Mitsubishi Electric MR-D30 Instruction Manual
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Mitsubishi Electric MR-D30 Instruction Manual

Melservo series general-purpose ac servo functional safety unit
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General-Purpose AC Servo
Functional safety unit
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MR-D30
INSTRUCTION MANUAL
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Summary of Contents for Mitsubishi Electric MR-D30

  • Page 1 General-Purpose AC Servo Functional safety unit MODEL MR-D30 INSTRUCTION MANUAL...
  • Page 2 Safety Instructions Please read the instructions carefully before using the equipment. To use the equipment correctly, do not attempt to install, operate, maintain, or inspect the equipment until you have read through this Instruction Manual, Installation guide, and appended documents carefully. Do not use the equipment until you have a full knowledge of the equipment, safety information and instructions.
  • Page 3 Provide adequate protection to prevent screws and other conductive matter, oil and other combustible matter from entering the servo amplifier, servo motor, and MR-D30. A - 2...
  • Page 4 Do not install or operate the servo amplifier and MR-D30 which have been damaged or have any parts missing. Do not block the intake and exhaust areas of the servo amplifier and MR-D30. Otherwise, it may cause a malfunction. Do not drop or apply heavy impact on the servo amplifiers, servo motors, and MR-D30. Otherwise, it may cause injury, malfunction, etc.
  • Page 5 CAUTION The servo amplifier and MR-D30 must be installed in a metal cabinet. When fumigants that contain halogen materials such as fluorine, chlorine, bromine, and iodine are used for disinfecting and protecting wooden packaging from insects, they cause malfunction when entering our products.
  • Page 6 (3) Test run and adjustment CAUTION When executing a test run, follow the notice and procedures in this instruction manual. Otherwise, it may cause a malfunction, damage to the machine, or injury. Before operation, check and adjust the parameter settings. Improper settings may cause some machines to operate unexpectedly.
  • Page 7 Do not place the unit on metal that may cause a power leakage or wood, plastic or vinyl that may cause static electricity buildup. The parameters of MR-D30 are protected by passwords to prevent incorrect settings. The parameters of MR-D30 which are returned for fixing/investigation will be initialized. The parameters and other settings need to be set again.
  • Page 8 (8) Conditions of use for the product MR-D30 complies with a safety standard, but this fact does not guarantee that MR-D30 will be free from any malfunction or failure. The user of this product shall comply with any and all applicable safety standard, regulation or law and take appropriate safety measures for the system in which the product is installed or used and shall take the second or third safety measures other than the product.
  • Page 9 The number of write times to the EEP-ROM, which stores parameter settings, etc., is limited to 100,000. If the total number of the following operations exceeds 100,000, MR-D30 may malfunction when the EEP-ROM reaches the end of its useful life.

  • Page 10: Table Of Contents

    2.3 Inspection items ..........................2- 4 2.4 Parts having service life ........................2- 4 2.5 Maintenance ............................. 2- 4 2.6 Attachment and detachment of MR-D30 ..................2- 5 3. SIGNALS AND WIRING 3- 1 to 3-22 3.1 Connectors and pin assignment ....................... 3- 3 3.2 I/O signal connection example ......................
  • Page 11 3.7 Wiring method of CN10A/CN10B connectors.................. 3-16 3.8 Connection example with other devices ..................3-17 3.8.1 MR-J4-_GF_-RJ ........................3-17 3.8.2 MR-J4-_B_-RJ/MR-J4-DU_B_-RJ .................... 3-19 3.8.3 MR-J4-_A_-RJ/MR-J4-DU_A_-RJ .................... 3-21 3.9 Power-on sequence ......................... 3-22 4. SAFETY OBSERVATION FUNCTION 4- 1 to 4-46 4.1 Achievable safety level ........................
  • Page 12 8. DIMENSIONS 8- 1 to 8- 2 8.1 MR-D30 functional safety unit ......................8- 1 8.2 When an MR-D30 is attached to a servo amplifier ................8- 2 APPENDIX App. - 1 to App. - 1 App. 1 EC declaration of conformity ....................App.- 1...
  • Page 13 MEMO...

  • Page 14: Functions And Configuration

    This Instruction Manual only describes the functions of MR-D30. For servo amplifiers, refer to each servo amplifier instruction manual. You can extend the safety observation function by using MR-D30 with a compatible servo amplifier or drive unit. However, which extension you can use depends on software version. The safety observation function cannot be used other than the following combinations.
  • Page 15 MR-J4-DU_B4-RJ100 (2) Characteristics of functions (a) When using the safety observation function with wiring to the CN10_ connector of MR-D30 (Safety observation function control by input device) By combination of MR-D30 functional safety unit, servo amplifier compatible with MR-D30, and servo motor with functional safety, the safety observation functions (STO/SS1/SBC/SLS/SSM/SOS/SS2) compatible with Category 4, PL e, SIL 3 can be used.
  • Page 16 7. Safety function unit with Manufacturer Software Version 07 or later is required. 8. The combination of MR-D30 and MR-J4-_GF_-RJ is supported by MR Configurator2 with software version 1.60N or later. The combination of MR-D30 and MR-J4-_B_-RJ is supported by MR Configurator2 with software version 1.25B or later. The combination of MR-D30 and MR-J4-_A_-RJ is supported by MR Configurator2 with software version 1.34L or later.
  • Page 17 1. FUNCTIONS AND CONFIGURATION Table 1.2 Safety observation functions compatible with each system. System (Note) : Usable Note. The systems indicate the following. Servo motor with functional safety: Semi closed loop system using the servo motor with functional safety Servo motor: Semi closed loop system using the servo motor Full.: Fully closed loop system using the servo motor or servo motor with functional safety Lin.: Linear servo motor system...

  • Page 18: Outline Of Safety Observation Function

    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).

  • Page 19: Function Block Diagram

    1. FUNCTIONS AND CONFIGURATION 1.3 Function block diagram 1.3.1 MR-J4-_GF_-RJ (1) Safety observation function control by input device The following block diagram shows an operation of the safety observation function using input devices assigned to pins of the CN10A and CN10B connectors. By diagnosis of input signals, the servo amplifier complies with safety level Category 4, PL e, SIL 3.
  • Page 20 1. FUNCTIONS AND CONFIGURATION (2) Safety observation function control by network The following block diagram shows an operation of the safety observation function through CC-Link IE Field Network. The electric wiring can be omitted. Servo amplifier Servo motor MCCB Power supply Control circuit Gate circuit...

