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

Mitsubishi Electric MR-D30 Instruction Manual

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 strike the servo amplifier, servo motor, and MR-D30. Isolate them from all impact loads.
  • 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 (4) Usage CAUTION When it is assumed that a hazardous condition may occur due to a power failure or product malfunction, use a servo motor with an external brake to prevent the condition. Do not disassemble, repair, or modify the equipment. Before resetting an alarm, make sure that the run signal of the servo amplifier is off in order to prevent a sudden restart.
  • Page 7 (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 8 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 9 MEMO A - 8...

  • Page 10: Table Of Contents

    2.3 Inspection items ..........................2- 4 2.4 Parts having service lives ......................... 2- 4 2.5 Maintenance ............................. 2- 4 2.6 Installation and removal of MR-D30 ....................2- 5 3. SIGNALS AND WIRING 3- 1 to 3-20 3.1 Connectors and pin assignment ....................... 3- 3 3.2 I/O signal connection example ......................
  • Page 11 7- 1 to 7- 4 7.1 Alarm and warning list ........................7- 1 8. DIMENSIONS 8- 1 to 8- 2 8.1 MR-D30 functional safety unit ......................8- 1 8.2 When an MR-D30 is mounted on a servo amplifier ................8- 2...
  • Page 12 APPENDIX App. - 1 to App. - 2 App. 1 EC declaration of conformity ....................App.- 1...
  • Page 13 MEMO...

  • Page 14: Functions And Configuration

    Instruction Manual" or "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual" for functions of the servo amplifier you use. You can extend the safety observation function by using MR-D30 with the MR-J4-_B_-RJ servo amplifier or MR-J4-_A_-RJ servo amplifier. However, which extension you can use depends on software version. The safety observation function cannot be used other than the following combinations.

  • Page 15: Outline Of Safety Observation Function

    4. To enable SS2 and SOS, a servo motor with functional safety is required. 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 16 1. FUNCTIONS AND CONFIGURATION (7) SBC (Safe brake control) Outputs a signal for an external brake control. (8) Status monitor (SM: Status monitor) Outputs a signal for the safety observation function status. This function is not the one defined in IEC/EN 61800-5-2.

  • Page 17: Function Block Diagram

    1. FUNCTIONS AND CONFIGURATION 1.3 Function block diagram 1.3.1 MR-J4-_B_-RJ (1) When using input signals 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 amplifier complies with safety level Category 4, PL e, SIL 3.
  • Page 18 1. FUNCTIONS AND CONFIGURATION (2) When using a drive safety integrated motion controller The following block diagram shows an operation of the safety observation function from a drive safety integrated motion controller through SSCNET III/H. The electric wiring can be omitted. Servo amplifier Servo motor MCCB...

  • Page 19: Mr-J4-_A_-Rj

    1. FUNCTIONS AND CONFIGURATION 1.3.2 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 amplifier complies with safety level Category 4, PL e, SIL 3. Servo amplifier Servo motor MCCB...

  • Page 20: System Configuration

    1.4.1 MR-J4-_B_-RJ Wirings other than in diagram are common with MR-J4-_B_-RJ. Refer to "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual". (1) When using input signals POINT Remove the short-circuit connector on CN8. MR-J4-_B_-RJ MR-D30 Personal computer MR Configurator2 CN10A/CN10B Junction terminal block...
  • Page 21 1. FUNCTIONS AND CONFIGURATION (2) When using a drive safety integrated motion controller POINT Remove the short-circuit connector on CN8. Personal computer Emergency stop MR-J4-_B_-RJ MR-D30 MR Configurator2 switch Light curtain Junction terminal block Safety signal Not used Q17_DSCPU + Q173DSXY (Remove the short-circuit connector.)

  • Page 22: Mr-J4-_A_-Rj

    1. FUNCTIONS AND CONFIGURATION 1.4.2 MR-J4-_A_-RJ POINT Remove the short-circuit connector on CN8. Wirings other than in diagram are common with MR-J4-_A_-RJ. Refer to "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual". MR-J4-_A_-RJ MR-D30 Personal computer MR Configurator2 CN10A/CN10B Analog monitor 24 V DC power Personal computer, etc.

  • Page 23: 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 24 1. FUNCTIONS AND CONFIGURATION Note 1. This is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of I/O points. 2. Time from STO input off to energy shut off 3.

