Mitsubishi Electric CR800-R Series User manual

CR800-R/CR860-R controller
Safety Communication Function
Instruction Manual
BFP-A3772-D
Mitsubishi Electric Industrial Robot

Safety Precautions
Always read the following precautions and the separate "Safety
Manual" before starting use of the robot to learn the required
measures to be taken.
CAUTION All teaching work must be carried out by an operator who has received special
training.
(This also applies to maintenance work with the power source turned ON.)
→Enforcement of safety training
CAUTION For teaching work, prepare a work plan related to the methods and procedures
of operating the robot, and to the measures to be taken when an error occurs
or when restarting. Carry out work following this plan.
(This also applies to maintenance work with the power source turned ON.)
→Preparation of work plan
WARNING Prepare a device that allows operation to be stopped immediately during
teaching work.
(This also applies to maintenance work with the power source turned ON.)
→Setting of emergency stop switch
CAUTION During teaching work, place a sign indicating that teaching work is in progress
on the start switch, etc.
(This also applies to maintenance work with the power source turned ON.)
→Indication of teaching work in progress
DANGER Provide a fence or enclosure during operation to prevent contact of the operator
and robot.
→Installation of safety fence
CAUTION Establish a set signaling method to the related operators for starting work,
and follow this method.
→Signaling of operation start
CAUTION As a principle turn the power OFF during maintenance work. Place a sign
indicating that maintenance work is in progress on the start switch, etc.
→Indication of maintenance work in progress
CAUTION Before starting work, inspect the robot, emergency stop switch and other
related devices, etc., and confirm that there are no errors.
→Inspection before starting work

The points of the precautions given in the separate "Safety Manual" are given below.
Refer to the actual "Safety Manual" for details.
DANGER When automatic operation of the robot is performed using multiple control
devices (GOT, programmable controller, push-button switch), the interlocking
of operation rights of the devices, etc. must be designed by the customer.
CAUTION Use the robot within the environment given in the specifications. Failure to do
so could lead to faults or a drop of reliability.
(Temperature, humidity, atmosphere, noise environment, etc.)
CAUTION Transport the robot with the designated transportation posture. Transporting
the robot in a non-designated posture could lead to personal injuries or faults
from dropping.
CAUTION Always use the robot installed on a secure table. Use in an instable posture
could lead to positional deviation and vibration.
CAUTION Wire the cable as far away from noise sources as possible. If placed near a
noise source, positional deviation or malfunction could occur.
CAUTION Do not apply excessive force on the connector or excessively bend the cable.
Failure to observe this could lead to contact defects or wire breakage.
CAUTION Make sure that the workpiece weight, including the hand, does not exceed the
rated load or tolerable torque. Exceeding these values could lead to errors or
faults.
WARNING Securely install the hand and tool, and securely grasp the workpiece. Failure to
observe this could lead to personal injuries or damage if the object comes off or
flies off during operation.
WARNING Securely ground the robot and controller. Failure to observe this could lead to
malfunctioning by noise or to electric shock accidents.
CAUTION Indicate the operation state during robot operation. Failure to indicate the state
could lead to operators approaching the robot or to incorrect operation.
WARNING When carrying out teaching work in the robot's movement range, always secure
the priority right for the robot control. Failure to observe this could lead to
personal injuries or damage if the robot is started with external commands.
CAUTION Keep the jog speed as low as possible, and always watch the robot. Failure to do
so could lead to interference with the workpiece or peripheral devices.