  • Page 21: Mr-J4-_B_-Rj

    1. FUNCTIONS AND CONFIGURATION 1.3.2 MR-J4-_B_-RJ (1) Safety observation function control by input device The following block diagram shows an operation of the safety observation function using input devices assigned to pins of the CN10A and CN10B connectors. By diagnosis of input signals, the servo amplifier complies with safety level Category 4, PL e, SIL 3.
  • Page 22 1. FUNCTIONS AND CONFIGURATION (2) Safety observation function control by network The following block diagram shows an operation of the safety observation function through SSCNET III/H. The electric wiring can be omitted. Servo amplifier Servo motor MCCB Power supply Control circuit Gate circuit 24 V DC power supply...

  • Page 23: Mr-J4-_A_-Rj

    1. FUNCTIONS AND CONFIGURATION 1.3.3 MR-J4-_A_-RJ The following block diagram shows an operation of the safety observation function using input devices assigned to pins of the CN10A and CN10B connectors. By diagnosis of input signals, the servo amplifier complies with safety level Category 4, PL e, SIL 3. Servo amplifier Servo motor MCCB...

  • Page 24: Mr-J4-Du_B_-Rj

    1. FUNCTIONS AND CONFIGURATION 1.3.4 MR-J4-DU_B_-RJ (1) Safety observation function control by input device The following block diagram shows an operation of the safety observation function using input devices assigned to pins of the CN10A and CN10B connectors. By diagnosis of input signals, the servo amplifier complies with safety level Category 4, PL e, SIL 3.
  • Page 25 1. FUNCTIONS AND CONFIGURATION (2) Safety observation function control by network The following block diagram shows an operation of the safety observation function through SSCNET III/H. The electric wiring can be omitted. Servo motor Drive unit To L+ of converter unit To L- of converter unit Gate circuit Power...

  • Page 26: Mr-J4-Du_A_-Rj

    1. FUNCTIONS AND CONFIGURATION 1.3.5 MR-J4-DU_A_-RJ The following block diagram shows an operation of the safety observation function using input devices assigned to pins of the CN10A and CN10B connectors. By diagnosis of input signals, the servo amplifier complies with safety level Category 4, PL e, SIL 3. Drive unit Servo motor To L+ of converter unit...

  • Page 27: System Configuration

    For wirings other than in diagram, refer to each servo amplifier instruction manual. 1.4.1 MR-J4-_GF_-RJ (1) Safety observation function control by input device POINT Remove the short-circuit connector on CN8. Personal computer MR-J4-_GF_-RJ MR-D30 MR Configurator2 Not used CN10A/CN10B (Remove the short-circuit connector.) 24 V DC power...
  • Page 28 1. FUNCTIONS AND CONFIGURATION (2) Safety observation function control by network POINT Remove the short-circuit connector on CN8. Personal computer MR Configurator2 MR-J4-_GF_-RJ MR-D30 Emergency stop switch Not used (Remove the short-circuit Light curtain connector.) Junction terminal block R_SFCPU + R6SFM + RD77GF_...

  • Page 29: Mr-J4-_B_-Rj/Mr-J4-Du_B-Rj

    1. FUNCTIONS AND CONFIGURATION 1.4.2 MR-J4-_B_-RJ/MR-J4-DU_B-RJ (1) Safety observation function control by input device POINT Remove the short-circuit connector on CN8. Personal computer MR-J4-_B_-RJ MR-D30 MR Configurator2 CN10A/CN10B Junction terminal block 24 V DC power supply for IO Not used...
  • Page 30 1. FUNCTIONS AND CONFIGURATION (2) Safety observation function control by network POINT Remove the short-circuit connector on CN8. Personal computer MR Configurator2 MR-J4-_B_-RJ MR-D30 Emergency stop switch Junction Light curtain terminal block Not used Q17_DSCPU + Q173DSXY (Remove the short-circuit connector.)

  • Page 31: Mr-J4-_A_-Rj/Mr-J4-Du_A-Rj

    1. FUNCTIONS AND CONFIGURATION 1.4.3 MR-J4-_A_-RJ/MR-J4-DU_A-RJ POINT Remove the short-circuit connector on CN8. Personal computer MR-J4-_A_-RJ MR-D30 MR Configurator2 CN10A/CN10B Analog monitor 24 V DC power Personal computer, etc. supply for IO Not used (Remove the short-circuit connector.) Safety signal...

  • Page 32: Standard Specifications

    MD: EN ISO 13849-1, EN 61800-5-2, EN 62061 Structure (IP rating) Natural cooling, open (mounted on a servo amplifier: IP20, MR-D30 (single): IP00) Ambient temperature Operation: 0 °C to 55 °C (non-freezing), storage: -20 °C to 65 °C (non-freezing)
  • Page 33 5. To enable SS2 and SOS, using with an HG-KR_W0C, HG-SR_W0C, or HG-JR_W0C servo motor is required. 6. Status monitor is a Mitsubishi Electric original function. For the observation functions and the safety levels which can be displayed on the monitor, refer to the items of “Safety observation function (IEC/EN 61800-5-2)”.

  • Page 34: Function List

    3. Each observation speed can be set separately. 4. MR-D30 manufactured in September, 2014 or earlier has three output points. Connecting a circuit to DO4NA or DO4PB of MR- D30 manufactured in September, 2014 or earlier may cause a malfunction of MR-D30. Connecting MR-D30 manufactured in September, 2014 or earlier to the servo amplifier will deactivate displays about DO4_ of MR Configurator2.
  • Page 35 1. FUNCTIONS AND CONFIGURATION (1) 200 V class (a) Combinations with MR-J4-_ servo amplifiers Rotary servo motor Linear servo motor Servo amplifier Direct drive motor Servo motor with functional (primary side) Servo motor safety MR-J4-10B-RJ HG-KR053 HG-KR053W0C MR-J4-10A-RJ HG-KR13 HG-KR13W0C MR-J4-10GF-RJ HG-MR053 HG-MR13...
  • Page 36 1. FUNCTIONS AND CONFIGURATION Rotary servo motor Linear servo motor Servo amplifier Direct drive motor Servo motor with functional (primary side) Servo motor safety MR-J4-700B-RJ HG-SR702 HG-SR702W0C LM-FP2F-18M-1SS0 MR-J4-700A-RJ HG-JR703 HG-JR703W0C LM-FP4D-24M-1SS0 MR-J4-700GF-RJ HG-JR503 (Note) HG-JR503W0C (Note) HG-JR601 HG-JR701MW0C HG-JR701M MR-J4-11KB-RJ HG-JR903 HG-JR903W0C...
  • Page 37 1. FUNCTIONS AND CONFIGURATION (2) 400 V class (a) Combinations with MR-J4-_ servo amplifiers Rotary servo motor Linear servo motor Servo amplifier Servo motor with functional (primary side) Servo motor safety MR-J4-60B4-RJ HG-SR524 HG-SR524W0C MR-J4-60A4-RJ HG-JR534 HG-JR534W0C MR-J4-60GF4-RJ MR-J4-100B4-RJ HG-SR1024 HG-SR1024W0C MR-J4-100A4-RJ HG-JR534 (Note)
  • Page 38 1. FUNCTIONS AND CONFIGURATION (b) Combinations with MR-J4-DU_ drive units Rotary servo motor Linear servo motor Drive unit Servo motor with functional (primary side) Servo motor safety MR-J4-DU900B4-RJ HG-SR7024 (Note 2) HG-SR7024W0C (Note 2) HG-JR6014 HG-JR701M4W0C (Note 2) HG-JR8014 HG-JR5034W0C (Note 1) HG-JR701M4 (Note 2) HG-JR7034W0C (Note 2) HG-JR5034 (Note 1)