  • Page 25: Function List

    2. Each observation speed can be set separately. 3. 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 26 1. FUNCTIONS AND CONFIGURATION (1) 200 V class 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 HG-MR053 HG-MR13 MR-J4-20B-RJ HG-KR23 HG-KR23W0C LM-U2PAB-05M-0SS0 TM-RFM002C20 MR-J4-20A-RJ HG-MR23...
  • Page 27 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-J4-11KB-RJ HG-JR903 HG-JR903W0C LM-FP4F-36M-1SS0 MR-J4-11KA-RJ HG-JR801 HG-JR11K1MW0C (Note 2) HG-JR12K1 HG-JR11K1M MR-J4-15KB-RJ HG-JR15K1 HG-JR15K1MW0C (Note 2) LM-FP4F-48M-1SS0 MR-J4-15KA-RJ HG-JR15K1M...

  • Page 28: Rating Plate

    1. FUNCTIONS AND CONFIGURATION (3) 100 V class Rotary servo motor Linear servo motor Servo amplifier Direct drive motor Servo motor with functional (primary side) Servo motor safety MR-J4-10B1-RJ HG-KR053 HG-KR053W0C MR-J4-10A1-RJ HG-KR13 HG-KR13W0C HG-MR053 HG-MR13 MR-J4-20B1-RJ HG-KR23 HG-KR23W0C LM-U2PAB-05M-0SS0 TM-RFM002C20 MR-J4-20A1-RJ HG-MR23...

  • Page 29: Risk Assessments

    1. FUNCTIONS AND CONFIGURATION 1.9 Risk assessments To ensure safety, users should decide all the risk assessments and residual risks in the entire machine equipment. A company and individual who constructed the safety related system must take full responsibility for installation and commissioning of the system. Additionally, when complying with a European machinery directive, the system must acquire safety standards certification as a whole.

  • Page 30: 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 31 1. FUNCTIONS AND CONFIGURATION MEMO 1 - 18...

  • Page 32: 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 33: 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. (1) Installation clearances of the servo amplifier...
  • Page 34 2. INSTALLATION (b) Installation of two or more servo amplifiers POINT Close mounting is possible depending on the capacity of the servo amplifier. Refer to section 1.3.1 of "MR-J4-_B(-RJ) Servo Amplifier Instruction Manual" or section 1.3 of "MR-J4-_A(-RJ) Servo Amplifier Instruction Manual" for possible/impossible of close mounting.

  • Page 35: 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 36: Installation And Removal Of Mr-D30

    2. INSTALLATION 2.6 Installation and removal of MR-D30 Before installing or removing MR-D30, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Then, confirm that the voltage between P+ WARNING and N- is safe with a voltage tester and others. Otherwise, an electric shock may occur.
  • Page 37 Knob (b) Removal of MR-D30 1) Remove the installing screw. 2) Keep pushing the knobs ( a) ,b), c), d)), pull out MR-D30 to the arrow direction. Avoid pulling out MR-D30 while it is tightened with the installation screw. 3) After removing MR-D30, make sure to cap the CN7 and CN9 connectors to avoid dust and dirt.
  • Page 38 Knob (c) Removal of MR-D30 1) Remove the installing screw. 2) Keep pushing the knobs ( a) ,b), c), d)), pull out MR-D30 to the arrow direction. Avoid pulling out MR-D30 while it is tightened with the installation screw. 2 - 7...
  • Page 39 2. INSTALLATION (d) Installation of the side cover 1) Insert the side cover setting tabs into the sockets a) of servo amplifier. Side cover setting tab 2) Push the side cover at the supporting point a) until the knobs click. Knob (3) MR-J4-11K_(4)-RJ to MR-J4-22K_(4)-RJ Avoid touching any remained burr after cutting off the part a) of the case.

  • Page 40: 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 41 3. SIGNALS AND WIRING POINT The following abbreviations do not indicate functions but hardware abbreviations (H/W abbreviation) meaning connector pin No. 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 DO4NA CN10A-18...

  • Page 42: 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 43: I/O Signal Connection Example

    Refer to section 3.2 of "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual" or "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual" for connection examples of servo amplifiers. 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 44: 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 45: 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 46: Sink Input

    3. SIGNALS AND WIRING (3) Switch connection (executing a test pulse diagnosis) The pulses for diagnosis will output 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 47 3. SIGNALS AND WIRING (2) Switch connection (not 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 ± 10% CN10B 0.8 A...

