Mitsubishi Electric Melsec-QS Series Safety Application Manual
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Mitsubishi Electric Melsec-QS Series Safety Application Manual

Mitsubishi Electric Melsec-QS Series Safety Application Manual

Safety programmable controller
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  • Page 3: Safety Precautions

    SAFETY PRECAUTIONS (Always read these instructions before using this equipment.) Before using the product, please read this manual, the relevant manuals introduced in this manual, standard PLC manuals, and the safety standards carefully and pay full attention to safety to handle the product correctly.
  • Page 4 [Design Precautions] DANGER When a safety PLC detects an error in an external power supply or a failure in PLC main module, it turns off all the outputs. Create an external circuit to securely stop the power of hazard by turning off the outputs. Incorrect configuration may result in an accident.
  • Page 5 [Design Precautions] CAUTION Do not bunch the wires of external devices or communication cables together with the main circuit or power lines, or install them close to each other. They should be installed 100 mm (3.94 inch) or more from each other. Not doing so could result in noise that would cause malfunctions.
  • Page 6 [Wiring Precautions] DANGER Be sure to shut off all phases of the external supply power used by the system before wiring. Not completely turning off all power could result in electric shock or damage to the product. When energizing or operating the module after installation or wiring, be sure to close the attached terminal cover.
  • Page 7 [Wiring Precautions] CAUTION Be sure to fix the communication cables or power cables by ducts or clamps when connecting them to the module. Failure to do so may cause damage of the module or cables due to a wobble, unintentional shifting, or accidental pull of the cables, or malfunctions due to poor contact of the cable.
  • Page 8 [Stratup and Maintenance precautions] DANGER Do not touch the terminals while power is on. Doing so could could result in electric shock. Correctly connect the battery. Also, do not charge, disassemble, heat, place in fire, short circuit, or solder the battery. Mishandling of battery can cause overheating, cracks, or ignition which could result in injury and fires.
  • Page 9 [Stratup and Maintenance precautions] CAUTION Completely turn off the external supply power used in the system before mounting or removing the module. Not doing so may result in a failure or malfunctions of the module. Restrict the mounting/removal of a module, base unit, and terminal block up to 50 times (IEC61131-2-compliant), after the first use of the product.

  • Page 10: Revisions

    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 11: Table Of Contents

    INTRODUCTION Thank you for purchasing the Mitsubishi safety programmable controller MELSEC-QS series. Before using the equipment, please read this manual carefully to develop full familiarity with the functions and performance of the QS series PLC you have purchased, so as to ensure correct use.
  • Page 12 5.3.2 Safety remote station parameter settings ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••5 - 5 Relationship between the Safety CPU Module Devices and Remote I/O••••••••••••••••••••••••••••••••5 - 6 Wiring Diagram and Parameter Setting of Standard Input ••••••••••••••••••••••••••••••••••••••••••••••••••5 - 7 Case Examples••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••5 - 8 5.6.1 Emergency stop circuit •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••5 - 8 5.6.2 Door lock circuit••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••...

  • Page 13: About Manuals

    ABOUT MANUALS The following manuals are related to this product. If necessary, order them by quoting the details in the tables below. Related manuals Manual number Manual name (Model code) QSCPU User's Manual (Hardware) IB-0800340ENG Explains the specifications of the QSCPU, safety power supply module and safety base unit, etc. (13JR91) (Supplied with the product) QSCPU User's Manual (Hardware Design, Maintenance and Inspection)
  • Page 14 Remark If you would like to obtain a manual individually, printed materials are available separately. Order the manual by quoting the manual number on the table above (model code). - 12...

  • Page 15: How This Manual Is Organized

    HOW THIS MANUAL IS ORGANIZED In this manual, Section 3.5) A reference destination is indicated as ( Section 3.5). In addition, this manual provides the following explanations. Explains the matters to be especially noted, the functions and others POINT related to the description on that page. Provides the reference destination related to the description on that Remark page and the useful information.

  • Page 16: How To Use This Manual

    HOW TO USE THIS MANUAL This manual describes the points to be concerned when configuring safety application that meets the safety standards using the safety PLC. Although the safety application configuration example is shown in CHAPTER 5 of this manual, authentication is not obtained. The safety standards conformance approval must be obtained for the user with the entire safety-related system.