  • Page 39: Rating Plate

    1. FUNCTIONS AND CONFIGURATION 1.8 Rating plate The following shows an example of rating plate for explanation of each item. Serial number Model IP rating, Manual number Capacity Applicable power supply Rated output power Standard Ambient temperature KC certification number The year and month of manufacture Country of origin 1.9 Risk assessments...

  • Page 40: Residual Risks In Each Function

    1. FUNCTIONS AND CONFIGURATION 1.9.2 Residual risks in each function (1) Speed monitoring (SLS) (a) Speed monitoring function guarantees the servo motor speed, but it does not guarantee the actual machine safety speed. Set parameters so that the safe speed of the machine is the same as the safety speed of the specified motor.
  • Page 41 1. FUNCTIONS AND CONFIGURATION MEMO 1 - 28...

  • Page 42: Installation

    MR-D30. Do not block the intake and exhaust areas of the servo amplifier and MR-D30. Otherwise, it may cause a malfunction. Do not drop or strike the servo amplifier and MR-D30. Isolate them from all impact loads. CAUTION Do not install or operate the servo amplifier and MR-D30 which have been damaged or have any parts missing.

  • Page 43: Installation Direction And Clearances

    The equipment must be installed in the specified direction. Otherwise, it may cause a malfunction. CAUTION Leave specified clearances between the servo amplifier/MR-D30 and the cabinet walls or other equipment. Otherwise, it may cause a malfunction. POINT For the installation direction and clearances of the MR-J4-DU_-RJ, refer to "MR- CV_/MR-CR55K_/MR-J4DU_(-RJ) Instruction Manual".
  • Page 44 2. INSTALLATION (b) Installation of two or more servo amplifiers POINT Close mounting is possible depending on the capacity of the servo amplifier. For the possibility of close mounting, refer to each servo amplifier instruction manual. When closely mounting multiple servo amplifiers, the servo amplifier on the right must have a larger depth than that on the left.

  • Page 45: Keep Out Foreign Materials

    2. INSTALLATION 2.2 Keep out foreign materials (1) When drilling in the cabinet, prevent drill chips and wire fragments from entering MR-D30 and servo amplifier. (2) Prevent oil, water, metallic dust, etc. from entering the servo amplifier through openings in the cabinet or a cooling fan installed on the ceiling.

  • Page 46: Attachment And Detachment Of Mr-D30

    Do not repeatedly attach and detach MR-D30. Otherwise, a contact failure may be caused in the connector. To protect the connectors from dusts and dirt, do not unpack MR-D30 until it is ready to be attached. When storing MR-D30, be sure to cover the unit with a packing bag in which the unit had been covered prior to shipping.
  • Page 47 (a) Attachment of MR-D30 1) Remove the covers of CN7 and CN9 connectors. Use caution not to lose the removed covers. 2) Insert the guide pins of the MR-D30 in the guide holes located on the side of the servo amplifier. Guide hole...
  • Page 48 1) While pushing the clips ( a) , b)), and pull out the side cover to the arrow direction. (b) Attachment of MR-D30 1) Insert the guide pins of the MR-D30 in the guide holes located on the side of the servo amplifier. Guide hole...
  • Page 49 2. INSTALLATION (d) Attachment of the side cover 1) Insert the side cover setting clips into the recesses a) of the servo amplifier. Side cover setting clip 2) Push the side cover at the supporting point a) in procedure 1) until the clips clip into place.

  • Page 50: Signals And Wiring

    Ensure that polarity (+/-) is correct. Otherwise, a burst, damage, etc. may occur. The surge absorbing diode installed to the DC relay for control output should be fitted in the specified direction. Otherwise, the emergency stop and other protective circuits may not operate. MR-D30 MR-D30 24 V DC 24 V DC...
  • Page 51 3. SIGNALS AND WIRING Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo amplifier may cause a malfunction. CAUTION Before wiring, switch operation, etc., eliminate static electricity. Otherwise, it may cause a malfunction. POINT The following indicate hardware abbreviations (H/W abbreviation) of the connector pin No., not functions.

  • Page 52: Connectors And Pin Assignment

    DI3B DI6B DI5B DO4PB DO24VB DO2B DO1B DO4NB DO3B Note. DO4PA (CN10A-16), DO4NA (CN10A-18), DO4PB (CN10B-16), and DO4NB (CN10B-18) are not supported by MR-D30 manufactured in September, 2014 or earlier. Do not connect anything to the pins. 3 - 3...

  • Page 53: I/O Signal Connection Example

    DO1B to DO4B) when connecting cascade. For connection examples of servo amplifiers, refer to each servo amplifier instruction manual. 3.2.1 Input signal 10 m or less 10 m or less MR-D30 MR-D30 24 V DC (Note 3) 24 V DC (Note 3) CN10A...

  • Page 54: Output Signal

    The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience. However, they can be configured by one. 4. DO4PA (CN10A-16), DO4NA (CN10A-18), DO4PB (CN10B-16), and DO4NB (CN10B-18) are not supported by MR-D30 manufactured in September, 2014 or earlier. Do not connect anything to the pins.

  • Page 55: Connection Of I/O Interface

    Refer to section 4.4.1 for the test pulse diagnosis. (Rated current: 5 mA, maximum current: 10 (1) Connection of external device Connect the output signal of external device to DI _ _. MR-D30 CN10A DICOMA 24 V DC 5 mA DI1A, etc.

  • Page 56: Sink Input

    3. SIGNALS AND WIRING (3) Switch connection (when executing a test pulse diagnosis) The pulses for diagnosis will be outputted from PLSA and PLSB. Wire so that the pulse signals outputted from PLSA and PLSB pass through the switch. MR-D30 CN10A DC24VA PLSA DICOMA 24 V DC ±...
  • Page 57 3. SIGNALS AND WIRING (2) Switch connection (not when executing a test pulse diagnosis) Wire without using PLSA and PLSB. MR-D30 CN10A 24 V DC ± 10% 0.8 A DICOMA DI1A, etc. Approx. 5.6 kΩ Switch (Test pulse diagnosis disabled) 24 V DC ±...