CAUTION After editing the program, always confirm the operation with step operation before
starting automatic operation. Failure to do so could lead to interference with
peripheral devices because of programming mistakes, etc.
CAUTION Make sure that if the safety fence entrance door is opened during automatic
operation, the door is locked or that the robot will automatically stop. Failure to do
so could lead to personal injuries.
CAUTION Never carry out modifications based on personal judgments, non-designated
maintenance parts. Failure to observe this could lead to faults or failures.
WARNING When the robot arm has to be moved by hand from an external area, do not place
hands or fingers in the openings. Failure to observe this could lead to hands or
fingers catching depending on the posture.
CAUTION Do not stop the robot or apply emergency stop by turning the robot controller's
main power OFF. If the robot controller main power is turned OFF during automatic
operation, the robot accuracy could be adversely affected. Also a dropped or
coasted robot arm could collide with peripheral devices.
CAUTION Do not turn OFF the robot controller's main power while rewriting the robot
controller's internal information, such as a program and parameter. Turning OFF
the robot controller's main power during automatic operation or program/parameter
writing could break the internal information of the robot controller.
DANGER Do not connect the Handy GOT when using the GOT direct connection function of
this product. Failure to observe this may result in property damage or bodily injury
because the Handy GOT can automatically operate the robot regardless of whether
the operation rights are enabled or not.
DANGER Do not connect the Handy GOT to a programmable controller when using an iQ
Platform compatible product with the CR800-R /CR800-Q/CR860-R/CR860-Q
controller. Failure to observe this may result in property damage or bodily injury
because the Handy GOT can automatically operate the robot regardless of whether
the operation rights are enabled or not.
DANGER Do not remove the SSCNET III cable while power is supplied to the multiple CPU
system or the servo amplifier. Do not look directly at light emitted from the tip of
SSCNET III connectors or SSCNET III cables of the Motion CPU or the servo
amplifier. Eye discomfort may be felt if exposed to the light.
(Reference: SSCNET III employs a Class 1 or equivalent light source as
specified in JIS C 6802 and IEC60825-1 (domestic standards in Japan).)
DANGER Do not remove the SSCNET III cable while power is supplied to the controller.
Do not look directly at light emitted from the tip of SSCNET III connectors or
SSCNET III cables. Eye discomfort may be felt if exposed to the light.
(Reference: SSCNET III employs a Class 1 or equivalent light source as
specified in JIS C 6802 and IEC60825-1 (domestic standards in Japan).)

DANGER Attach the cap to the SSCNET III connector after disconnecting the SSCNET III cable.
If the cap is not attached, dirt or dust may adhere to the connector pins, resulting in
deterioration connector properties, and leading to malfunction.
CAUTION Make sure there are no mistakes in the wiring. Connecting differently to the way
specified in the manual can result in errors, such as the emergency stop not
being released. In order to prevent errors occurring, please be sure to check
that all functions (such as the teaching box emergency stop, customer
emergency stop, and door switch) are working properly after the wiring setup
is completed.
CAUTION Use the network equipments (personal computer, USB hub, LAN hub, etc.)
confirmed by manufacturer. The thing unsuitable for the FA environment
(related with conformity, temperature or noise) exists in the equipments connected
to USB. When using network equipment, measures against the noise, such as
measures against EMI and the addition of the ferrite core, may be necessary.
Please fully confirm the operation by customer. Guarantee and maintenance
of the equipment on the market (usual office automation equipment) cannot
be performed.
CAUTION To maintain the security (confidentiality, integrity, and availability) of the robot and the
system against unauthorized access, DoS*1 attacks, computer viruses, and other
cyberattacks from unreliable networks and devices via network, take appropriate
measures such as firewalls, virtual private networks (VPNs), and antivirus solutions.
Mitsubishi Electric shall have no responsibility or liability for any problems involving
robot trouble and system trouble by unauthorized access, DoS attacks, computer
viruses, and other cyberattacks.
*1 DoS: A denial-of-service (DoS) attack disrupts services by overloading systems or
exploiting vulnerabilities, resulting in a denial-of-service (DoS) state.

■ Revision history
Date of print
Manual No.
Details of revisions
2021-04-01
BFP-A3772
First print
2022-03-31
BFP-A3772-A
Added countermeasures for error H231n.
202
3-04-17 BFP-A3772-B Corrected "1.4 Specifications".
Corrected other mistakes and changed some sections.
2023-06-07
BFP-A3772-C

Corrected "1.4 Specifications".
2023-09-14
BFP-A3772-D
Added the CR860-R controller.