  • Page 48: 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 49: 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 50: Noise Reduction Techniques

    MR-D30. Ground a shield of the shielded cable by the side of MR-D30 and be careful for the cable after grounding should not be affected by electromagnetic induction of the cable before grounding.
  • Page 51 3. SIGNALS AND WIRING (2) Ferrite core A ferrite core is effective for noise reduction to approximately 10 MHz band of conduction noise and from 30 MHz to 100 MHz band of radiated noise. When shielding effectiveness of a shielded cable to outside cabinet is not enough or conduction noise from a power supply line should be suppressed, it is recommended to install a ferrite core.

  • Page 52: 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. Using the drive safety integrated motion controller enables you to input through SSCNET III/H. Input pin status which Connector and pin...

  • Page 53: Output Device

    3. SIGNALS AND WIRING 3.6.2 Output device The status monitor (SM) of the safety observation function is output from 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 54: 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 55: Wiring Method Of Cn10A/Cn10B Connectors

    3. SIGNALS AND WIRING 3.7 Wiring method of CN10A/CN10B connectors Wiring to CN10 and CN10B, use the connector DFMC 1, 5/9-STF-3, 5 (Phoenix Contact) packed with the amplifier. (1) Fabrication on cable insulator Fabricate a wire using its applicable wire size of AWG 24 to 16 and strip the wire end to make the stripped length 10 mm ±...

  • Page 56: Connection Example With Other Devices

    CN10A and CN10B connectors with a safety controller. By diagnosis of input signals, the 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-_B_-RJ CN10A DO24VA DO_A FLEXB...
  • Page 57 The following connection diagram shows an operation of the safety observation function from a drive safety integrated motion controller 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...

  • Page 58: Mr-J4-_A_-Rj

    CN10A and CN10B connectors with a safety controller. By diagnosis of input signals, the 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-_A_-RJ CN10A DO24VA DO_A FLEXB...

  • Page 59: 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 60 4. SAFETY OBSERVATION FUNCTION 4. SAFETY OBSERVATION FUNCTION POINT The following abbreviations do not indicate functions but hardware abbreviations (H/W abbreviation) meaning connector pin No. Pin No. Pin No. abbreviation abbreviation DI1A CN10A-4 DO1A CN10A-8 DI2A CN10A-13 DO2A CN10A-17 DI3A CN10A-5 DO3A CN10A-9...

  • Page 61: Safety Observation Function

    4. SAFETY OBSERVATION FUNCTION 4.1 Safety observation function specification The achievable safety level and usable safety observation function will be affected depending on devices to connect. Also, parameter needs to be set in proportion to connecting machine. The following shows servo motors and parameter settings required to meet each functional safety level.

  • Page 62: Safety Diagnosis Function List

    4. SAFETY OBSERVATION FUNCTION (2) Output function Safety observation function Connected device Parameter setting (a) Built-in test Position/speed SSM function Status monitor function (STO/SS1/SBC) pulse Servo motor observation Device for connecting to output diagnosis with functional devices (DO1_ to DO4_) (example) safety STOS/SS1S/ SLS1S/SLS2S/...

  • Page 63: Startup

    Cancel the STO state by a controller or an input signal. As Section 4.3.4 STO command necessary, set MR-D30 parameters. STO state can be canceled by setting [Pr. PSA01 Safety observation function activation setting] to "_ _ _ 1" to enable the safety observation function.

  • Page 64: Parameter

    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 parameter. The default password is "000000". Change the password to prevent changing parameter carelessly.

  • Page 65: Mandatory Parameters To Be Set

    4.3.4 Test operation (1) Summary When using MR-D30, parameter setting is necessary for using the test operation. Set [Pr. PSA02 Functional safety unit setting] to "_ _ _ 2". The diagnosis function and safety observation function are partially disabled in the test operation mode. The mode can be used for the JOG operation, positioning operation, machine analyzer, etc.