  • Page 58: Do1_ To Do3_ Source Output

    Install a diode (D) for an inductive load, or install an inrush current suppressing resistor (R) for a lamp load. (Rated current: 5 mA to 40 mA, maximum current: 50 mA, inrush current: 100 mA or less) A maximum of 2.4 V voltage drop occurs in MR-D30. MR-D30 If polarity of diode is 24 V DC ±...

  • Page 59: Wiring For Sbc Output

    SBCS (SBC output) turns off. Using MBR of servo amplifier (electromagnetic brake interlock) is not necessary. Refer to section 4.5.6 for the operation sequence for when using SBC function. Servo amplifier Servo motor MR-D30 (Malfunction) 24 V DC (Note 1) 24 V DC (Note 2)

  • Page 60: Noise Reduction Techniques

    Shielded cable Figure 3.1 The shielded part to be exposed Figure 3.2 Grounding shields Ground the shield of the signal input cable as close as possible (30 cm or less) to the MR-D30. MR-D30 Inside the cabinet 30 cm or less...
  • Page 61 3. SIGNALS AND WIRING (2) Ferrite core A ferrite core has the effect of reducing conduction noise in the band around 10 MHz and radiated noise in the bands between 30 MHz to 100 MHz. When the shield effect of the shielded cable drawn out from the cabinet is not obtained enough or when emission of conduction noise from a power supply line should be suppressed, we recommend that you install the ferrite core.

  • Page 62: Signal Explanations

    3. SIGNALS AND WIRING 3.6 Signal explanations 3.6.1 Input device Assign the devices to DI1_ to DI6_ with [Pr. PSD02 Input device selection DI1] to [Pr. PSD07 Input device selection DI6]. Refer to section 4.4.1 for details. For the safety observation function control by network, you can input through network. Status of input pin Connector and pin...

  • Page 63: Output Device

    3. SIGNALS AND WIRING 3.6.2 Output device The status monitor (SM) of the safety observation function is outputted from the devices of DO1_ to DO4_. The devices can be assigned to DO1_ to DO4_ with [Pr. PSD08 Output device selection DO1] to [Pr. PSD11 Output device selection DO4].

  • Page 64: Power Supply

    3. SIGNALS AND WIRING 3.6.3 Power supply Connector and pin Name Symbol Function and application Digital input DICOMA CN10A-2 This is a common terminal for input signal. Input 24 V DC (24 V DC ± 10% 0.8 A) for I/F common I/O interface.

  • Page 65: Wiring Method Of Cn10A/Cn10B Connectors

    3. SIGNALS AND WIRING 3.7 Wiring method of CN10A/CN10B connectors When wiring to CN10 and CN10B, use the connector DFMC 1,5/9-STF-3,5 (Phoenix Contact) packed with the servo amplifier. (1) Fabricating wire insulator Use a wire with AWG 24 to 16, and strip the wire end to make the stripped length 10 mm ± 0.5 mm. (2) Inserting wire Insert the wire while pressing the release button with a flat-blade screwdriver with a blade width of 2.0 mm to 2.5 mm.

  • Page 66: Connection Example With Other Devices

    CN10A and CN10B connectors with a safety controller. By diagnosis of input signals, the servo amplifier complies with safety level Category 4, PL e, SIL 3. 24 V Safety controller MELSEC-WS series CPU module WSO-CPU0 Safety I/O combined module WS0-XTIO MR-D30 MR-J4-_GF_-RJ CN10A DO24VA DO_A FLEXB...
  • Page 67 3. SIGNALS AND WIRING (2) Safety observation function control by network The following connection diagram shows an operation of the safety observation function through CC- Link IE Field Network. The electric wiring can be omitted. MR-D30 MR-J4-_GF_-RJ CN10A R_SFPU DO24VA...

  • Page 68: Mr-J4-_B_-Rj/Mr-J4-Du_B_-Rj

    CN10A and CN10B connectors with a safety controller. By diagnosis of input signals, the servo amplifier complies with safety level Category 4, PL e, SIL 3. 24 V Safety controller MELSEC-WS series CPU module WSO-CPU0 Safety I/O combined module WS0-XTIO MR-J4-_B_-RJ/ MR-D30 MR-J4-DU_B_-RJ CN10A DO24VA DO_A FLEXB CN10B...
  • Page 69 (2) Safety observation function control by network The following connection diagram shows an operation of the safety observation function through SSCNET III/H. The electric wiring can be omitted. Drive safety integrated motion controller Motion controller Q17_DSCPU Safety signal module Q173DSXY MR-D30 MR-J4-_B_-RJ CN10A Q173DSCPU Q173DSXY MC-X01...

  • Page 70: Mr-J4-_A_-Rj/Mr-J4-Du_A_-Rj

    CN10A and CN10B connectors with a safety controller. By diagnosis of input signals, the servo amplifier complies with safety level Category 4, PL e, SIL 3. 24 V Safety controller MELSEC-WS series CPU module WSO-CPU0 Safety I/O combined module WS0-XTIO MR-J4-_A_-RJ/ MR-D30 MR-J4-DU_A_-RJ CN10A DO24VA DO_A FLEXB CN10B...

  • Page 71: Power-On Sequence

    3. SIGNALS AND WIRING 3.9 Power-on sequence Maintain about 0.5 s to 2 s in addition to the startup time of the servo amplifier in the system using MR-D30 and servo motor with functional safety for the initial diagnosis of the encoder.

  • Page 72: Safety Observation Function

    4. SAFETY OBSERVATION FUNCTION 4. SAFETY OBSERVATION FUNCTION POINT The following indicate hardware abbreviations (H/W abbreviation) of the connector pin No., not functions. Pin No. Pin No. abbreviation abbreviation DI1A CN10A-4 DO1A CN10A-8 DI2A CN10A-13 DO2A CN10A-17 DI3A CN10A-5 DO3A CN10A-9 DI4A CN10A-14...

  • Page 73: Achievable Safety Level

    4. SAFETY OBSERVATION FUNCTION 4.1 Achievable safety level The achievable safety level and usable safety observation function depend on devices to be connected. Note that parameters need to be set according to the devices connected. The following shows servo motors and parameter settings required to meet each functional safety level.

  • Page 74: Safety Diagnosis Function List

    Safety device fixing diagnosis This function diagnoses that input devices are not fixed by repeatedly turning the at start-up devices on and off individually when the power to MR-D30 is switched on. 4 - 3...