[CONTENTS]
1. FUNCTIONS AND CONFIGURATION ............................................................................................ 1-1
1.1 Overview ................................................................................................................................................... 1-1
1.2 Supported Products................................................................................................................................. 1-2
1.3 System Configuration.............................................................................................................................. 1-3
1.4 Specifications........................................................................................................................................... 1-6
1.5 Risk Assessment ..................................................................................................................................... 1-9
1.5.1 Residual Risk (Common)................................................................................................................... 1-9
1.5.2 Residual Risk (Specific to Each Function) ...................................................................................... 1-9
2. SET-UP.......................................................................................................................................... 2-11
3. CONNECTIONS AND COMMUNICATION DESTINATION SETTINGS ........................................ 3-12
3.1 System Configurations and Connections ........................................................................................... 3-12
3.1.1 Robot-side system configuration ................................................................................................... 3-13
3.1.2 Safety programmable controller-side system configuration....................................................... 3-13
3.2 Network Communication Settings ....................................................................................................... 3-14
3.3 Safety Communication Settings (Safety Programmable Controller Side) ....................................... 3-14
3.4 Creating a Safety Program.................................................................................................................... 3-15
4. SAFETY MONITORING FUNCTIONS........................................................................................... 4-16
4.1 Overview of the Safety Monitoring Functions .................................................................................... 4-16
4.1.1 Simulation ......................................................................................................................................... 4-17
4.2 Startup and Basic Configuration.......................................................................................................... 4-18
4.2.1 Connecting RT ToolBox3................................................................................................................. 4-18
4.2.2 Parameter configuration.................................................................................................................. 4-18
4.2.3 Password setting.............................................................................................................................. 4-19
4.2.4 Enabling/disabling functions, safety communication settings ................................................... 4-21
4.2.5 Recovery mode................................................................................................................................. 4-24
4.2.6 Parameter CRC output number....................................................................................................... 4-25
4.3 Defining 3D Models................................................................................................................................ 4-27
4.3.1 3D Monitor......................................................................................................................................... 4-27
4.3.2 Arm model ......................................................................................................................................... 4-30
4.3.3 Tool model......................................................................................................................................... 4-31
4.4 Safety Logic Edit .................................................................................................................................... 4-33
4.4.1 Safety input settings ........................................................................................................................ 4-33
4.4.2 Safety output configuration ............................................................................................................ 4-42
4.4.3 Checking operation of the safety inputs and outputs.................................................................. 4-43
4.5 Safety Monitoring Functions ................................................................................................................ 4-45
4.5.1 Safe torque off (STO) ....................................................................................................................... 4-45
4.5.2 Safe operating stop (SOS)............................................................................................................... 4-46
4.5.3 Safe stop 1 (SS1) .............................................................................................................................. 4-49
4.5.4 Safe stop 2 (SS2) .............................................................................................................................. 4-52
4.5.5 Safely-limited speed function (SLS) ............................................................................................... 4-55
4.5.6 Safely-limited position function (SLP) ........................................................................................... 4-63
4.6 Safety Diagnosis Function.................................................................................................................... 4-72
4.6.1 Test pulse diagnosis (EMG)............................................................................................................. 4-72
4.7 Safety Communication Function.......................................................................................................... 4-73
4.7.1 Safety connection............................................................................................................................. 4-73
4.7.2 Transmission interval monitoring time .......................................................................................... 4-76
4.7.3 Safety refresh monitoring time ....................................................................................................... 4-76
4.7.4 Transmission delay time.................................................................................................................. 4-77
5. ROBOT (SYSTEM) STATE VARIABLES ...................................................................................... 5-78
5.1 List of Robot (System) State Variables................................................................................................ 5-78
5.2 Explanations of Robot (System) State Variables................................................................................ 5-78
6. TROUBLESHOOTING .................................................................................................................. 6-83

