Mitsubishi Electric MELSEC iQ-R Series Safety Manual page 99

(0) to (7) This is a circuit to check fall of the off of the reset switch, and release the interlock established in the CC-Link IE Field Network.
(18) This is a circuit to complete the interlocking process and cancel the request for interlocking.
(21) to (28) This is a circuit to check fall of the off of the start switch, and accept a request to start the circuit.
(37) This is a circuit to check welding of the electromagnetic contactor.
(44) This is a circuit to check whether the robot is in a statue that allows starting or maintaining operation. This is a circuit to assign safety signals to
the standard/safety shared label.
(51) This is a circuit to cancel start/reset request, when not possible to check safety.
(57) This is a circuit to control outputs to the electromagnetic contactor.
The following shows the constant and safety user devices used in the program.
• Way of using the constant
K: indicates decimal number
Ex.
K1 1 of decimal number
• Way of using the safety user devices
Safety user devices Description
SA\D0 This is used as restart status.
(1) SA\D0 = 0: Initial status or start processing completed
(2) SA\D0 = 1: (SA\D0.0: ON): Reset switch pressed
(3) SA\D0 = 2 (SA\D0.1: ON): Restart processing completed (reset switch released after pressed in (2))
SA\D1 This is used as start status.
(1) SA\D1 = 0: Initial status or safety not checked
(2) SA\D1 = 1 (SA\D1.0: ON): Reset switch pressed.
(3) SA\D1 = 2 (SA\D1.1: ON): Restart processing completed (reset switch released after pressed in (2))
SA\T0 This indicates timer device. Times out after a lapse of the time specified at K.
• Way of using word device bit specification
SA\D.n: This indicates the nth bit of the word device SA\D
Ex.
SA\D0.0 = 0 bits in SA\D0
F
0 0 0 0 0 0 0 0 0 0
For bit-specified word device, refer to the following.
 MELSEC iQ-R Programming Manual (Instructions, Standard Functions/Function Blocks)
0
0 0 0 0 0 1
5 SAFETY APPLICATION CONFIGURATION EXAMPLES
5.1 System Configured by a Safety CPU
5
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