  • Page 66: Unit Replacement

    4.3.5 Unit replacement When an MR-D30 that has already been installed to MR-J4-_-RJ servo amplifier once is installed 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 67 4. SAFETY OBSERVATION FUNCTION (2) Input device selection (a) Input device selection The input devices can be assigned to DI1_ to DI6_ with [Pr. PSD02 Input device selection DI1] to [Pr. PSD07 Input device selection DI6]. CN10A CN10B Parameter Pin No. Pin No.
  • Page 68 Mismatch permissible time PSD21 Mismatch permissible time PSD22 Mismatch permissible time PSD23 (4) Fixing-diagnosis at start-up When the power of MR-D30 is turned on, each input pin can be checked by turning the signal off and on repeatedly. 4 - 9...
  • Page 69 4. SAFETY OBSERVATION FUNCTION (a) Executing fixing-diagnosis at start-up This function diagnoses a fixing by turning each DI1_ to DI6_ on to off and off to on singly. The warning will be reset when all the diagnoses are completed and STO state will be canceled. Input "on"...
  • Page 70 4. SAFETY OBSERVATION FUNCTION (b) Not executing fixing-diagnosis at start-up When there is no target of the fixing-diagnosis at start-up, an internal diagnosis after power-on will be executed, warning will be reset at the moment of all the input devices on, and STO state will be canceled.

  • Page 71: Input Device

    4. SAFETY OBSERVATION FUNCTION (c) Parameter setting Set for pins to which input devices are assigned with [Pr. PSD02 Input device selection DI1] to [Pr. PSD07 Input device selection DI6] and set whether execute the fixing-diagnosis at start-up or not with [Pr.
  • Page 72 When there are multiple target input devices of 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 an input device fixing-diagnosis at start-up (refer to section 4.4.1 (4)) in addition. MR-D30 CN10A DC24VA PLSA...
  • Page 73 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 noise rejection filter with [Pr. PSD12 Input device - Noise rejection filtering time DI1] to [Pr.
  • Page 74 4. SAFETY OBSERVATION FUNCTION (7) Response time of input device The response time of input devices will change 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 75: 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 functions. (a) Output device selection Any device can be assigned to DO1_ to DO4_ with parameters. (b) Duplication of the output Outputs same signal duplicately by duplicated wiring.
  • Page 76 4. SAFETY OBSERVATION FUNCTION (3) Diagnosis with test pulses (a) Test pulse diagnosis function Diagnoses an error of wiring by periodically outputting off-pulses when DO1_ to DO4_ are on. The following shows the operation sequence for when STOS (STO output) is assigned to DO1_. The off-pulses will be outputted to DO1A and DO1B periodically when STOS (STO output) is on.
  • Page 77 DO4PB (b) At error detection Each output device will turn off when an alarm that disables SSM at error detection of MR-D30 occurs. Refer to chapter 7 for corresponding alarm Nos. When a non-corresponding alarm is occurring, assigned devices will be outputted continuously.

  • Page 78: Using A Drive Safety Integrated Motion Controller

    4. SAFETY OBSERVATION FUNCTION 4.4.3 Using a drive safety integrated motion controller (1) Summary When input devices are used, a drive safety integrated motion controller cannot be used. Using a safety compatible motion controller brings the following characteristics. (a) Transmitting each function command input through network STOC (STO command), SS1C (SS1 command), SLS1C (SLS1 command), SLS2C (SLS2 command), SLS3C (SLS3 command), and SLS4C (SLS4 command) can be transmitted through network.

  • Page 79: Position Feedback Fixing Diagnosis Function

    4. SAFETY OBSERVATION FUNCTION 4.4.5 Position feedback fixing diagnosis function (1) Summary The position feedback fixing diagnosis function generates [AL. 79.8 Position feedback fixing error] to make the amplifier STO state when position data from the encoder is fixed. (2) Operation summary The position feedback fixing diagnosis function will be enabled when the safety observation function is enabled and moreover the amplifier is not STO state.

  • Page 80: Safety Observation Function

    4. SAFETY OBSERVATION FUNCTION 4.5 Safety observation function 4.5.1 STO function (1) Summary 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. The STO function is also used for an emergency stop when an error is detected in internal diagnosis.
  • Page 81 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 82: Ss1 Function

    4. SAFETY OBSERVATION FUNCTION 4.5.2 SS1 function (1) Summary 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.
  • Page 83 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 84 4. SAFETY OBSERVATION FUNCTION (b) Stop with forced stop deceleration Refer to section 3.6 of "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual" or section 3.7 of "MR- J4-_A_(-RJ) Servo Amplifier Instruction Manual" for operation of forced stop deceleration. When the SS1 function operates, the motor will decelerate according to [Pr. PC24 Forced stop deceleration time constant].
  • Page 85 4. SAFETY OBSERVATION FUNCTION (c) Stop with dynamic brake When the SS1 function operates, the servo motor will be stopped with the dynamic brake. Additionally, refer to section 3.6 of "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual" or section 3.7 of "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual" for operation of the dynamic brake. SS1 in progress STO status Stop with dynamic brake...

