Safety Output Configuration - Mitsubishi Electric CR800-R Instruction Manual

4 SAFETY MONITORING FUNCTIONS

Safety output configuration

4.4.2
This enables assigning the Disable states of the robot controller's safety monitoring functions (STO, SS1, SOS,
SS2, SLS*, SLP*) and Area states to the safety outputs (SCNO outputs) of the safety programmable controller.
When the assigned safety monitoring function and Area state are disabled, the SCNO output turns ON.
Fig. 4-27: Safety output configuration
The matrix on the Safety Output screen has rows representing the safety outputs (SCNO01 to SCNO04), safety
monitoring states (STO, SOS, SS1, SS2, SLS1, SLS2, SLS3, SLSM, SLP1, SLP2, SLP3, SLPM) for the safety
functions, and Area Inputs (AREA1 to AREA3). The columns represent target safety functions and Area Inputs.
Checking intersections of the rows and columns defines safety signals output when the individual safety
monitoring states and Area Inputs become Disable.
Configuring the LOGIC settings enables to control ON/OFF of the SCNO output according to the combination of
disabled safety monitoring items based on "AND" or "OR" condition.
Example 1) To turn ON SCNI01 when SS1 is disabled, check the intersection of SCNO01 and SS1 (at Disable).
Example 2) To turn ON SCNO02 when SLS1 and AREA1 are disabled, check the intersection of SCNO02 and
both SLS1 (at Disable) and AREA1 (at Disable), then select "AND" in the LOGIC field.
Fig. 4-28: Safety logic (safety output) setting example
4-42 Safety Logic Edit