Mitsubishi Electric MELSERVO-J5 User Manual page 453

*1 When using a Mitsubishi Electric safety programmable controller, use the safety input device "SA¥X". For details on the safety device,
refer to the following manual.
MELSEC iQ-R CPU Module User's Manual (Application)
■Setting GX Works3
To use the safety sub-function in the safety communications, set the station-specific mode using the following procedure.
1.
Configure the master station network settings with GX Works3.
2.
Select module parameter (network) from the module information of the Motion module, and open the network
configuration settings.
3.
Set "Motion mode (safety)" in the station-specific mode setting when setting the network configuration.
■Setting method for transmission interval monitor time and safety refresh monitor time
For the safety sub-function control by network, calculate the transmission interval monitor time for the servo amplifier and
master module according to the Safety Application Guide.
Use the following value for the safety remote station refresh response time (SRref).
Safety remote station refresh response time
8.0 ms
Set the safety communication - communication cycle according to the value of the transmission interval monitor time.
Set the transmission interval monitor time for the servo amplifier so that the following two equations can be satisfied.
TM ≥ SRref × 2
TM ≥ SCmst × 2 + LS × 2
SRref: Safety refresh response processing time [ms]
TM: Transmission interval monitor time [ms]
SCmst: Master station safety cycle time [ms]
LS: Communication cycle interval [ms]
For the setting values of "transmission interval monitor time" and "safety refresh monitor time" of the master module, refer to
the user's manual for the master module used.
MELSEC iQ-R CPU Module User's Manual (Application)
MELSEC iQ-R CC-Link IE TSN User's Manual (Application)
■Setting functional safety parameters
To perform safety monitoring using the safety communications, set the following parameters.
Parameter
PSC01
PSC06
• Transmission interval monitor time
Select the transmission interval monitor time.
Page 451 Setting method for transmission interval monitor time and safety refresh monitor time
• Safety verification code
Set the value used to identify the servo amplifier. Match the safety verification code to the value set in the safety
communication setting of the master station. If this parameter is set to a non-matching value, [AL. 580.3 Safety verification
code mismatch] occurs.
Communication cycle
MR-J5-_G_-RJ/MR-J5D1-_G
125 μs or more
Name
Transmission interval monitor time
Safety verification code
MR-J5D2-_G/MR-J5D3-_G
500 μs or more
6 FUNCTIONAL SAFETY
6.4 Safety sub-function
6
451