6.1 Error List for the Safety Monitoring Functions................................................................................... 6-83
6.2 Errors Whose Specification Is Changed by Safety Monitoring Functions ...................................... 6-87
7. SAFETY RESPONSE TIME AND SAFE STOPPING DISTANCE................................................. 7-88
7.1 Safety Response Time........................................................................................................................... 7-88
7.2 How to Calculate a Stopping Distance ................................................................................................ 7-90
7.3 Maximum Stopping Time and Maximum Operating Angle ................................................................ 7-91
7.4 Calculating stopping distance and stopping time.............................................................................7-114
8. SYSTEM APPLICATION EXAMPLES ........................................................................................ 8-117
8.1 Application Example 1..........................................................................................................................8-117
8.1.1 Function ...........................................................................................................................................8-117
8.1.2 System configuration......................................................................................................................8-117
8.1.3 Network communication settings..................................................................................................8-118
8.1.4 Safety communication settings (safety programmable controller) ...........................................8-119
8.1.5 Safety program (safety programmable controller) ..................................................................... 8-120
8.1.6 Basic configuration (robot controller）......................................................................................... 8-120
8.1.7 Defining 3D models (robot controller).......................................................................................... 8-120
8.1.8 Safety logic edit (robot controller)................................................................................................ 8-121
8.1.9 Safety monitoring function settings (robot controller) .............................................................. 8-121
8.1.10 Transmission interval monitoring time ...................................................................................... 8-122
8.1.11 Safety refresh monitoring time ................................................................................................... 8-122
8.1.12 Transmission delay time.............................................................................................................. 8-123
8.1.13 Safety response time ................................................................................................................... 8-124
8.2 Application Example 2......................................................................................................................... 8-125
8.2.1 Function .......................................................................................................................................... 8-125
8.2.2 System configuration..................................................................................................................... 8-126
8.2.3 Network communication settings................................................................................................. 8-127
8.2.4 Safety communication settings (safety programmable controller) .......................................... 8-128
8.2.5 Safety program (safety programmable controller) ..................................................................... 8-129
8.2.6 Basic configuration (robot controller）......................................................................................... 8-130
8.2.7 Defining 3D models (robot controller).......................................................................................... 8-130
8.2.8 Safety logic edit (robot controller)................................................................................................ 8-130
8.2.9 Safety monitoring function settings (robot controller) .............................................................. 8-131
8.2.10 Transmission interval monitoring time ...................................................................................... 8-131
8.2.11 Safety refresh monitoring time ................................................................................................... 8-132
8.2.12 Transmission delay time.............................................................................................................. 8-133
8.2.13 Safety response time ................................................................................................................... 8-134

INTRODUCTION
Thank you for purchasing an industrial robot from Mitsubishi Electric Corporation. The safety communication
function extends robot safety functions through safety communication with the safety programmable controller.
Before using the safety communication function, make sure that you have read and fully understood the
contents of this manual.
The manual is intended for use on the assumption that you understand basic operations and functions of the
Mitsubishi industrial robot. For the basic operation of the robot, refer to the separate "Instruction
Manual/Detailed explanations of functions and operations".
In this manual, the CR800-R series indicates the CR800-R and CR860-R controllers.
The CR800 controller indicates the description for the CR800 controller only, not for the CR860 controller.
The CR860 controller indicates the description for the CR860 controller only, not for the CR800 controller.
■Symbols in this manual
Before using this product, please read this manual and the relevant manuals carefully and pay full attention to
safety to handle the product correctly.
The precautions given in this manual are concerned with this product only. For the safety precautions of the robot
system, refer to the user's manual for the peripheral equipment used.
In this manual, the safety precautions are classified into three levels: "DANGER", "WARNING", and "CAUTION".
Danger
Precaution indicating cases where there is a risk of operator fatality or serious
injury if handling is mistaken. Always observe these precautions to safely use
the robot.
Warning
Precaution indicating cases where the operator could be subject to fatalities or
serious injuries if handling is mistaken. Always observe these precautions to
safely use the robot.
Caution
Precaution indicating cases where operator could be subject to injury or physical
damage could occur if handling is mistaken. Always observe these precautions
to safely use the robot.
Under some circumstances, failure to observe the precautions given under "CAUTION" may lead to serious
consequences.
Observe the precautions of all the levels because they are important for personal and system safety.
Make sure that the end users read this manual and then keep the manual in a safe place for future reference.
・
No part of this manual may be reproduced by any means or in any form, without prior consent from
Mitsubishi.
・The details of this manual are subject to change without notice. We kindly ask for your understanding.
・Specification values are based on our standard test methods.
・An effort has been made to make full descriptions in this manual. However, if any discrepancies or
unclear points are found, please contact your service provider.
・This is the original document.
・Ethernet is registered trademarks or trademarks of Xerox Corporation in the United States.
・All other company names and production names in this document are the trademarks or registered
trademarks of their respective owners.
・We omit ® and TM in this document.
Copyright(C) 2021 MITSUBISHI ELECTRIC CORPORATION ALL RIGHTS RESERVED