  • Page 17: Generic Terms And Abbreviations

    GENERIC TERMS AND ABBREVIATIONS Unless otherwise specified, this manual uses the following generic terms and abbrevia- tions. When a clear indication of target model name is required, the module name is indi- cated. Generic term/ Description abbreviation Generic product name for models SWnD5C-GPPW, SWnD5C-GPPW-A, SWnD5C-GPPW-V, GX Developer and SWnD5C-GPPW-VA.

  • Page 18: Terminology

    TERMINOLOGY Term Description Safety component Equipment such as the safety compatible sensor and actuator. -related Safety system System executing a safety functions to be required. Safety functions Functions to be realized for protecting a human from machinery hazards. Safety measure Measure for reducing the risk.

  • Page 19: Chapter1 Overview 1 - 1 To

    OVERVIEW CHAPTER1 OVERVIEW This chapter describes the overview of the safety PLC. The safety PLC is a PLC that acquired the safety approval of EN954-1/ISO13849-1 Category 4 and IEC61508 SIL3. The safety PLC can be used in safety-related system configuration up to Category 4 of EN954-1 and SIL3 of IEC61508.
  • Page 20 OVERVIEW Memo...

  • Page 21: Chapter2 Application Example 2 - 1 To

    APPLICATION EXAMPLE CHAPTER2 APPLICATION EXAMPLE The application image for the car welding line is shown as an application example of the safety PLC in Figure2.1. The safety application operated by the safety PLC is configured for the following purposes. When the safe state signal can be confirmed, supply the power to a robot. When the safe state signal cannot be confirmed, turn off the power to a robot .
  • Page 22 APPLICATION EXAMPLE Memo...

  • Page 23: Chapter3 Risk Assessment And Safty Level 3 - 1 To

    RISK ASSESSMENT AND SAFTY LEVEL CHAPTER3 RISK ASSESSMENT AND SAFTY LEVEL Conforming to EN954-1 and IEC61508, select the risk assessment, safety category, and SIL to reduce the risk. This chapter briefly describes the risk assessment, risk reduction and safety category, and SIL.

  • Page 24: Risk Reduction

    RISK ASSESSMENT AND SAFTY LEVEL 3.1.1 Risk reduction As a result of the risk assessment, when the machinery is judged as unsafe, the risk reduction must be performed. The measures for the risk reduction are standardized in ISO12100 and ISO14121 as shown in Figure3.2.

  • Page 25: Safety Category

    RISK ASSESSMENT AND SAFTY LEVEL 3.2 Safety Category The safety category is standardized in EN954-1. The risk graph to be used for the safety category selection is shown in Figure3.3. Risk analysis result Safety category selection Safety category Frequency and time of Possibility of hazard Severity of the injury exposure to hazard...
  • Page 26 RISK ASSESSMENT AND SAFTY LEVEL The requirements of standards for the safety category are shown in Table3.1. Table3.1 Summary of safety category requirements Principles to achieve Summary of requirements Category System behaviour safety Safety-related parts of control systems and/or their protective equipment, as well as their The occurrence of a fault components, shall be designed, constructed, can lead to loss of the...

  • Page 27: Sil

    RISK ASSESSMENT AND SAFTY LEVEL 3.3 SIL SIL is standardized in IEC61508. The risk graph to be used for the SIL selection is shown in Figure3.4. Probability of risk Degree of Exposure Possibility of event occurrence influence frequency risk event Frequent Moderate Infrequent...