  • Page 75: Startup

    [GF]: MR-J4-_GF_(-RJ) Servo Amplifier Instruction Manual (Motion Mode) [B]: MR-J4-_B(-RJ) Servo Amplifier Instruction Manual [A]: MR-J4-_A(-RJ) Servo Amplifier Instruction Manual [Motion]: Q173D(S)CPU/Q172D(S)CPU Motion Controller Programming Manual (Safety Observation) The password is set for MR-D30 to prevent changing the parameters. The initial password is "000000". 4 - 4...
  • Page 76 Section 4.3.3 activation setting enable the MR-D30 referring to section 4.3.3. The password is set for MR-D30 to prevent changing the parameters. The initial password is "000000". In the test operation, operate the servo motor at the lowest speed Section 4.3.4...

  • Page 77: Parameter

    PSC_ _ ]) and I/O device parameters ([Pr. PSD_ _ ]) can be set by using MR Configurator2. Execute the setting that involves safety observation function by these parameter groups. The following shows the difference between these and other parameter groups. The password is set to MR-D30 to prevent changing the parameters. The default password is "000000".
  • Page 78 Cycling of power (b) If password is forgotten The password is forgotten, you can reconfigure the parameter settings by initializing MR-D30. Initialize the password by the password initializing function of MR Configurator2. When the password is initialized, all the parameter setting values will be initialized. [AL. 7A Parameter setting error (safety observation function)] occurs until the parameter is set again.

  • Page 79: Mandatory Parameter Setting

    4. SAFETY OBSERVATION FUNCTION 4.3.3 Mandatory parameter setting (1) Safety observation function control by input device Parameter Name PSA01 Safety observation function activation setting PSA02 Functional safety unit setting PSA03 SS1/SS2 monitoring deceleration time (2) Safety observation function control by network (a) MR-J4-_GF_-RJ Parameter Name...

  • Page 80: Test Operation

    4.3.5 Unit replacement When an MR-D30 that has already been attached to MR-J4-_-RJ servo amplifier once is attached to the other MR-J4-_-RJ servo amplifier, [AL. 7A Parameter setting error (safety observation function)] will occur. To use the MR-D30 with other MR-J4-_-RJ servo amplifier, initialize the password by the password initializing function of MR Configurator2.
  • Page 81 4. SAFETY OBSERVATION FUNCTION (c) Fixing-diagnosis at start-up The input devices including the external wiring are diagnosed for failure by individually being turned on and off repeatedly when the power is switched on. Enabled/disabled can be switched with [Pr. PSD27] and [Pr. PSD28]. (d) Diagnosis with test pulses The input devices including the external wiring are diagnosed for failure by using pulse signals that temporarily turns off the input signals when the input signals are on.
  • Page 82 Mismatch permissible time DI5 PSD23 Mismatch permissible time DI6 (4) Fixing-diagnosis at start-up This function diagnoses that each input pin has no failure by repeatedly turning the signals on and off when the power to MR-D30 is switched on. 4 - 11...
  • Page 83 4. SAFETY OBSERVATION FUNCTION (a) Executing fixing-diagnosis at start-up This function diagnoses a fixing by turning each of DI1_ to DI6_ on, off and on one by one. When all diagnoses are completed, a warning will be reset, and STO state will be canceled. Keep the pins not to be diagnosed to on.
  • Page 84 4. SAFETY OBSERVATION FUNCTION (b) Not executing fixing-diagnosis at start-up If there is no device for the fixing-diagnosis at start-up, an internal diagnosis is executed after power- on. Then, the warning will be reset when all input devices turn on, and the STO state will be canceled.
  • Page 85 4. SAFETY OBSERVATION FUNCTION (c) Parameter setting For the pins to which input devices are assigned with [Pr. PSD02 Input device selection DI1] to [Pr. PSD07 Input device selection DI6] , set whether or not to execute the fixing-diagnosis at start-up with [Pr.
  • Page 86 When there are multiple input devices for the test pulse diagnosis, share PLSA/PLSB with those input devices. A short-circuit failure between wirings sharing PLSA/PLSB cannot be detected with the test pulse diagnosis. Execute the input device fixing-diagnosis at start-up (refer to section 4.4.1 (4)) in addition. MR-D30 CN10A DC24VA PLSA...
  • Page 87 4. SAFETY OBSERVATION FUNCTION (6) Noise rejection filter (a) Summary The noise rejection filter is a function to set a filtering time to reduce the noise of input signals. Set the filtering time of the noise rejection filter with [Pr. PSD12 Input device - Noise rejection filtering time DI1] to [Pr.
  • Page 88 4. SAFETY OBSERVATION FUNCTION (7) Response time of input device The response time of input devices changes depending on noise rejection filtering time set with [Pr. PSD12 Input device - Noise rejection filtering time DI1] to [Pr. PSD17 Input device - Noise rejection filtering time DI6].

  • Page 89: Output Device

    4. SAFETY OBSERVATION FUNCTION 4.4.2 Output device (1) Summary The output device of the status monitor function (SM) of MR-D30 has following characteristics. (a) Output device selection Any device can be assigned to DO1_ to DO4_ with parameters. (b) Duplication of the output Same signal is duplicately outputted by duplicated wiring.
  • Page 90 4. SAFETY OBSERVATION FUNCTION (3) Diagnosis with test pulses (a) Test pulse diagnosis function This function diagnoses the wiring by periodically outputting the off-pulses when DO1_ to DO4_ are The following shows the operation sequence for when STOS (STO output) is assigned to DO1_. The off-pulses are outputted to DO1A and DO1B periodically when STOS (STO output) is on.
  • Page 91 DO4PB (b) At error detection If MR-D30 detects an error and an alarm which disables SSM occurs, the each device turns off. Refer to chapter 7 for corresponding alarm Nos. If a non-corresponding alarm occurs, assigned devices will be outputted continuously.

  • Page 92: Safety Observation Function Control By Input Device

    POINT For the system profile (CSP+) of MR-J4-_GF_-RJ, use the file version 4 or later. If the parameters of MR-D30 are not set, "Safety communication activation setting" cannot be executed by the parameter processing of slave station. If "Safety communication activation setting" is not selected in the parameter processing of slave station, "Safety communication setting"...
  • Page 93 0 points (b) Position check of safety slave station The MR-J4-_GF_-RJ and MR-D30 do not support the position check start function for the safety slave station. Visually check the station number displayed on the 7-segment LED display of each servo amplifier to ensure that the safety slave station is installed as designed and intended.
  • Page 94 4. SAFETY OBSERVATION FUNCTION (c) Parameter setting of slave station Right-click "MR-J4-GF" in the network configuration diagram, then select "Parameter processing of slave station". Select Parameter processing of slave station Select "Safety communication activation setting" for the executing process, then click "Execute". Select Safety communication activation setting Click Execute 4 - 23...
  • Page 95 _GF_-RJ For the safety observation function control by network, calculate the transmission interval monitoring time between MR-D30 and CC-Link IE Field Network master module according to the Safety Application Guide. Use the following values for safety remote station refresh response time (SRef).
  • Page 96 Safety refresh monitoring time [ms] ≥ TMact + TMpas + (LS × 2) + SCmst + (SRef/2) TMact: Transmission interval monitoring time of CC-Link IE Field Network master module [ms] TMpas: Transmission interval monitoring time of MR-D30 [ms] (= Safety communication communication cycle [ms] × 1.5) LS: Link scan time of CC-Link IE Field Network Network [ms], or the calculation cycle of the simple Motion module [ms] when a simple Motion module is used as the master module.
  • Page 97 4. SAFETY OBSERVATION FUNCTION (b) Function output The following shows the function outputs for each bit of the safety data storing devices. Servo amplifier → Master station (SA\n) Function output Description STO status When the STO function operates and the power is shut off, the status turns on. The status is off under other conditions.