RELEVANT DOCUMENTS
The relevant manuals are shown below. For the latest version of the manuals, check the MITSUBISHI ELECTRIC
FA website.
CR800 series controller
No.
Document
BFP-A3470
BFP-A3468
BFP-A3779
CR800 Controller RV-FR Series Standard Specifications Manual
CR800 Controller RH-FRH Series Standard Specifications Manual
CR860 Controller RV-35FR/50FR/80FR Series Standard Specifications Manual
BFP-A3478
CR800 Series Controller INSTRUCTION MANUAL Detailed explanations of functions
and operations
MELSEC iQ-R series
No.
Document
SH-081262ENG
MELSEC iQ-R Module Configuration Manual
SH-081263ENG
MELSEC iQ-R CPU Module User's Manual (Startup)
SH-081264ENG
MELSEC iQ-R CPU Module User's Manual (Application)
SH-082127ENG
MELSEC iQ-R CC-Link IE TSN User's Manual (Startup)
SH-082129ENG
MELSEC iQ-R CC-Link IE TSN User's Manual (Application)
SH-082227ENG
CC-Link IE TSN Remote I/O Module (With Safety Functions) User's Manual
SH-081538ENG
MELSEC iQ-R Safety Application Guide
BCN-P5999-0502
Mitsubishi Electric Safety Programmable Controller MELSEC iQ-R Series Machinery
Directive (2006/42/EC) Compliance
TERMS
This manual uses the following terms.
Term
Description
Safety programmable
controller
A MELSEC iQ-R series module that performs safety control: a
Safety CPU
module, a safety function module, a CC-Link IE TSN Network remote I/O
module (with safety functions).
Standard programmable
controller
A MELSEC iQ-R series module that performs standard control (This term is
used to distinguish such programmable controllers from the safety
programmable controllers.)
Safety CPU module
(RnSFCPU)
A module that performs both standard control and safety control and is used
with a safety function module.
Programmable controller
CPU module
Standard CPU module
(RnCPU)
A MELSEC iQ-R series CPU module that performs standard control (The term
ʺstandard CPU moduleʺ is used to distinguish from CPU modules that perform
safety control.)
Safety function module
(R6SFM)
A module that performs safety control and must be used with a Safety CPU
module. This module can only be used with the Safety CPU module.
Control CPU
A CPU module that controls connected I/O modules and intelligent function
modules.
Safety communications
Communication service that performs send/receive processing in the safety
layer of the safety communication protocol.
Standard communications
Communications other than safety communications, such as cyclic
transmission of CC-Link IE TSN Network.
Safety station
A station that performs safety communications and standard communications
in a safety system.
Station
A device connected to the network.
Host station, The other station (Communication Partner)
CC-Link IE TSN master/local
module
(RJ71GN11-T2)
A MELSEC iQ-R series network module that can be used as a master station
or a local station for CC-Link IE TSN.
The module is referred to as a master/local module in this manual.
Active
Safety connections are established from the own station.
Passive
Safety connections are established from the communication destination.
Safety connection
A connection established for safety communications.

