Mitsubishi Electric MELSEC Q Series Programming Manual page 93

3 START-UP PROCEDURES
Item
Servo Amplifier Function
(Note-1)
Safety Module
(Note-1)
Encoder Type
Function Safety Signal
Start Device No.
First No. of Multi. CPU
Shared Dev. for Safety
Comm.
Safety Communication
(Note-2)
Cycle
(Note-1): When the parameter settings differ from the actual mounting status, a safety observation error occurs, and safety observation
function is not executed.
(Note-2): When the processing time of safety communication exceeds the set communication cycle, a safety observation error occurs, and
safety observation function is not executed. Review the PLC CPU processes and shorten the scan time, or change the
communication cycle to a larger value. Set the same settings as the safety communication cycle of the servo amplifier. When the
communication cycle differs to the safety communication cycle settings of the servo amplifier, a safety observation error occurs,
and safety observation function is not executed.
(c) Safety communication parameter
Set the parameter for safety communication function. Setting is only possible
when the amplifier model in system settings is "MR-J4-(W)B(-RJ)".
Set whether to use the servo amplifier functional safety unit or not. When using
the functional safety unit with the servo amplifier set "1: Use".
Set the type of encoder to be connected.
Set the start device number (occupies 32 points each for the X, Y device) of the
signal of safety observation functions for safety communication function. Set
device numbers in units of 16 points. These devices cannot be assigned to
actual devices on the safety signal module. Make sure the device numbers of
the functional safety signal do not overlap with other axis settings. Set device
numbers on the PLC CPU side and Motion CPU side.
[Functional safety status]
X F E D C
X( +10) F E D C
(Note):
[Functional safety command]
Y F E D C B A
(Note): = Functional safety signal start device number.
Y + 10 to Y
The shared device area is used to exchange information for safety
communication between the PLC CPU and Motion CPU. Set this device within
the range of a user setting area in each multiple CPU high-speed transmission
area.
• PLC CPU side: 1000 points, Motion CPU side: 1000 points
Set the communication cycle when communicating safety data.
Description
B A 9 8 7 6 5 4 3 2 1 0
B A 9 8 7 6 5 4 3 2 1 0
= Functional safety signal start device number
9 8 7 6 5 4 3 2 1 0
STO signal
SS1 command
SS2 command
SLS1 command
SLS2 command
SLS3 command
SLS4 command
+1F is not used.
3 - 10
0: Not use
1: Use
0: Standard Encoder
1: Safety Encoder
STO status
SS1 status
SS2 status
SLS1 status
SLS2 status
SLS3 status
SLS4 status
PLC CPU side:
0000 to 1FE0
Error status 1
Motion CPU side:
Error status 2
SBC status
0000 to 1FE0
SOS status
SSM status
10000 to (End address of
user setting area - Number
of occupied points)
14.2ms/28.4ms
Setting range