Mitsubishi Electric MELSEC Q Series Programming Manual page 65

2 SAFETY OBSERVATION FUNCTION
(3) The safety observation function parameters of the servo amplifier are not
controlled by the Motion CPU. Refer to "Functional safety unit MR-D30 Instruction
Manual" for details of safety observation function parameters and safety
observation functions of the servo amplifier.
(4) When the operating status of the PLC CPU is STOP, safety communication
cannot be continued. When changing the operating status of the PLC CPU to
STOP, use the connect/disconnect function to disconnect SSCNET /H
communication before changing the operating status of the PLC CPU to STOP.
To restart safety communication, use the SSCNET connect/disconnect function
to reconnect after changing the operating status of the PLC CPU to RUN.
Refer to "Q173D(S)CPU/Q172D(S)CPU Motion controller Programming Manual
(COMMON)" for connect/disconnect function of SSCNET communication.
(5) The response time (processing time) in a system using safety communication
function is no more than 250ms total from the Motion CPU to the servo amplifier. If
using the STO function (shut-off) with safety communication, design the system
with consideration to the response time.
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