Chapter 6 Functional Safety; Functions And Configuration; Outline; Outline Of Safety Sub-Functions - Mitsubishi Electric MELSERVO-J5 User Manual

6
FUNCTIONAL SAFETY
6.1

Functions and configuration

Outline

For the compatible servo amplifiers and firmware versions, refer to "Functional safety" in the User's Manual (Introduction).
For the connection diagram and wiring, refer to "USING STO FUNCTION" and "USING FUNCTIONAL SAFETY" in the
following manuals.
MR-J5 User's Manual (Hardware)
MR-J5D User's Manual (Hardware)
Features of functions
■When using the safety sub-functions via a network
For the MR-J5-G-RJ and the MR-J5D_-_G_, the safety sub-function can be used via a network. This helps to minimize wiring.
For the available safety sub-functions and safety levels, refer to "Functional safety" in the User's Manual (Introduction).
The compatible controller is as follows.
Category
Motion module
Master/local module
■When using the safety sub-functions by wiring to the CN8 connector (safety sub-function
control by input device)
The safety sub-functions can be used by using an input device.

Outline of safety sub-functions

The functions that can be used for functional safety are as follows.
Function
STO (Safe torque off)
SS1 (Safe stop 1)
SS2 (Safe stop 2)
SOS (Safe operating stop)
SLS (Safely-limited speed)
SSM (Safe speed monitor)
SBC (Safe brake control)
SDI (Safe direction)
SLI (Safely-limited increment)
SLT (Safely-limited torque)
Status monitor (SM: Status
monitor)
Description
This function electrically shuts off the servo motor driving energy with input signals from
external devices (shut-off by the secondary-side output). This is equivalent to the stop
category 0 of IEC/EN 60204-1.
This function starts deceleration with input signals from external devices. After the specified
time to confirm the motor stop, the STO function is executed (SS1). This is equivalent to the
stop category 1 of IEC/EN 60204-1.
This function starts deceleration with input signals from external devices. After the specified
time to confirm the motor stop, the SOS function is executed (SS2). This is equivalent to the
stop category 2 of IEC/EN 60204-1.
This function monitors whether the servo motor stops within the prescribed range. Energy is
supplied to the servo motor.
This function monitors whether the speed is within the prescribed speed limit. If the speed
exceeds the specified speed limit, the STO will shut off energy.
This function outputs signals when the servo motor speed is below the prescribed speed.
This function outputs signals for controlling the external brake.
This function monitors whether the servo motor travels in the specified direction. If the servo
motor travels in a direction different from the specified direction, the STO will shut off energy.
This function monitors whether the travel distance of the servo motor is within the specified
range. If the travel distance of the servo motor exceeds the specified range, the STO will
shut off energy.
This function monitors whether the torque is below the specified torque. If the torque
exceeds the specified torque, the STO will shut off energy.
This function outputs the statuses of the safety sub-functions as signals. This is a function
designed specifically for the safety sub-functions and differs from the function defined in
IEC/EN 61800-5-2.
Model
RD78G(H)
RJ71GN11-T2
6.1 Functions and configuration
Detailed explanation
Page 453 STO
function
Page 456 SS1 function
Page 464 SS2/SOS
function
Page 470 SLS function
Page 474 SSM
function
Page 475 SBC
function
Page 476 SDI function
Page 479 SLI function
Page 481 SLT function
Page 485 Status
monitor (SM) function
6 FUNCTIONAL SAFETY
425
6