Safety Communication - Mitsubishi Electric MELSEC Q Series Programming Manual

2 SAFETY OBSERVATION FUNCTION

2.9 Safety Communication

PLC CPU
Safety
communication
function
Safety information is communicated by SSCNET /H between a Motion CPU and
servo amplifier that support safety communication. Data is created and compared by
the Motion CPU and PLC CPU. Safety communication function can only be used with
SSCNET /H communication. Safety communication function cannot be used with
SSCNET communication.
If using a safety encoder, safe position feedback from the safety encoder is included in
the safety information. This position feedback utilized in the speed/standstill monitoring
function, thus external auxiliary pulses are not necessary when performing speed
monitoring function with a safety encoder and a Motion CPU and servo amplifier which
support a safety encoder.
When using a safety encoder, external auxiliary pulses cannot be used in
speed/standstill monitoring.
Also, with safety communication, the safety observation functions of the servo amplifier
can be used by sending and receiving the safety observation status signals and
command signals in the servo amplifier.
The system configurations that execute safety observation functions are determined by
the combinations shown below.
(Note-1)
Motion CPU Servo amplifier
Not safety encoder
compatible
Not safety encoder
compatible
Safety encoder
compatible
Not safety encoder
compatible
Safety encoder
compatible
Safety encoder
compatible
(Note-1): Refer for Section 1.6 for details for supported versions.
(Note-2): When a safety encoder is connected to a servo amplifier not compatible with safety encoders, the
safety encoder functions as a standard encoder.
The servo amplifier and encoder combination is set by parameter. When the parameter
settings differ from the actual mounting status, a safety observation error occurs, and
safety observation function is not executed.
Motion CPU
Safety
communication
Mutual check
function
(Note-1)
Motor encoder
Standard encoder
Safety encoder
Standard encoder
Safety encoder
Standard encoder
Safety encoder
Standard encoder
Safety encoder
2 - 26
Safety observation
function (STO, SLS
command etc.)
(STO, SLS status etc.)
Speed/standstill monitoring method
Monitor external auxiliary pulses with
(Note-2)
the controller
Monitor the safety encoder data with
the servo amplifier
Monitor external auxiliary pulses with
(Note-2)
the controller
Monitor the safety encoder data with
the controller or servo amplifier
Safety
communication
compatible
servo amplifier
Servo motor