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4. SAFETY OBSERVATION FUNCTION
(b) If you forgot the password
If you forgot the password, 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.
4.3.3 Mandatory parameters to be set
The following parameters must be set.
(1) [Pr. PSA01 Safety observation function activation setting]
Check the contents of [Pr. PSA _ _ ], [Pr. PSC _ _ ], and [Pr. PSD _ _ ] and set [Pr. PSA01 Safety
observation function activation setting] to "_ _ _ 1". Until this parameter is set, STO cannot be canceled
due to [AL. 7A Parameter setting error (safety observation function)] occurrence.
(2) [Pr. PSA02 Functional safety unit setting]
Set the items according to your system configuration. The recommended parameter settings and
achievable safety level differs by the system structure. Refer to section 4.1 for details.
(3) [Pr. PSA03 SS1/SS2 monitoring deceleration time]
The parameter for SS1 function must be set because the function will be used when an error is detected
by self-diagnosis. Set a proper value referring to section 4.5.2.
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. for when the startup of safety devices is not complete. Note the
following for test drive mode.
(a) Set the test operation mode. For details, refer to section 4.5 of "MR-J4-_B_(-RJ) Servo Amplifier
Instruction Manual" or section 4.5.10 of "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual" for
other servo amplifiers.
(b) I/O diagnosis will not be operated.
(c) Operate with great care because the safety observation function is disabled.
(d) If the servo motor operates abnormally, use EM2 (Forced stop 2) to stop it.
For details of test operation, refer to section 4.4 and 4.5 of "MR-J4-_B_(-RJ) Servo Amplifier Instruction
Manual" or chapter 4 of "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual" for other servo amplifiers.
To stop the test operation, set [Pr. PSA02 Functional safety unit setting] to "_ _ _ 0" or "_ _ _ 1"
according to your system configuration, and cycle the power.
Parameter
PSA01
Safety observation function activation setting
PSA02
Functional safety unit setting
PSA03
SS1/SS2 monitoring deceleration time
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