local module • If the communication destination is a master station (safety station) or local station (safety station): (1) Transmission interval monitoring time [ms] ...
  • Page 240 Safety refresh monitoring time on CC-Link IE Field Network Safety refresh monitoring time is used for calculation of the CC-Link IE Field Network transmission time. This is the time that the receiving station monitors in each connection to detect the following safety communication errors. •...
  • Page 241 CC-Link IE Field Network link scan time (LS) Calculation formula of the CC-Link IE Field Network link scan time (LS) [s] (When link scan mode is "Sequence Scan Asynchronous") LS = {Total points assigned for cyclic transmission  0.08 + (number of actually connected slave stations  Ka) + Kb + Kc + Kd} ...
  • Page 242: Calculation Example For Response Time

    Calculation example for response time The following shows calculation examples. • Safety cycle time: 3ms (SCcpu) • Safety remote I/O module input response time: 1.4ms (SRin) • Safety remote I/O module output response time: 0.4ms (SRout) • Safety remote station refresh response processing time: 2ms Calculation example of the CC-Link IE Field Network transmission time Calculation example of CC-Link IE Field Network transmission time ■Calculation example of CC-Link IE Field Network link scan time (LS)
  • Page 243 ■Calculation example of the safety data transmission time (maximum value) The safety data transmission time (maximum value) is a transmission time of the CC Link IE Field Network from safety input to safety output. The safety data transmission time (maximum value) = (SCcpu  3) + (SRref  4.5) + (RM  2) + SRin + SRout + (n  4) = 3  3 + 2 ...
  • Page 244: Appendix 2 Calculating Safety Response Time For System Connected To Multiple Safety Cpus

    Appendix 2 Calculating Safety Response Time for System Connected to Multiple Safety CPUs This section describes the maximum value of safety response time for a system connected to multiple Safety CPUs using the CC-Link IE Field Network. As described as a line topology, however, calculation is possible by methods described here regardless of the connection methods such as line topology, star topology, or ring topology.
  • Page 245: Method For Calculating Safety Data Transmission Time Of The Cc-link Ie Field Network

    Method for calculating safety data transmission time of the CC- Link IE Field Network Transmission time of the CC-Link IE Field Network The following shows a calculation formula for the transmission time of the CC-Link IE Field Network from safety input to safety output.
  • Page 246: Calculation Example For Response Time

    Calculation example for response time The following shows calculation examples. • Safety cycle time of the Safety CPU (1): 3ms (SCcpu) • Safety cycle time of the Safety CPU (2): 3ms (SCcpu) • Input response time of the safety remote I/O module: 1.4ms (SRin) •...
  • Page 247 Therefore, set the transmission interval monitoring time of the CC-Link IE Field Network master/local module to 9ms. <Transmission interval monitoring time between the master station of MELSEC iQ-R series CC-Link IE Field Network master/ local module and the safety remote I/O module>...
  • Page 248 ■Calculation example of safety refresh monitoring time on CC-Link IE Field Network Safety refresh monitoring time is used for calculation of the CC-Link IE Field Network transmission time. The following shows calculation example of network number 1. According to Page 243 Safety refresh monitoring time on CC-Link IE Field Network, all calculation formulas in (1) to (4) below must be satisfied.
  • Page 249: Appendix 3 Checklist

    Appendix 3 Checklist Description Reference Check Backup and version management of a file The created date and author are entered at the top of the program using the statement function of the Page 39 Detecting  engineering tool. errors in the CC-Link IE Field Network When modifying the program, date modified, author, and a description of the modification are entered at the Page 39 Detecting...
  • Page 250 MEMO APPX Appendix 3 Checklist...
  • Page 251: Index

    INDEX ..... 15 ....12,21 Application example Target failure measure .
  • Page 252 MEMO...
  • Page 253: Revisions

    Japanese manual number: SH-081537-C This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.
  • Page 254: Warranty

    1. Limited Warranty and Product Support. a. Mitsubishi Electric Company ("MELCO") warrants that for a period of eighteen (18) months after date of delivery from the point of manufacture or one year from date of Customer's purchase, whichever is less, Mitsubishi MELSEC Safety programmable logic controllers (the "Products") will be free from defects in material and workmanship.
  • Page 255 g. The Product information and statements contained on MELCO's website and in catalogs, manuals, technical bulletins or other materials provided by MELCO are provided as a guide for Customer's use. They do not constitute warranties and are not incorporated in the contract of sale for the Products. h.
  • Page 256: Trademarks

    TRADEMARKS Ethernet is a registered trademark of Fuji Xerox Co., Ltd. in Japan. The company names, system names and product names mentioned in this manual are either registered trademarks or trademarks of their respective companies.   In some cases, trademark symbols such as ' ' or ' ' are not specified in this manual.
  • Page 258 SH(NA)-081538ENG-C(1807) MODEL: RNSFCPU-APPLI-E HEAD OFFICE : TOKYO BUILDING, 2-7-3 MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN NAGOYA WORKS : 1-14 , YADA-MINAMI 5-CHOME , HIGASHI-KU, NAGOYA , JAPAN When exported from Japan, this manual does not require application to the Ministry of Economy, Trade and Industry for service transaction permission. Specifications subject to change without notice.

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