  • Page 86: Ss2/Sos Function

    4. SAFETY OBSERVATION FUNCTION (4) Parameter setting Set the parameter referring to section 4.3.3. Set parameters referring to section 4.4.1 when using the SS1 function with input devices, and section 4.4.3 when using the SS1 function with safety compatible motion controller. Additionally, when using SS1S (SS1 output) with output devices, refer to 4.4.2 to set parameters.
  • Page 87 4. SAFETY OBSERVATION FUNCTION (3) Deceleration observation (a) Speed observation at deceleration The deceleration will be assumed as completion and the stop observation (SOS) will start when both absolute value of the speed command and speed feedback are set value of [Pr. PSA04 SS2/SOS standstill speed] or lower during deceleration.
  • Page 88 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 stop observation. When an excess of command speed continues for the set value of [Pr.
  • Page 89 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 90: Sls Function

    4. SAFETY OBSERVATION FUNCTION (d) SLS/SS2/SOS speed detection delay time You can set a delay time for when the speed decelerates lower than standstill speed until the start of stop observation and for when the speed accelerates higher than standstill speed during stop observation until the start of the STO function by using [Pr.
  • Page 91 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 92 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 93: Ssm Function

    4. SAFETY OBSERVATION FUNCTION 4.5.5 SSM function (1) Summary 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 94: 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 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 95: 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 96: 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 97 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) Using input device Refer to chapter 7 for the list of alarms supporting reset operation in the alarms of safety observation function.
  • Page 98 4. SAFETY OBSERVATION FUNCTION (b) When using a drive safety integrated motion controller Refer to chapter 7 for the list of alarms supporting reset operation in the alarms of safety observation function. STO will be canceled and return to normal operation 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).
  • Page 99 4. SAFETY OBSERVATION FUNCTION MEMO 4 - 40...

  • Page 100: Parameters

    5. PARAMETERS 5. PARAMETERS Never make a drastic adjustment or change to the parameter values as doing so will make the operation unstable. CAUTION If fixed values are written in the digits of a parameter, do not change these values. Do not change parameters for manufacturer setting.

  • Page 101: Safety Observation Function Parameters 1 ([Pr. Psa

    5. PARAMETERS 5.1.1 Safety observation function parameters 1 ([Pr. PSA_ _ ]) Input Operation mode 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 102: Sscnet Iii/H Parameters ([Pr. Psc

    5. PARAMETERS Input Operation mode 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 103 5. PARAMETERS Input Operation mode 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 104 5. PARAMETERS 5.1.3 Safety I/O device parameters ([Pr. PSD_ _ ]) Input Operation mode 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 105 5. PARAMETERS Input Operation mode 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 106: Detailed List Of Parameters

    (1) When setting time passes during deceleration of the SS1 function, the STO function will operate. (2) When setting time passes during deceleration of the SS2/SOS function, the stop observation (SOS) will operate. (compatible with MR-D30 with software version A1 or later and servo amplifier with software version B5 or later) 5 - 7...
  • Page 107 SOS allowance value of position deviation unit selection Select a setting unit of the SOS allowance value of position deviation set in [Pr. PSA05]. This parameter is used with MR-D30 with software version A1 or later, and servo amplifier with software version B5 or later.
  • Page 108 Time after the position deviation of position feedback becomes out of allowance value of position deviation during stop observation of the SS2/SOS function until the STO function starts This parameter is used with MR-D30 with software version A1 or later, and servo amplifier with software version B5 or later. PSA18...

  • Page 109: Sscnet Iii/H Parameters ([Pr. Psc

    Safety communication - Axis number selection Set an axis No. for the safety communication. This parameter is used with MR-D30 with software version A1 or later, and servo amplifier with software version B5 or later. For MR-J4-_A_-RJ, this parameter is disabled.
  • Page 110 For the setting of servo motor rotation direction of MR-J4_B_-RJ servo amplifiers, refer to "MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual". This parameter is used with MR-D30 with software version A1 or later, and servo amplifier with software version B5 or later.

