Mitsubishi Electric MR-D30 Instruction Manual page 93

4. SAFETY OBSERVATION FUNCTION
(a) Basic settings (network configuration settings)
To perform the safety communication, select "Motion Mode (Safety Communication)" or "IO Mode
(Safety Communication)" for the station-specific mode setting. Set the number of devices for the
RWw/RWr setting as follows:
Motion mode: 52 points
When the I/O mode is used in the safety communication, the first 16 points in the cyclic RWw/RWr
frame are used for the safety communication.
Thus, to assign link device RWwn/RWrn, consider 16 points for offsets.
For RWwn6 (point table No. selection/next station No. selection), add 16 points as offsets and set a
value to RWw (n + 1) 6.
The following shows the number of offsets necessary for each frame.
(b) Position check of safety slave station
The MR-J4-_GF_-RJ and MR-D30 do not support the position check start function for the safety
slave station. Visually check the station number displayed on the 7-segment LED display of each
servo amplifier to ensure that the safety slave station is installed as designed and intended.
I/O mode: 32 points
Select Motion Mode (Safety Communication) or
Double-click the icon to start MR Configurator2.
Frame name
RWw
RWr
RX
RY
IO Mode (Safety Communication).
Offsets for safety communication
4 - 22
16 points
16 points
0 points
0 points