Mitsubishi Electric MELSEC iQ-R Series Safety Manual page 19

Safety control for the entire line using multiple safety programmable controllers
The following shows an application image for the safety control linked between multiple manufacturing processes, as an
application example of the safety programmable controller. The safety programmable controller processes controls linked
between safety control and standard control at each process, and control processes. All processes should share safe state
information from each process when connecting multiple manufacturing processes without physical separation. Share safe
state information between safety programmable controllers allocated in each process, using safety communication functions
between Safety CPUs.
Configure the safety application operated by the safety programmable controller for the following purposes:
• When the safe state signal is checked, supply power to the robots.
• When safe state signal cannot be checked, cut off the power.
• The safe state signal can be checked using an emergency stop switch or a light curtain.
• Configure the safety control linked with consecutive processes or the entire process using safety communications between
Safety CPUs on the CC-Link IE Field Network.
The safety application operated by the safety programmable controller operates as follows:
• Connect a safe state signal to the safety remote I/O module.
• Connect the Safety CPUs at each process with the CC-Link IE Field Network.
• The safety remote I/O module sends the safe state signal to the Safety CPU.
• To perform emergency stop for consecutive processes or the entire line, send an emergency stop request to the Safety
CPUs installed in the consecutive processes or the entire line through safety communications between Safety CPUs in CC-
Link IE Field Network using the program.
• The Safety CPU processes the safe state signal received from the safety remote I/O module and an emergency stop
request received by safety communications of the CC-Link IE Field Network using the safety program. Then it sends a
safety output to the safety remote I/O module.
• The safety output cuts off the power to the robots.
The standard application operated by the safety programmable controller operates as follows:
• Connect restart switch, inverter, and robot to standard remote I/O module.
• Deliver input of connected restart switch to safety application.
• Perform communications to check operation status and operation instruction with inverter and robot.
• When a link is required for standard control of multiple or the same processes, send standard data through standard
communications of the CC-Link IE Field Network.
CC-Link IE Field Network (standard communications + safety communications)
First process
Light Emergency Restart Inverter
curtain stop switch switch
Safety control
Standard control
Second process
Robot Light Emergency Restart
curtain stop switch switch
Safety control
Standard control
Inverter Robot Light Emergency
curtain stop switch
Safety control
nth process
Restart Inverter Robot
switch
Inverter Robot
Standard control
2 APPLICATION EXAMPLE
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