  • Page 111: 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 input device is used. The SLS function can be activated automatically with this setting.
  • Page 112 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 113 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 114 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 115 5. PARAMETERS Initial Setting Symbol Name and function value range [unit] PSD13 **SDIF2 Input device - Noise rejection filtering time DI2 Select a filtering time to reduce noise of DI2A (CN10A-13) and DI2B (CN10B-13). Setting method is the same as [Pr. PSD12]. Setting Initial Setting...
  • Page 116 5. PARAMETERS Initial Setting Symbol Name and function value range [unit] PSD17 **SDIF6 Input device - Noise rejection filtering time DI6 Select a filtering time to reduce noise of DI6A (CN10A-15) and DI6B (CN10B-15). Setting method is the same as [Pr. PSD12]. Setting Initial Setting...
  • Page 117 5. PARAMETERS Initial Setting Symbol Name and function value range [unit] PSD24 **SDIP1 Input device - Test pulse diagnosis execution selection 1 Select whether diagnose DI1_ to DI4_ or not by test pulses outputted from PLSA/PLSB. When executing test pulse diagnosis with external device, etc., set "0 (Not diagnose)". Setting Initial Setting...
  • Page 118 5. PARAMETERS Initial Setting Symbol Name and function value range [unit] PSD27 **SDID1 Input device - Fixing-diagnosis execution selection 1 at start-up Select whether execute a fixing-diagnosis of DI1_ to DI4_ or not at start-up. Setting Initial Setting Explanation digit value range _ _ _ x...
  • Page 119 Test pulse diagnosis execution selection DO4 Select whether diagnose DO4_ or not by test pulses. 0: Not diagnose 1: Diagnose This digit is available with MR-D30 manufactured in October, 2014 or later. PSD30 **SDOPW Output device - Test pulse off time Select off-pulse time of test pulses outputted from DO1_ to DO4_.

  • Page 120: Display

    : Flickers, : Extinguished) Note. When a servo amplifier which is not compatible with MR-D30 is connected to MR-D30, "ERROR" will light. Check if MR-D30 is connected to the MR-J4-_B_-RJ servo amplifier with the software version B3 or later, or the MR-J4-_A_-RJservo amplifier with the software version B5 or later.
  • Page 121 6. DISPLAY MEMO 6 - 2...

  • Page 122: Troubleshooting

    This chapter shows alarms and warnings which can 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 interrupt the main circuit power.
  • Page 123 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 124 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 125 7. TROUBLESHOOTING MEMO 7 - 4...

  • Page 126: 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 places for connector fixing screws Tightening torque: 1.65 N•m Tightening torque: 0.2 N•m to 0.3 N•m Rating plate Mass: 0.15 kg...

  • Page 127: When An Mr-D30 Is Mounted On A Servo Amplifier

    8. DIMENSIONS 8.2 When an MR-D30 is mounted on a servo amplifier Servo amplifier L [mm] 100 V/200 V 0.1 kW to 3.5 kW 200 V 5 kW/7 kW MR-J4-10_1-RJ to MR-J4-40_1-RJ 400 V 0.6 kW to 2 kW 400 V 3.5 kW to 7 kW...
  • Page 128 APPENDIX App. 1 EC declaration of conformity MR-D30 complies with the safety components laid down in the machinery directive. App. 1.1 Combination not using servo motors with functional safety App. - 1...
  • Page 129 APPENDIX App. 1.2 Combination with servo motors with functional safety App. - 2...
  • Page 130 REVISION *The manual number is given on the bottom left of the back cover. Print Data *Manual Number Revision Apr. 2014 SH(NA)030132-A First edition Jan. 2015 SH(NA)030132-B Servo motors with functional safety are added. SS2/SOS/SM functions are added. DO4_ is added. The status monitor function is added.
  • Page 131 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 132 348 Victoria Road, P.O. Box 11, Rydalmere, N.S.W 2116, Australia : +61-2-9684-7245 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 133 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 134 MODEL MR-D30 INSTRUCTIONMANUAL MODEL 1CW817 CODE HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310 This Instruction Manual uses recycled paper. SH (NA) 030132-B (1501) MEE Printed in Japan Specifications are subject to change without notice.

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