Term
Description
Robot safety option
(4F-SF002-01, 4F-SF003-
05)
This is an option available by switching the robot safety monitoring function
with safety IO. 4F-SF002-01 is used for the CR800 controller. 4F-SF003-05 is
used for the CR800 series controllers. The following functions are available.
SS1 (STO), SS2 (SOS), SLS, SLP
Safety communication
network function
This is a CR800-R/CR860-R controller function available by switching the
robot safety monitoring function through safety communication. The following
functions are available.
SS1 (STO), SS2 (SOS), SLS, SLP
Safety input/output I/F
This is an interface between robot controller's safety functions and external
safety devices. Safety inputs/outputs are used to switch the robot's safety
monitoring function. Safety IO or safety communication is available. To use a
robot safety option, select safety IO. To use the safety communication
function, select safety communication.
Remote I/O module with
safety functions
This is a functional safety-compatible MELSEC iQ-R series I/O module that
acts as a CC-Link IE TSN remote station.
The module is referred to as a safety remote I/O module in this manual.

1 FUNCTIONS AND CONFIGURATION
Overview 1-1
1. FUNCTIONS AND CONFIGURATION
1.1 Overview
The safety communication function sends/receives safety I/O signals to/from the safety programmable controller.
The function is implemented with the safety monitoring function of the CR800-R/CR860-R controllers. The
following table lists safety monitoring functions that can be implemented with the safety communication function.
Table 1-1: Safety monitoring functions overview
Function
Functional description
See:
Safety communication
function
This function performs safety communication with the
safety programmable controller using functional safety-
compatible protocols. Input signals are used to switch
the safety monitoring function, and output signals are
used to output the status of the safety monitoring
functions (safety logic edit).
When the safety communication function is enabled,
the following safety monitoring functions are available.
SS1 (STO), SS2 (SOS), SLS, SLP
4.7 Safety
Communication
Function
Safety logic edit
Input
This allows defining conditions for the safety monitoring
function to work.
Safety input signals and the AREA information of the
robot can be combined to configure the conditions to
trigger the safety monitoring functions.
4.4 Safety Logic
Edit
Output
This allows outputting safety signals based on running
states of the safety monitoring functions and AREA
monitoring information. This is used for displaying
safety states or connecting other safety devices.
Safe torque off
STO
The function shuts off driving energy to the motors of
the robot.
4.5.1 Safe torque
off (STO)
Safe operating
stop
SOS
Without shutting off the driving energy to the motors,
this function monitors the robot so that it stays at rest.
4.5.2 Safe
operating stop
(SOS)
Safe stop
function 1
SS1
This is a function to stop the robot safely. After stopping
the robot, power off the motors.
4.5.3 Safe stop 1
(SS1)
Safe stop
function 2
SS2
This is a function to stop the robot safely. While the
motor control keeps working after the robot stops, this
function monitors the robot so that it does not work.
4.5.4 Safe stop 2
(SS2)
Safely-limited
speed function
SLS
This is a function to monitor the robot arm and the tools
so that their speeds do not exceed specified limits.
• Speed monitoring in XYZ coordinates
• Speed monitoring in joint coordinates
4.5.5 Safely-limited
speed function
(SLS)
Safely-limited
position function
SLP
This is a function to monitor whether positions of the
robot arm and the hand are in a safe area.
4.5.6 Safely-limited
position function
(SLP)
* To use safety I/O from external sensors such as laser scanners and light curtains with the robot controller, the
robot safety option (4F-SF002-01, 4F-SF003-05) is required when a safety programmable controller is not used.
The safety communication function and robot safety option cannot be used together.

1 FUNCTIONS AND CONFIGURATION
1-2 Supported Products
1.2 Supported Products
The following robot controller and network support this function.
Table 1-2 Supported product
Robot
controller
Date of manufacture
(Note 1)
Version
Network
Remarks
CR800-R
controller
April 2021 or later
C2 or
later
CC-Link IE
TSN
The master/local module (RJ71GN11-T2) is
required.
Available for CR800-R controllers with version C2
or later manufactured in or after April 2021.
CR860-R
controller
-
C2z
The master/local module (RJ71GN11-T2) is
required.
Available for CR860-R controllers with version
C2z.
Note 1: The date of manufacture can be found in the DATE column on the rating plate located on the right side of
the controller.

