Mitsubishi Electric MR-D30 Instruction Manual page 95

4. SAFETY OBSERVATION FUNCTION
(d) Application setting (Safety communication setting)
Display "Unit selection for safety communication" by selecting "Local Network" to "Communication
Destination" in the safety communication setting window, add "MR-J4-GF", and then "Transmission
interval monitoring time", "Safety Refresh Monitoring Time" and "Safety data Transfer Device
Setting". Change the setting of [Pr. PSC01 Safety communication - Communication cycle] depending
on "Transmission interval monitoring time". When execute the safety communication after setting,
[AL. 95.5] is displayed on the 7-segment LED display of MR-J4-_GF_-RJ. [AL. 95.5] can be
deactivated with STO command/SS1 command on (disable).
(3) Setting methods for transmission interval monitoring time and safety refresh monitoring time of MR-J4-
_GF_-RJ
For the safety observation function control by network, calculate the transmission interval monitoring
time between MR-D30 and CC-Link IE Field Network master module according to the Safety Application
Guide.
Use the following values for safety remote station refresh response time (SRef).
Set the safety communication communication cycle according to the following transmission interval
monitoring time. For MR-J4-_GF_-RJ, do not select "_ _ 0 6" (14.2 ms) or "_ _ 0 7" (28.4 ms).
Otherwise, [AL. 7C.1 Functional safety unit communication setting error (safety observation function)]
will occur.
The following shows another value used for calculating safety response time.
Safety remote station refresh response time
Calculated transmission interval monitoring time
16 ms to 24 ms
24 ms to 48 ms
Name
Transmission interval monitoring time of MR-D30
Motion mode
Safety communication
communication cycle
Safety communication communication cycle × 1.5
4 - 24
I/O mode
8.0 ms 16.0 ms
[Pr. PSC01]
16 ms "_ _ 1 6"
32 ms "_ _ 1 7"
Value