Safety Communications - Mitsubishi Electric MELSEC iQ-R Series User Manual

1.7

Safety Communications

This section describes the safety communication function.
• The following modules are required to use the safety communications.
(1) Safety CPU and safety function module with a firmware version of "20" or later
(2) When using the PLCopen Motion control FB mode,the Motion module with the add-on baseSystem
version of "1.8" or later
• When using the PLCopen Motion control FB mode,when the version of Add-on baseSystem is "1.18" or
earlier, the safety communication with standard stations is not supported. If a standard station is set in the
network configuration settings, "Network parameter error (error code: 2221H)" occurs.
Communications with safety stations
This function establishes a safety connection and performs one-on-one safety communications periodically between safety
stations in the same network.
Safety data is exchanged by using the safety device of the Safety CPU set by "Safety Communication Setting" under "Basic
Settings" from a program.
Whether a safety connection is established or not can be checked in 'Safety refresh communication status of each safety
connection (1st module)' (SA\SD1008 to SA\SD1015) of the Safety CPU.
*1 Safety special register areas for the first Motion module. For safety special register areas for the second or later Motion module, refer to
the following.
MELSEC iQ-R CPU Module User's Manual (Application)
Stations supporting safety communications
Safety communications can be performed between the following stations (safety stations).
• Master station (safety station) (1)  local station (safety station) (2) (4)
• Master station (safety station) (1)  remote station (safety station) (3)
(1)
(2)
For combination with connection devices, refer to "Relevant functions" under "Connectable device to CC-Link IE TSN" of the
following manual.
• When using the PLCopen Motion control FB mode
MELSEC iQ-R Motion Module User's Manual(Application)
• When using the Simple Motion mode
MELSEC iQ-R Motion Module User's Manual (Application for Simple Motion Mode)
The system can be configured with safety communication unsupported stations (5) and (6) mixed in the same
network. However, safety communication (7) cannot be performed with the safety communication
unsupported stations (5) and (6). Only standard communication (8) can be performed.
1 FUNCTIONS
86
1.7 Safety Communications
(3)
(4)
(7) (7)
*1
(5)
(8) (8)
(6)