  • Page 28: Chapter4 Precautions For Use Of Safety Plc

    PRECAUTIONS FOR USE OF SAFETY PLC CHAPTER4 PRECAUTIONS FOR USE OF SAFETY PLC The safety standards conformance approval must be made by the user for the entire safety-related system. The safety system inspection is made for the entire safety-related system including safety components and a sequence program.
  • Page 29 PRECAUTIONS FOR USE OF SAFETY PLC PFD/PFH of the safety PLC is listed in Table4.2. Table4.2 PFD/PFH of safety PLC Module/unit PFH (/h) PFD/PFH of safety CPU module, safety power supply module, safety main base 1.39 4.95 unit, and CC-Link Safety master module QS0J65BTB2-12DT (DC input 2.57 1.15...
  • Page 30 PRECAUTIONS FOR USE OF SAFETY PLC (b) When using one QS0J65BTS2-8D and one QS0J65BTS2-4T = (PFD of A) + (PFD of B) + (PFD of C) + (PFD of D) =(1.39 ) + ((1.68 ) + (1.68 )) + (PFD of C) + (PFD of D) = 1.73 + (PFD of C) + (PFD of D) = (PFH of A) + (PFH of B) + (PFH of C) + (PFH of D)
  • Page 31 PRECAUTIONS FOR USE OF SAFETY PLC (3) Connecting safety components Make a doubling wiring for safety components as shown in Figure4.3. Dual input Dual output Safety PLC Figure4.3 Wiring of safety components POINT POINT Use the doubling input signal to the safety remote I/O module with the following combinations of input terminals.

  • Page 32: Precautions For Programming

    PRECAUTIONS FOR USE OF SAFETY PLC 4.2 Precautions for Programming (1) 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 confirmed at the time the start switch is pressed.
  • Page 33 PRECAUTIONS FOR USE OF SAFETY PLC (2) Devices used in a program for realizing the safety functions Data can be used as safety I/O data are the following safety refresh devices. Use the safety refresh devices to create a program for realizing the safety functions. (a) Safety refresh device The data of internal device refreshed by communicating to the safety remote I/O station is the safety I/O data.
  • Page 34 PRECAUTIONS FOR USE OF SAFETY PLC (3) Error detection of CC-Link Safety Errors concerning CC-Link Safety can be detected by safety station refresh communication status which is described in Table4.3. Create a proper sequence program using the information for error detection (SD) which turns safety outputs OFF.
  • Page 35 PRECAUTIONS FOR USE OF SAFETY PLC (4) Reset of CC-Link Safety error When an CC-Link Safety error is detected, the safety station interlock status shown in Table4.4 turns on. To resume communications of the CC-Link Safety, turn on the safety station interlock clear request.
  • Page 36 PRECAUTIONS FOR USE OF SAFETY PLC (a) Program example Figure4.7 shows the program when the interlock for the safety remote I/O station of station 1, connected to the first safety master module is cleared. SD1072.0 SET SD1076.0 Safety station Safety station interlock Reset switch interlock status clear request...

  • Page 37: Precautions For Startup

    PRECAUTIONS FOR USE OF SAFETY PLC 4.3 Precautions for Startup When new safety-related system will be started up or existing safety-related system will be changed, confirm the below points. (1) Confirmation of network connection configuration Confirm that the safety remote I/O module used is set as designed. The confirmation items are shown below.
  • Page 38 PRECAUTIONS FOR USE OF SAFETY PLC (3) Operation mode while a safety PLC is in operation Set the operation mode of the safety PLC to SAFETY MODE when the PLC is in operation. (4) ROM information management of a safety CPU Confirm the ROM information at regular intervals whether the programs and parameters in the safety CPU module are illegally rewritten.

  • Page 39: Chapter5 Safety Application Configuration Example

    SAFETY APPLICATION CONFIGURATION EXAMPLE CHAPTER5 SAFETY APPLICATION CONFIGURATION EXAMPLE This chapter describes the configuration example of the safety application using the safety PLC. 5.1 System Configuration This section describes the safety application using the system configuration of Figure5.1 as an example. Master (1) Safety master station (Link ID: 0, Station number: 0) Master (2)

  • Page 40: Network-Related Switch Settings Of Module

    SAFETY APPLICATION CONFIGURATION EXAMPLE 5.2 Network-Related Switch Settings of Module Set the switch settings of each main module as follows 5.2.1 Safety Power supply module No switch on the safety power supply module 5.2.2 Safety CPU module No network-related switch on the safety CPU module 5.2.3 Safety master module No switch on the safety master module 5.2 Network-Related Switch Settings of Module...