1 FUNCTIONS AND CONFIGURATION
System Configuration 1-3
1.3 System Configuration
Fig. 1-1 shows a system architecture. This function allows the CR800-R/CR860-R controllers to perform safety
communication with the safety programmable controller (MELSEC iQ-R series safety CPU module) using the
master/local module. Using safety programmable controllers enables to perform safety communication with safety
remote I/O modules and other equipment. This helps construct safety systems. For information on the usage and
specifications of the MELSEC iQ-R, refer to the manuals shown below.
□ MELSEC iQ-R CPU Module User's Manual (Startup) (SH-081263ENG)
□ MELSEC iQ-R CPU Module User's Manual (Application) (SH-081264ENG)
□ MELSEC iQ-R CC-Link IE TSN User's Manual (Startup) (SH-082127ENG)
□ MELSEC iQ-R CC-Link IE TSN User's Manual (Application) (SH-082129ENG)
Fig. 1-1: System architecture (example)
PC
<4>RT ToolBox3
<5>GX Works3
USB,Ethernet
Safety programmable controller (master station)
Programmable controller (local station)
<1>Safety CPU module
<6>Programmable controller CPU module
<7>Robot CPU module 1
<7>Robot CPU module 2
<7>Robot CPU module 3
<8>
Master/local
module
<2>Safety function module
<3>
Master/local
module
Safety remote I/O module
(remote station)
CC-Link IE TSN device
CC-Link IE TSN
(Ethernet cable)
Laser scanner
Status indicator
light
Light curtain
CC-Link IE TSN device
CC-Link IE TSN
(Ethernet cable)
SSCNET III/H
(SSCNET III optical cable)
<9>Controller
<9>Controller <9>Controller
I/O
Emergency stop switch
Door switch
Mode selector switch
<10>Robot arm
<10>Robot arm <10>Robot arm

1 FUNCTIONS AND CONFIGURATION
1-4 System Configuration
Table 1-3 Overview of the system architecture
Item
Details and supported version
Number in Fig.
1-1
Remarks
MITSUBISHI ELECTRIC industrial robot (Note 1)
-
-
Robot arm
RV-FR series, RH-FRH series (Note 2)
<10>
-
Robot controller
CR800-R controller
Ver.C2 or later
<7>, <9>
-
CR860-R controller
Ver.C2z
-
MITSUBISHI ELECTRIC programmable controller MELSEC iQ-R series
-
-
Programmable controller
CPU module (Note 1)
R04/R08/R16/
R32/R120CPU
Ver.43 or later
<6>
-
R00/R01/R02CPU
Ver.11 or later
-
R08/R16/R32/R120SFCPU-
SET (Note 4)
Ver.20 or later
-
Master/local module
RJ71GN11-T2
Ver.10 or later
<8>
-
MITSUBISHI ELECTRIC safety programmable controller MELSEC iQ-R series
-
-
Safety CPU set (Note 3)
RnSFCPU-SET
Ver.20 or later
<1>, <2>
-
Master/local module
RJ71GN11-T2
Ver.10 or later
<3>
-
RT ToolBox3
RT ToolBox3 mini
RT ToolBox3 Pro
3F-15C-WINE
3F-14C-WINE
3F-16D-WINE
Ver.1.90U or
later
<4>
Used to enable
safety monitoring
functions.
GX Works3
SW1DND-GXW3-E
Ver.1.075D or
later
<5>
-
External safety device
Light curtains, safety switches, etc.
-
Use devices
specific to the
system being
constructed.
Note 1: This is the standard equipment of the CR800-R series. Devices such as a power supply module and base
unit are required separately. Refer to the following manuals.
□ CR800 Controller RV-FR Series Standard Specifications Manual (BFP-A3470)
□ CR800 Controller RH-FRH Series Standard Specifications Manual (BFP-A3468)
□ CR860 Controller RV-35FR/50FR/80FR Series Standard Specifications Manual (BFP-A3779)
Note 2: The following table shows the compatible robot models.
Series
Model
RV-FR series
RV-2FRB, RV-2FRLB, RV-4FR, RV-4FRL, RV-4FRJL, RV-7FR, RV-7FRL, RV-
7FRLL, RV-13FR, RV-13FRL, RV-20FR, RV-35FR, RV-50FR, RV-80FR
RH-FRH series
RH-3FRH, RH-6FRH, RH-12FRH, RH-20FRH, RH-3FRHR, RH-1FRHR
Note 3: This set is composed of a safety CPU module and safety function module (R6SFM). Devices such as a
power supply module and base unit are required separately. Refer to the following manuals.
□ MELSEC iQ-R MELSEC iQ-R Module Configuration Manual (SH-081262ENG)
Note 4: If using a safety CPU module for multi-CPU system No.1, safety CPU module No.1 does not allow robot
controllers No.2 to 4 to perform safety communications using the CC-Link IE TSN master/local modules
that use safety communications.
To perform the safety communications of both safety CPU module No.1 and robot controllers No.2 to 4,
incorporate two master/local modules (refer to the figure below).
Standard
communications Safety
communications
Multi-CPU system
Safety communication
function
RnSFCPU
(Control CPU) CPUs No.2 to 4
Master/local modules
Master/local
modules
Standard communications
Safety communications

