Mitsubishi Electric MR-D30 Instruction Manual page 96

4. SAFETY OBSERVATION FUNCTION
Calculate the safety refresh monitoring time. For MR-J4-_GF_-RJ, set the safety refresh monitoring time
so that the following equation is satisfied.
Safety refresh monitoring time [ms] ≥ TMact + TMpas + (LS × 2) + SCmst + (SRef/2)
TMact: Transmission interval monitoring time of CC-Link IE Field Network master module [ms]
TMpas: Transmission interval monitoring time of MR-D30 [ms] (= Safety communication communication
cycle [ms] × 1.5)
LS: Link scan time of CC-Link IE Field Network Network [ms], or the calculation cycle of the simple
Motion module [ms] when a simple Motion module is used as the master module.
SCmst: Safety cycle time of CC-Link IE Field Network master module
SRef: Safety remote station refresh response time [ms]
Set the calculated transmission interval monitoring time of CC-Link IE Field Network master module and
the safety refresh monitoring time to the master module.
(4) Safety data storing devices for MR-J4-_GF_-RJ
(a) Function input
The following shows the function inputs for each bit of the safety data storing devices.
Master station → Servo amplifier (SA\n)
Bit Function input
0 STO command
1 SS1 command
2 SS2 command
3
4
5 Unavailable
6
7
8 SLS1 command
9 SLS2 command
10 SLS3 command
11 SLS4 command
12
13
14
15
16
17
18
19
20
21
Unavailable
22
23
24
25
26
27
28
29
30
31
When the STO command is turned off, the STO function of the servo amplifier operates, and the
power is shut off.
When the SS1 command is turned off, the SS1 function operates.
When the SS2 command is turned off, the SS2 function operates.
When the SLS1 command is turned off, the SLS1 function operates.
When the SLS2 command is turned off, the SLS2 function operates.
When the SLS3 command is turned off, the SLS3 function operates.
When the SLS4 command is turned off, the SLS4 function operates.
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