  • Page 41: Safety Remote I/O Module

    SAFETY APPLICATION CONFIGURATION EXAMPLE 5.2.4 Safety remote I/O module Set the link ID, station No. setting switch, and transmission speed setting switch. POWER L RUN L ERR. SAFETY ERR. QS0J65BTB2-12DT RESET LINK ID STATION NO. B RATE Figure5.2 Switch position of safety remote I/O module Table5.1 Switch settings of safety remote I/O module Switch numbers Remote (1)

  • Page 42: Cc-Link Parameter Settings

    SAFETY APPLICATION CONFIGURATION EXAMPLE 5.3 CC-Link Parameter Settings Set the CC-Link parameters as follows. For the definition or setting range of each parameter, refer to the following manual. CC-Link Safety System Master Module User's Manual QS0J61BT12 Table5.2 CC-Link parameter setting example Module Master (1) Master (2)

  • Page 43: Safety Remote Station Parameter Settings

    SAFETY APPLICATION CONFIGURATION EXAMPLE 5.3.2 Safety remote station parameter settings Set the safety remote station parameter settings as follows. Table5.5 Safety remote station parameter settings Module SR_IO1 SR_IO2 SR_IO3 SR_IO4 Model name QS0J65BTB2-12DT QS0J65BTB2-12DT QS0J65BTB2-12DT QS0J65BTB2-12DT Module technical version Specify production information to find Yes (check) No (no check)

  • Page 44: Relationship Between The Safety Cpu Module Devices And Remote I/O

    SAFETY APPLICATION CONFIGURATION EXAMPLE 5.4 Relationship between the Safety CPU Module Devices and Remote I/O The following shows the relationship between the safety CPU module devices and the remote I/O stations in the settings of Table5.2. The shaded device numbers are used to create sequence programs. Link ID: 0 Safety remote I/O station (Link ID: 0, Station number: 1)

  • Page 45: Wiring Diagram And Parameter Setting Of Standard Input

    SAFETY APPLICATION CONFIGURATION EXAMPLE 5.5 Wiring Diagram and Parameter Setting of Standard Input Wire the reset switch, start switch, and stop switch as follows. Remote (3):SR_IO3 QS0J65BTB2-12DT(3) (LinkID: 1, Station number: 3) COM- Reset switch (NO) COM- +24V Start switch (NO) 24VDC COM- Stop switch (NC)

  • Page 46: Case Examples

    SAFETY APPLICATION CONFIGURATION EXAMPLE 5.6 Case Examples 5.6.1 Emergency stop circuit (1) Application overview The emergency stop circuit is the safety application that turns off the power source of a robot with the emergency stop switch. 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 47 SAFETY APPLICATION CONFIGURATION EXAMPLE (2) Connection of safety devices : Safety remote I/O module used in this case example Remote (4):SR_IO4 X200-20F Y200-203 Wiring: Indicated in Figure Figure5.7 5.7. Parameters: Indicated in Table5.7 Table 5.7. CC-Link Safety Remote (1):SR_IO1 Remote (2):SR_IO2 Remote (3):SR_IO3 X100-10F X120-12F...
  • Page 48 SAFETY APPLICATION CONFIGURATION EXAMPLE (3) Wiring diagram and parameter settings Wire the emergency stop switch and safety relays to the safety remote I/O module as follows. Connect the close contact of the safety relay Remote(4) between the input QS0J65BTB2-12DT(4) terminal and the test (LinkID: 1, Station number: 1) pulse terminal.
  • Page 49 SAFETY APPLICATION CONFIGURATION EXAMPLE For the emergency stop switch and the safety relay, set the parameters as follows. Table5.7 Remote (4) SR_IO4 parameter settings Item Setting Time of noise removal filter X2, 3 0: 1ms , 1: 5ms, 2: 10ms, 3: 20ms, 4: 50ms Time of noise removal filter X4, 5 0: 1ms , 1: 5ms, 2: 10ms, 3: 20ms, 4: 50ms...
  • Page 50 SAFETY APPLICATION CONFIGURATION EXAMPLE (5) Sequence program Make the following processing on sequence programs. Ladder which checks the off fall of the reset switch, accepts reset request, and clears the interlock for the CC-Link Safety. Ladder which confirms the interlock processing completion and cancels interlock clear request.
  • Page 51 SAFETY APPLICATION CONFIGURATION EXAMPLE (b) Way of using the internal devices Table5.9 Way of using the internal devices Internal Details Designates a timer device. Times out after a lapse of the time specified at K Designates a word device. In the program, this is used as restart status. (1) D0 = 0 designates that the system is in initial status or start processing is completed.