  • Page 98: Servo Motor With Functional Safety

    4. SAFETY OBSERVATION FUNCTION 4.4.4 Servo motor with functional safety Using a servo motor with functional safety enables you to use speed monitoring functions and position monitoring functions without external encoders for duplication of encoders. When using a servo motor with functional safety, set [Pr. PSA02 Functional safety unit setting] to "_ _ 1 _". When not using it, set [Pr.

  • Page 99: Sto Function

    4. SAFETY OBSERVATION FUNCTION 4.5 Safety observation function 4.5.1 STO function (1) Summary This function electronically shuts off power to the servo motor based on an input signal from an external device (secondary-side output shut-off). This corresponds to stop category 0 of IEC/EN 60204-1. The STO function is also used for an emergency stop when an error is detected in an internal diagnosis.
  • Page 100 4. SAFETY OBSERVATION FUNCTION (b) Alarm occurrence The STO function operates also during alarm occurrence. While STO is in operation, power to the servo motor is shut off and the dynamic brake activates. For alarms which activate STO, refer to chapter 7.

  • Page 101: Ss1 Function

    4. SAFETY OBSERVATION FUNCTION 4.5.2 SS1 function (1) Summary This function 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/EN 60204-1.
  • Page 102 4. SAFETY OBSERVATION FUNCTION (b) Alarm occurrence The SS1 function operates also during alarm occurrence. After the alarm occurrence, the servo motor decelerates with the dynamic brake, electronic dynamic brake, or forced stop. Simultaneously, the time from activation of the SS1 function is calculated, and the STO function will operate when the time specified with [PSA03 SS1/SS2 monitoring deceleration time] has passed.
  • Page 103 4. SAFETY OBSERVATION FUNCTION (b) Stop with forced stop deceleration For the operation of forced stop deceleration, refer to each servo amplifier instruction manual. When the SS1 function operates, the servo motor will decelerate according to [Pr. PC24 Forced stop deceleration time constant].
  • Page 104 4. SAFETY OBSERVATION FUNCTION (c) Stop with dynamic brake When the SS1 function operates, the servo motor will be stopped with the dynamic brake. For operation of the dynamic brake, also refer to each servo amplifier instruction manual. SS1 in progress STO status Stop with dynamic brake SS1/SS2 monitoring...

  • Page 105: Ss2/Sos Function

    4. SAFETY OBSERVATION FUNCTION (4) Parameter setting To set the parameters, refer to section 4.3.3. Set the parameters referring to section 4.4.1 when using the SS1 function in the safety observation function control by input device, and section 4.4.3 when using the SS1 function in the safety observation function control by network.
  • Page 106 4. SAFETY OBSERVATION FUNCTION (3) Deceleration observation (a) Speed observation at deceleration When both absolute values of the speed command and the speed feedback reach the set value of [Pr. PSA04 SS2/SOS standstill speed] or lower during deceleration, the deceleration will be assumed as completion and the stop observation (SOS) will start.
  • Page 107 4. SAFETY OBSERVATION FUNCTION (4) Stop observation The SOS function observes both command speed and feedback speed. (a) Speed command observation This observes that an absolute value of the command speed does not exceed the set value of [Pr. PSA04 SS2/SOS standstill speed] during the stop observation. When an excess of command speed continues for the set value of [Pr.
  • Page 108 4. SAFETY OBSERVATION FUNCTION (c) Position feedback observation during a stop This observes that an absolute value of the position feedback variation from the start of the stop observation (SOS) is within the set value of [Pr. PSA05 SOS allowance value of position deviation] during stop observation.

  • Page 109: Sls Function

    4. SAFETY OBSERVATION FUNCTION (d) SLS/SS2/SOS speed detection delay time You can set a delay time for from when the speed decelerates lower than the standstill speed until the start of the stop observation and for from when the speed accelerates higher than the standstill speed during stop observation until the start of the STO function by using [Pr.
  • Page 110 4. SAFETY OBSERVATION FUNCTION The following shows a sequence for when SLS1 and SLS2 commands are simultaneously turned off. Multiple speed observations are executed simultaneously. However, a valid threshold for speed would be the smallest SLS speed. In the following sequence, the value of SLS speed 2 is smaller than that of SLS speed 1.
  • Page 111 4. SAFETY OBSERVATION FUNCTION (b) Speed feedback observation During the speed observation, an absolute value of the speed feedback is observed not to exceed the SLS speed. When an excess of speed feedback continues for the set value of [Pr. PSA15 SLS/SS2/SOS speed detection delay time], the STO function will start.

  • Page 112: Ssm Function

    4. SAFETY OBSERVATION FUNCTION 4.5.5 SSM function (1) Summary This function outputs a signal when the servo motor speed is within a regulated speed. (2) Operation sequence (a) SSMS (SSM output) In the SSM function, SSMS (SSM output) is on when both the speed command and the speed feedback are equal to or lower than the setting of [Pr.

  • Page 113: Sbc Function

    4. SAFETY OBSERVATION FUNCTION 4.5.6 SBC function POINT Use SBCS (SBC output) for activating the electromagnetic brake. There is no need to use MBR (Electromagnetic brake interlock). (1) Summary This function outputs a signal for an external brake control. (2) Operation sequence The following shows an operation sequence during an operation of SS1 and a return from STO state.

  • Page 114: Status Monitor (Sm) Function

    4. SAFETY OBSERVATION FUNCTION 4.5.7 Status monitor (SM) function Each function state of SSM, SBC, STO, SOS, SS1, SS2, and SLS will be outputted by signals. This function is not the one defined in IEC/EN 61800-5-2. The function is an original function of the functional safety unit. For details of device, refer to section 3.6.2.

