Table of Contents
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4.1 Safety observation function specification ......................................................................................... 4- 2
4.2 Safety diagnosis function list ............................................................................................................ 4- 3
4.3 Startup .............................................................................................................................................. 4- 4
4.3.1 Switching power on for the first time .......................................................................................... 4- 4
4.3.2 Parameter ................................................................................................................................... 4- 5
4.3.3 Mandatory parameters to be set ................................................................................................ 4- 6
4.3.4 Test operation ............................................................................................................................ 4- 6
4.3.5 Unit replacement ........................................................................................................................ 4- 7
4.4 I/O function ........................................................................................................................................ 4- 7
4.4.1 Input device ................................................................................................................................ 4- 7
4.4.2 Output device ............................................................................................................................ 4-16
4.4.3 Using a drive safety integrated motion controller ...................................................................... 4-19
4.4.4 Servo motor with functional safety ............................................................................................ 4-19
4.4.5 Position feedback fixing diagnosis function .............................................................................. 4-20
4.5 Safety observation function ............................................................................................................. 4-21
4.5.1 STO function ............................................................................................................................. 4-21
4.5.2 SS1 function .............................................................................................................................. 4-23
4.5.3 SS2/SOS function ..................................................................................................................... 4-27
4.5.4 SLS function .............................................................................................................................. 4-31
4.5.5 SSM function ............................................................................................................................. 4-34
4.5.6 SBC function ............................................................................................................................. 4-35
4.5.7 Status monitor (SM) function ..................................................................................................... 4-36
4.5.8 Multiple inputs of safety observation functional operation commands ..................................... 4-36
4.5.9 Simultaneous operation of STO and SS1 functions ................................................................. 4-37
4.5.10 At alarm occurrence ................................................................................................................ 4-37
5.1 Parameter list .................................................................................................................................... 5- 1
5.1.1 Safety observation function parameters 1 ([Pr. PSA_ _ ]) ......................................................... 5- 2
5.1.2 SSCNET III/H parameters ([Pr. PSC_ _ ]) ................................................................................. 5- 3
5.1.3 Safety I/O device parameters ([Pr. PSD_ _ ]) ............................................................................ 5- 5
5.2 Detailed list of parameters ................................................................................................................ 5- 7
5.2.1 Safety observation function parameters 1 ([Pr. PSA_ _ ]) ......................................................... 5- 7
5.2.2 SSCNET III/H parameters ([Pr. PSC_ _ ]) ................................................................................ 5-10
5.2.3 Safety I/O device parameters ([Pr. PSD_ _ ]) ........................................................................... 5-12
7.1 Alarm and warning list ...................................................................................................................... 7- 1
8.1 MR-D30 functional safety unit ........................................................................................................... 8- 1
8.2 When an MR-D30 is mounted on a servo amplifier .......................................................................... 8- 2
2
4- 1 to 4-40
5- 1 to 5-20
6- 1 to 6- 2
7- 1 to 7- 4
8- 1 to 8- 2
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