  • Page 52: Door Lock Circuit

    SAFETY APPLICATION CONFIGURATION EXAMPLE 5.6.2 Door lock circuit (1) Application overview The door lock circuit is the application that keeps the door closed until the power source of a robot stops with the spring lock type safety switch attached to the door of the safety barrier.
  • Page 53 SAFETY APPLICATION CONFIGURATION EXAMPLE (2) Connection of safety devices : Safety remote I/O module used in this case example Remote (4):SR_IO4 X200-20F Y200-203 Wiring: Indicated in Figure5.14 Figure 5.14. Paremeters: Indicated Table5.11 in Table 5.11. CC-Link Safety Remote (3):SR_IO3 Remote (1):SR_IO1 Remote (2):SR_IO2 X100-10F X120-12F...
  • Page 54 SAFETY APPLICATION CONFIGURATION EXAMPLE (3) Wiring diagram and parameter settings (a) Remote (1): SR_IO1 Wire the spring lock type safety switch to the safety remote I/O module as follows. Remote(1) QS0J65BTB2-12DT(1) (LinkID=0, Station number 1) Lock release COM- Safety switch COM- +24V 24VDC...
  • Page 55 SAFETY APPLICATION CONFIGURATION EXAMPLE (b) Remote (4): SR_IO4 Wire the relay with forcibly guided (mechanically linked) contacts to the safety remote I/O module as follows. Connect the close contact of the safety relay between the Input Rermote(4) terminal and the test QS0J65BTB2-12DT(4) pulse.
  • Page 56 SAFETY APPLICATION CONFIGURATION EXAMPLE (4) Device numbers to be used Use the following device numbers for creating sequence programs. Table5.12 Device numbers to be used Safety/Standard External device Device number Safety Safety switch X100 or X101 Safety Safety relay Y202 Safety Safety relay (check for welding) X202 or X203...
  • Page 57 SAFETY APPLICATION CONFIGURATION EXAMPLE (b) Way of using the internal devices Table5.13 Way of using the internal devices Internal Details Designates a timer device. Times out after a lapse of the time specified at K Designates a word device. In the program, this is used as restart status. (1) D0 = 0 designates that the system is in initial status or start processing is completed.