  • Page 115: Simultaneous Operation Of Sto And Ss1 Functions

    (b) Safety observation function stop If a serious error is detected in MR-D30, the SLS and SSM functions will stop. For the alarms which stop these functions, refer to chapter 7. When the function stops, output devices will output off.
  • Page 116 4. SAFETY OBSERVATION FUNCTION (c) Alarm reset After a cause of the alarm is removed, the alarm can be canceled with one of the following methods. Error reset CPU reset Power off to on (2) How to reset alarm of safety observation function (a) Safety observation function control by input device Refer to chapter 7 for the list of alarms supporting reset operation in the alarms of safety observation function.
  • Page 117 4. SAFETY OBSERVATION FUNCTION (b) Safety observation function control by network Refer to chapter 7 for the list of alarms supporting reset operation in the alarms of safety observation function. When the cause of the alarm occurrence is removed and alarm reset is executed with all commands on: STOC (STO command), SS1C (SS1 command), SS2C (SS2 command), SLS1C (SLS1 command), SLS2C (SLS2 command), SLS3C (SLS3 command), and SLS4C (SLS4 command), STO will be canceled, returning to a normal operation.

  • Page 118: Parameters

    5. PARAMETERS 5. PARAMETERS Never make a drastic adjustment or change to the parameter values as doing so will make the operation unstable. Do not change the parameter settings as described below. Doing so may cause CAUTION an unexpected condition such as failing to start up the servo amplifier. Changing the values of the parameters for manufacturer setting.

  • Page 119: Safety Observation Function Parameters 1 ([Pr. Psa

    5. PARAMETERS 5.1.1 Safety observation function parameters 1 ([Pr. PSA_ _ ]) Input mode Operation mode Initial Symbol Name Unit value PSA01 **SOA Safety observation function activation setting 0000h PSA02 **SMD Functional safety unit setting 0000h PSA03 **SST SS1/SS2 monitoring deceleration time 1000 [ms] PSA04...

  • Page 120: Network Parameters ([Pr. Psc

    5. PARAMETERS Input mode Operation mode Initial Symbol Name Unit value PSA50 For manufacturer setting 0000h PSA51 0000h PSA52 0000h PSA53 0000h PSA54 0000h PSA55 0000h PSA56 0000h PSA57 0000h PSA58 0000h PSA59 0000h PSA60 0000h PSA61 0000h PSA62 0000h PSA63 0000h PSA64...
  • Page 121 5. PARAMETERS Input mode Operation mode Initial Symbol Name Unit value PSC23 For manufacturer setting 0000h PSC24 0000h PSC25 0000h PSC26 0000h PSC27 0000h PSC28 0000h PSC29 0000h PSC30 0000h PSC31 0000h PSC32 0000h PSC33 0000h PSC34 0000h PSC35 0000h PSC36 0000h PSC37...

  • Page 122: Safety I/O Device Parameters ([Pr. Psd_ _ ])

    5. PARAMETERS 5.1.3 Safety I/O device parameters ([Pr. PSD_ _ ]) Input mode Operation mode Initial Symbol Name Unit value PSD01 **SDIA Input device automatic activation selection 0000h PSD02 **SDI1 Input device selection DI1 0000h PSD03 **SDI2 Input device selection DI2 0000h PSD04 **SDI3...
  • Page 123 5. PARAMETERS Input mode Operation mode Initial Symbol Name Unit value PSD50 For manufacturer setting 0000h PSD51 0000h PSD52 0000h PSD53 0000h PSD54 0000h PSD55 0000h PSD56 0000h PSD57 0000h PSD58 0000h PSD59 0000h PSD60 0000h PSD61 0000h PSD62 0000h PSD63 0000h PSD64...

  • Page 124: Detailed List Of Parameters

    (SLS/SSM/SOS/SS2) 1: Executing position/speed observation with the servo motor with functional safety (This setting value can be used with MR-D30 with software version A1 or later. This setting value can be used with MR-J4-_A_-RJ and MR-J4-_B_-RJ servo amplifiers with software version B5 or later.)
  • Page 125 Select a setting unit of the SOS allowance value of the position deviation set in [Pr. PSA05]. This parameter is available with MR-D30 with software version A1 or later. For MR-J4-_A_-RJ and MR-J4-_B_- RJ, this parameter is available with the servo amplifiers with software version B5 or later.
  • Page 126 SS2/SOS function until the STO function starts This parameter is available with MR-D30 with software version A1 or later. For MR-J4-_A_- RJ and MR-J4-_B_-RJ, this parameter is available with the servo amplifiers with software version B5 or later.

  • Page 127: Network Parameters ([Pr. Psc

    07: 28.4 ms 16: 16.0 ms (Note) 17: 32.0 ms (Note) _ x _ _ For manufacturer setting x _ _ _ Note. This setting value can be used with MR-D30 with software version A2 or later. 5 - 10...
  • Page 128 Set an axis No. for the safety communication. This parameter is available with MR-D30 with software version A1 or later. As for MR-J4-_GF_-RJ, this parameter can be used with servo amplifiers with software version A3 or later. At this time, replace “axis number”...
  • Page 129 For the setting of servo motor rotation direction of servo amplifiers, refer to each servo amplifier instruction manual. This parameter is available with MR-D30 with software version A1 or later. For MR-J4-_B_-RJ, this parameter is available with the servo amplifiers with software version B5 or later.

