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1. FUNCTIONS AND CONFIGURATION
1.2 Outline of safety observation function
The following functions can be used by MR-D30 functional safety unit.
(1) STO (Safe torque off)
Shuts off servo motor drive energy electronically with based on an input signal from an external device
(secondary-side output shut-off). This corresponds to stop category 0 of IEC 60204-1.
(2) SS1 (Safe stop 1)
Starts deceleration based on an input signal from an external device (EM2). After a specified time for the
check of stop, the STO function will be activated (SS1). This corresponds to stop category 1 of IEC
60204-1.
(3) SS2 (Safe stop 2)
Starts deceleration based on an input signal from an external device (EM2). After a specified time for the
check of stop, the SOS function will be activated (SS2). This corresponds to stop category 2 of IEC
60204-1.
(4) SOS (Safe operating stop)
This is a function to monitor whether the servo motor stops within the prescribed range for the stop
position. The power is supplied to the servo motor.
(5) SLS (Safely-limited speed)
This is a function to observe whether the speed is within a regulated speed limit value. When the speed
is over a specified speed, energy will be shut off by STO.
(6) SSM (Safe speed monitor)
Outputs a signal when the servo motor speed is within a regulated speed.
Table 1.1 Compatibility of safety observation function
Safety observation function with
Compatible controller
STO
SS1
Category 4, PL e, SIL 3 (Note 1)
SBC
SLS (Note 2)
Category 4, PL e, SIL 3 (Note 3)
SSM (Note 2)
SS2 (Note 4)
Category 4, PL e, SIL 3 (Note 1)
SOS (Note 4)
Note 1. To meet Category 4, PL e, SIL 3, an input diagnosis using test pulses is required.
2. Linear servo system, direct drive servo system, and fully closed loop system are not
compatible with SLS, SSM, SS2, and SOS.
3. To meet Category 4, PL e, SIL 3, a servo motor with functional safety is required.
4. To enable SS2 and SOS, a servo motor with functional safety is required.
wiring to MR-D30
Servo system controller
Q173DSCPU
Q172DSCPU
Q170MSCPU
QD77MS
LD77MS
General-purpose interface
Category 3, PL d, SIL 2
1 - 2
Safety observation function through
SSCNET III/H
Drive safety integrated motion
controller
Q173DSCPU
Q172DSCPU
+
Safety signal module
Q173DSXY
Category 3, PL d, SIL 2
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