  • Page 58: Entering Detection And Existence Detection Circuit 1

    SAFETY APPLICATION CONFIGURATION EXAMPLE 5.6.3 Entering detection and existence detection circuit 1 (1) Application overview The entering detection and existence detection circuit is the safety application that detects the entrance and existence of a human in a hazardous area and turns off the power source of a robot.
  • Page 59 SAFETY APPLICATION CONFIGURATION EXAMPLE (2) Connection of safety devices : Safety remote I/O module used in this case example Remote(4):SR_IO4 X200-20F Y200-203 Wiring: Indicated in Figure5.21 Figure 5.21. Parameters: Indicated Table5.15 in Table 5.15. CC-Link Safety Remote(3):SR_IO3 Remote(1):SR_IO1 Remote(2):SR_IO2 X140-14F X100-10F X120-12F Y100-103...
  • Page 60 SAFETY APPLICATION CONFIGURATION EXAMPLE (3) Wiring diagram and parameter settings Wire the light curtain and the laser scanner to the safety remote I/O module as follows. (a) Remote (1): SR_IO1 Optical transmitter Create dual wiring DC24V Remote(1) DC24V QS0J65BTB2-12DT(1) (LinkID=0, Station numner1) Connect two control output Synchronization negative points (PNP output) of type 4...
  • Page 61 SAFETY APPLICATION CONFIGURATION EXAMPLE For the light curtain and the laser scanner, set the parameters as follows. Table5.14 Remote (1) SR_IO1 parameter settings Item Setting range Time of noise removal filter X4, 5 0: 1ms , 1: 5ms, 2: 10ms, 3: 20ms, 4: 50ms Time of noise removal filter X6, 7 0: 1ms , 1: 5ms, 2: 10ms, 3: 20ms, 4: 50ms...
  • Page 62 SAFETY APPLICATION CONFIGURATION EXAMPLE For the contactors, set the parameters as follows. Table5.15 Remote (4) SR_IO4 parameter settings Item Setting range Time of noise removal filter X8, 9 0: 1ms , 1: 5ms, 2: 10ms, 3: 20ms, 4: 50ms Doubling input discrepancy detection 100ms (setting range: 20 to 500ms) time X8, 9 Input dark test selection X8, 9...
  • Page 63 SAFETY APPLICATION CONFIGURATION EXAMPLE (5) Sequence program Make the following processing on sequence programs. Ladder which checks the off fall of the reset switch, accepts reset request, and clears the interlock for the CC-Link Safety. Ladder which confirms the interlock processing completion and cancels interlock clear request.
  • Page 64 SAFETY APPLICATION CONFIGURATION EXAMPLE (b) Way of using the internal devices Table5.17 Way of using the internal devices Internal Details Designates a timer device. Times out after a lapse of the time specified at K Designates a word device. In the program, this is used as restart status. (1) D0 = 0 designates that the system is in initial status or start processing is completed.
  • Page 65 SAFETY APPLICATION CONFIGURATION EXAMPLE (6) Timing chart CC-Link Detecting Approach Exit Approach remote (4) relay welding error Pressing Pressing Pressing Pressing Pressing Pressing Pressing Pressing the reset the start the reset the start the reset the reset the start the reset Reset SW (X140) Restart status (D0.0) Restart status (D0.1)

  • Page 66: Entering Detection And Existence Detection Circuit 2

    SAFETY APPLICATION CONFIGURATION EXAMPLE 5.6.4 Entering detection and existence detection circuit 2 (1) Application overview The entering detection and existence detection circuit is the safety application that detects the entrance and existence of a human in a hazardous area and turns off the power source of a robot.
  • Page 67 SAFETY APPLICATION CONFIGURATION EXAMPLE (2) Connection of safety devices : Safety remote I/O module used in this case example Remote(4):SR_IO4 X200-20F Y200-203 Wiring: Indicated in Figure5.28 Figure 5.28. Parameters: Indicated Table5.19 in Table 5.19. CC-Link Safety Remote(1):SR_IO1 Remote(3):SR_IO3 Remote(2):SR_IO2 X100-10F X120-12F X140-14F Y100-103...
  • Page 68 SAFETY APPLICATION CONFIGURATION EXAMPLE (3) Wiring diagram and parameter settings (a) Remote (1): SR_IO1 Wire the light curtain and the mat switch to the safety remote I/O module as follows. Optical transmitter Create dual wiring 24VDC Remote(1) 24VDC QS0J65BTB2-12DT(1) Connect two control output (LinkID=0, Station number1) points (PNP output) of type 4 Synchronization negative...
  • Page 69 SAFETY APPLICATION CONFIGURATION EXAMPLE For the light curtain and the mat switch, set the parameters as follows. Table5.18 Remote (1) SR_IO1 parameter settings Item Setting range Time of noise removal filter X4, 5 0: 1ms , 1: 5ms, 2: 10ms, 3: 20ms, 4: 50ms Time of noise removal filter X8, 9 0: 1ms , 1: 5ms, 2: 10ms, 3: 20ms, 4: 50ms...
  • Page 70 SAFETY APPLICATION CONFIGURATION EXAMPLE For the contactors, set the parameters as follows. Table5.19 Remote (4) SR_IO4 parameter settings Item Setting range Time of noise removal filter X8, 9 0: 1ms , 1: 5ms, 2: 10ms, 3: 20ms, 4: 50ms 100ms (setting range: 20 to 500ms) Doubling input discrepancy detection time X8, 9 Input dark test selection X8, 9 0: Execute...
  • Page 71 SAFETY APPLICATION CONFIGURATION EXAMPLE (5) Sequence program Make the following processing on sequence programs. Ladder which checks the off fall of the reset switch, accepts reset request, and clears the interlock for the CC-Link Safety. Ladder which confirms the interlock processing completion and cancels interlock clear request.
  • Page 72 SAFETY APPLICATION CONFIGURATION EXAMPLE (b) Way of using the internal devices Table5.21 Way of using the internal devices Internal Details Designates a timer device. Times out after a lapse of the time specified at K Designates a word device. In the program, this is used as restart status. (1) D0 = 0 designates that the system is in initial status or start processing is completed.
  • Page 73 SAFETY APPLICATION CONFIGURATION EXAMPLE (6) Timing chart CC-Link Detecting Approach Exit remote (4) Approach relay welding error Pressing Pressing Pressing Pressing Pressing Pressing Pressing Pressing the reset the start the reset the start the reset the reset the start the reset Reset SW (X140) Restart status (D0.0) Restart status (D0.1)

