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4. SAFETY OBSERVATION FUNCTION
(2) DO forced output
Output signals of DO1_ to DO4_ can be switched on/off forcibly and independently regardless of servo
status. This function is used to check the wirings of signal output, etc. Exercise control on the DO forced
output screen of MR Configurator2.
This function can be used only when [Pr. PSA02 Functional safety unit setting] is set to "_ _ _ 2" (test
operation mode).
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. When the password is initialized, all the parameter will be initialized.
[AL. 7A Parameter setting error (safety observation function)] occurs until the parameter is set again.
4.4 I/O function
4.4.1 Input device
(1) Summary
Input devices cannot be used when a drive safety integrated motion controller is in use. The input
devices of MR-D30 have the following characteristics.
(a) Input device selection
Any device can be assigned to DI1_ to DI6_ with parameters.
(b) Duplication of the input wiring
The input error will be detected immediately by verifying input signals with duplicated wirings.
(c) Fixing-diagnosis at start-up
When starting-up, turn each input device off and on repeatedly for failure diagnosis including
external wirings. Enabled/disabled can be switched with [Pr. PSD27] and [Pr. PSD28].
(d) Diagnosis with test pulses
Executes a failure diagnosis including external wirings by applying the pulse signal that temporarily
turns off while an input signal is on. Enabled/disabled can be selected with [Pr. PSD24] and [Pr.
PSD25].
Set any test pulse width considering the wiring length of the external circuit, impedance of the circuit,
etc. If the pulse width is not enough, change the test pulse off time with [Pr. PSD26 Input device -
Test pulse off time].
(e) Noise rejection filter
This function is to reduce the noise to input signals.
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