Table Of Contents - Mitsubishi Electric MELSEC Q Series Programming Manual

Thank you for choosing the Mitsubishi Motion controller Q173D(S)CPU/Q172D(S)CPU.
Before using the equipment, please read this manual carefully to develop full familiarity with the functions
and performance of the Motion controller you have purchased, so as to ensure correct use.
Safety Precautions ......................................................................................................................................... A- 1
Revisions ........................................................................................................................................................ A-11
Contents ......................................................................................................................................................... A-12
About Manuals ............................................................................................................................................... A-16
Manual Page Organization ............................................................................................................................ A-18
1. OVERVIEW
1.1 Functional Overview ................................................................................................................................ 1- 3
1.2 System Configuration ............................................................................................................................... 1- 5
1.2.1 Q173DSXY Safety signal module..................................................................................................... 1- 7
1.3 Applicable Standard ................................................................................................................................. 1- 8
1.4 Risk Assessment ...................................................................................................................................... 1- 9
1.4.1 Safety signal comparison .................................................................................................................. 1-10
1.4.2 Speed monitoring function (SLS) ...................................................................................................... 1-10
1.4.3 Safe speed monitor (SSM)................................................................................................................ 1-11
1.4.4 Shut-off function (STO, SS1) ............................................................................................................ 1-12
1.4.5 Standstill monitoring (SOS, SS2) ..................................................................................................... 1-13
1.4.6 Safe break control (SBC) .................................................................................................................. 1-13
1.4.7 Safety communication function ......................................................................................................... 1-14
1.5 Restrictions ............................................................................................................................................... 1-15
1.6 Equipment Configuration of Safety Observation Function Compatible Motion Controller .................... 1-17
2. SAFETY OBSERVATION FUNCTION
2.1 Configuration of Safety Observation Function ........................................................................................ 2- 1
2.2 Sequence Programs for Safety Observation on PLC CPU .................................................................... 2- 3
2.2.1 Activity check in sequence programs for safety observation ........................................................... 2- 6
2.3 Safety Signals Comparison ..................................................................................................................... 2- 7
2.3.1 Re-start after error ............................................................................................................................. 2- 7
2.4 Speed Monitoring Function (SLS) ........................................................................................................... 2- 8
2.4.1 System configuration of speed monitoring function ......................................................................... 2- 8
2.4.2 Timing of speed monitoring function................................................................................................. 2-11
2.4.3 Example of speed monitoring start operation................................................................................... 2-12
2.4.4 Parameter consistency check ........................................................................................................... 2-13
2.4.5 Comparison of speed monitoring parameter .................................................................................... 2-13
2.4.6 Speed command observation ........................................................................................................... 2-13
2.4.7 Feedback speed observation ............................................................................................................ 2-14
2.4.8 Position feedback monitoring ............................................................................................................ 2-14
2.4.9 Speed deviation monitoring .............................................................................................................. 2-15
2.4.10 External auxiliary pulse input observation ...................................................................................... 2-16
2.4.11 Continuous standstill during speed monitoring .............................................................................. 2-16
INTRODUCTION
CONTENTS
A - 12
1- 1 to 1-18
2- 1 to 2-46