  • Page 130: Safety I/O Device Parameters ([Pr. Psd

    5. PARAMETERS 5.2.3 Safety I/O device parameters ([Pr. PSD_ _ ]) Initial Setting Symbol Name and function value range [unit] PSD01 **SDIA Input device automatic activation selection This setting is enabled only when an input device is used. The SLS function can be activated automatically with this setting.
  • Page 131 5. PARAMETERS Initial Setting Symbol Name and function value range [unit] PSD03 **SDI2 Input device selection DI2 Select an input device to assign to DI2A (CN10A-13) and DI2B (CN10B-13). Setting method is the same as [Pr. PSD02]. Setting Initial Setting Explanation digit value...
  • Page 132 5. PARAMETERS Initial Setting Symbol Name and function value range [unit] PSD07 **SDI6 Input device selection DI6 Select an input device to assign to DI6A (CN10A-15) and DI6B (CN10B-15). Setting method is the same as [Pr. PSD02]. Setting Initial Setting Explanation digit value...
  • Page 133 5. PARAMETERS Initial Setting Symbol Name and function value range [unit] PSD10 **SDO3 Output device selection DO3 Select an input device to assign to DO3A (CN10A-9) and DO3B (CN10B-9). Setting method is the same as [Pr. PSD08]. Setting Initial Setting Explanation digit value...
  • Page 134 5. PARAMETERS Initial Setting Symbol Name and function value range [unit] PSD12 **SDIF1 Input device - Noise rejection filtering time DI1 Select a filtering time to reduce noise of DI1A (CN10A-4) and DI1B (CN10B-4). Setting Initial Setting Explanation digit value range _ _ x x Noise rejection filtering time DI1...
  • Page 135 5. PARAMETERS Initial Setting Symbol Name and function value range [unit] PSD14 **SDIF3 Input device - Noise rejection filtering time DI3 Select a filtering time to reduce noise of DI3A (CN10A-5) and DI3B (CN10B-5). Setting method is the same as [Pr. PSD12]. Setting Initial Setting...
  • Page 136 5. PARAMETERS Initial Setting Symbol Name and function value range [unit] PSD18 **SDIDT1 Mismatch permissible time DI1 Set a threshold of mismatch time of DI1A (CN10A-4) and DI1B (CN10B-4). When the [ms] mismatch time of DI1A and DI1B reaches the setting value, [AL. 79.7 Mismatched input 60000 signal error] will occur.
  • Page 137 5. PARAMETERS Initial Setting Symbol Name and function value range [unit] PSD25 **SDIP2 Input device - Test pulse diagnosis execution selection 2 Select whether or not to diagnose DI5_ and DI6_ by test pulses outputted from PLSA and PLSB. When executing the test pulse diagnosis with an external device, etc., set "0 (Not diagnose)". Setting Initial Setting...
  • Page 138 _ _ _ Test pulse diagnosis execution selection DO4 Select whether or not to diagnose DO4_ by test pulses. 0: Not diagnose 1: Diagnose This digit is available with MR-D30 manufactured in October, 2014 or later. 5 - 21...
  • Page 139 _ _ _ Test pulse off time DO4 Select off pulse time outputted from DO4_. Refer to table 5.6 for settings. This digit is available with MR-D30 manufactured in October, 2014 or later. Table 5.6 Off time selection Setting...

  • Page 140: Display

    ( : On, : Blinking, : Off) Note. When MR-D30 is attached to a servo amplifier not supporting MR-D30, "ERROR" turns on. Refer to section 1.1 for the software version of a servo amplifier that is compatible with MR-D30. 6 - 1...
  • Page 141 6. DISPLAY MEMO 6 - 2...

  • Page 142: Troubleshooting

    This chapter shows alarms and warnings which may occur by using a servo amplifier with MR-D30. For other alarms, refer to each servo amplifier instruction manual. As soon as an alarm occurs, make the servo-off status and shut off the main circuit power.
  • Page 143 7. TROUBLESHOOTING (1) Alarms Alarm reset Alarm Stop which Detail Name Detail name method SSM is disabled (Note 1, 2) (Note 4) SSCNET receive data error (safety observation 34.5 function) SSCNET receive error 1 SSCNET communication data error (safety 34.6 observation function) Continuous communication data error (safety SSCNET receive error 2...
  • Page 144 7. TROUBLESHOOTING Alarm reset Alarm Stop which Detail Name Detail name method SSM is disabled (Note 1, 2) (Note 4) Encoder diagnosis error 1 (safety observation 7B.1 SS1/EDB function) Encoder diagnosis error 2 (safety observation 7B.2 SS1/EDB function) Encoder diagnosis error (safety observation function) Encoder diagnosis error 3 (safety observation 7B.3...

  • Page 145: Combinations Of The Parameters That Trigger [Al. 7A.3 Parameter Combination Error (Safety Observation Function)]

    7. TROUBLESHOOTING 7.2 Combinations of the parameters that trigger [AL. 7A.3 Parameter combination error (safety observation function)] Incorrect setting of the parameters described in this section will trigger [AL. 7A.3]. (1) Parameters related to [Pr. PSA02 Functional safety unit setting] Motor-less Safety observation function control by input device Safety observation function control by network...

  • Page 146: Dimensions

    8. DIMENSIONS 8. DIMENSIONS 8.1 MR-D30 functional safety unit [Unit: mm] 104.2 99.2 95.4 5 × 6 mounting hole for grounding Mounting screw Screw size: M4 Four fixing screws for connectors Tightening torque: 1.65 N•m Tightening torque: 0.2 N•m to 0.3 N•m Rating plate Mass: 0.15 kg...

  • Page 147: When An Mr-D30 Is Attached To A Servo Amplifier

    8.2 When an MR-D30 is attached to a servo amplifier POINT For MR-J4-DU900_-RJ to MR-J4-DU22K_-RJ servo amplifiers, the dimensions remain the same because MR-D30 is attached inside the drive unit. Servo amplifier L [mm] 100 V/200 V 0.1 kW to 3.5 kW...

  • Page 148: Appendix

    APPENDIX App. 1 EC declaration of conformity MR-D30 complies with the safety components laid down in the machinery directive. When the servo motor with functional safety is not used, some functions are rated SIL 2, PL d, category 3 (indicated with "with Non-safety encoder" in the certificate).
  • Page 149 REVISION *The manual number is given on the bottom left of the back cover. Revision Date *Manual Number Revision Apr. 2014 SH(NA)030132ENG-A First edition Jan. 2015 SH(NA)030132ENG-B Servo motors with functional safety are added. SS2/SOS/SM functions are added. DO4_ is added. The status monitor function is added.
  • Page 150 Revision Date *Manual Number Revision Jan. 2015 SH(NA)030132ENG-B Section 4.4.1 (3) (a) The sentences are added. Section 4.4.1 (4) (a) The diagram is changed. Section 4.4.1 (4) (b) The diagram is changed. Section 4.4.1 (5) (a) The sentences are added. Section 4.4.1 (5) (b) The sentences are added.
  • Page 151 Revision Date *Manual Number Revision Dec. 2016 SH(NA)030132ENG-C About the manuals The sentence is added and table is changed. Section 1.1 The sentences are added to POINT. The tables are changed. The sentences are changed. Section 1.1 (2) (b) Table 1.1 is changed. Section 1.3.1 (1) Added.
  • Page 152 This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.
  • Page 153 MEMO...
  • Page 154 MELSERVO is a trademark or registered trademark of Mitsubishi Electric Corporation in Japan and/or other countries. All other product names and company names are trademarks or registered trademarks of their respective companies.
  • Page 155 Warranty 1. Warranty period and coverage We will repair any failure or defect hereinafter referred to as "failure" in our FA equipment hereinafter referred to as the "Product" arisen during warranty period at no charge due to causes for which we are responsible through the distributor from which you purchased the Product or our service provider.
  • Page 156 MODEL MR-D30 INSTRUCTIONMANUAL MODEL 1CW817 CODE HEAD OFFICE: TOKYO BLDG MARUNOUCHI TOKYO 100-8310 This Instruction Manual uses recycled paper. SH(NA)030132ENG-E(1805)MEE Printed in Japan Specifications are subject to change without notice.

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