  • Page 74: Appendix

    APPENDIX APPENDIX Appendix.1 Calculation Method of Safety Response Time This manual explains about the maximum value of safety response time. When employing the calculation formula, use the following GX Developer and modules. For calculation formula other than the following combination, refer to the following manual. CC-Link Safety System Master Module User's Manua First five digits of serial number GX Developer...
  • Page 75 APPENDIX Link Scan Time ( This Item (1) (a)) Value after the decimal point of (LS/WDT) is rounded up Value after the decimal point of (Safety refresh response processing time/(WDT n)) is rounded up Safety refresh response processing time: Refer to User's Manual for the safety remote station.
  • Page 76 APPENDIX POINT POINT (1) If setting value of the safety data monitoring time is equal to or less than the value gained by the calculation formula above, an error may occur even in normal communication status. If setting value of the safety data monitoring time is needlessly long, the time taken for (c) in TableApp.1 may lengthen in the case of a safety programmable controller error, resulting in excessive delay of safety response performance.
  • Page 77 APPENDIX (a) Link scan time (LS) The following shows the formula for the CC-Link Safety link scan time (LS)[ s]. LS = BT (27+(NI 4.8) + (NW 9.6) + (N 30) + (ni 4.8) + (nw 9.6)+ TR) + ST + RT+ F [ s] LS calculation formula BT: Constant Transmission speed...
  • Page 78 APPENDIX POINT POINT If connecting the remote station to the station with the reserved station setting, and then clear the setting, the valus of NI, NW, N, ni, and nw in the LS calculation formula will change. When the reserved station was changed, recalculate the LS and safety response performance.
  • Page 79 APPENDIX (c) Calculation example for the maximum value of response time 1) In synchronous mode DT1 + DT2 + Safety remote station input response time + Safety data monitoring time + Safety remote station output response time = DT1 + DT2 + 12.2 + 80 + 10.4 = 102.6 [ms] 2) In asynchronous mode DT1 + DT2 + Safety remote station input response time + Safety data...
  • Page 80 APPENDIX (3) Calculation example of link scan time (2) The following shows the calculation example of LS (Link scan time) used in the calculation of response time. The following shows the calculation example when the transmission speed is 10 Mbps in the following system configuration example (It is assumed that there is no faulty stations).

  • Page 81: Appendix.2Checklist

    APPENDIX Appendix.2 Checklist TableApp.2 Checklist Description Reference Check Backup and version management of a file Were the created date and author entered at the top of the sequence program using the Section 4.2(5) statement function of GX Developer? When modifying the sequence program, were the created date, author, and modified Section 4.2(5) description entered at the modified place using the statement function? Were the data downloaded to the PLC stored into the hard disk of a personal computer or...
  • Page 82 INDEX Risk assessment..........A-16,3-1 Risk graph............3-3,3-5 Application example ..........2-1 Risk reduction ............3-2 ROM information management......4-11 Case examples Door lock circuit..........5-14 Safety component..........A-16 Emergency stop circuit........5-8 Safety functions ...........A-16 Light curtain, laser scanner ......5-20 Safety input............A-15,4-6 Light curtain, mat switch........
  • Page 83 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 controllers (the "Products") will be free from defects in material and workmanship.
  • Page 84 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.

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