1 FUNCTIONS AND CONFIGURATION
System Configuration 1-5
◆Multiple CPU system
This function allows multiple CPU modules in the multiple CPU system to use one master/local module.
Programmable controller CPU module (CPU No.1) can perform standard communication, and robot CPU module
of robot controllers (CPU No.2 to No.4) can perform safety communication with the master station individually.
Fig. 1-2: Overview of data transfer devices
CPU No.1
Programmable
controller CPU
module
Robot CPU
module 1
Data received
Send data
Robot CPU
module 2
Robot CPU
module 3
Safety CPU
module
Master/local
module
Master/local
module
CPU No.2
SCNI01-08
SCNO01-04
SCNO01-04
SCNO01-04
SCNI01-08
SCNI01-08
CPU No.3 CPU No.4 Station No.1
(local station)
Station No.0
(master station)
Data received
Data received
Send data
Send data
Safety
communication
Standard
communication
000
010
01F
020
02F
00F
000
010
01F
020
02F
00F
SA\Y
SA\X
Y/WRY/RWw
X/WRX/RWr
RX/RWr
Send data
Station No.1 -
CPU No.2
Send data
Station No.1 -
CPU No.3
Send data
Station No.1 -
CPU No.4
Send data
Station No.1
Send data
Station No.1
Data received
Station No.1
Data received
Station No.1
Data received
Station No.1 -
CPU No.2
Data received
Station No.1 -
CPU No.3
Data received
Station No.1 -
CPU No.4
RY/RWw
Data received
Send dataSend data
Devices shared among multiple CPUs
Devices shared among multiple CPUs
Y/W
X/W
Data received
Input signal
Input signal
Input signal
Output signal
Output signal
Output signal
U3E0\HG
U3E1\HG
U3E2\HG
U3E3\HG

1 FUNCTIONS AND CONFIGURATION
1-6 Specifications
1.4 Specifications
Table 1-4 Specifications
Item
Description
Remarks
Safety function
STO function
The function electrically shuts off the driving
energy to the motor of the robot arm.
The driving energy to the motor is shut off,
which means that safety is ensured.
IEC 60204-1:2016
Corresponds to
stop category 0
SS1 function
The function to control and decelerate the
motor speeds of the robot. After stopping,
the robot transitions to the STO state.
IEC 60204-1:2016
Corresponds to
stop category 1
SS2 function
The function to control and decelerate the
motor speeds of the robot. After stopping,
the robot transitions to the SOS state.
IEC 60204-1:2016
Corresponds to
stop category 2
SOS function
Without shutting off the driving energy to
the motors, this function monitors the robot
so that it stays at rest.
EN 61800-5-2:2017
compliant
SLS function
This is a function to monitor each part of the
robot arm so that their speeds do not
exceed monitoring speeds.
EN 61800-5-2:2017
compliant
SLP function
The function monitors specified monitoring
positions so that they do not go across
position monitoring planes.
EN 61800-5-2:2017
compliant
Safety communication
function
This function performs safety
communication with the safety
programmable controller using functional
safety-compatible protocols. Input signals
are used to switch the safety monitoring
function, and output signals are used to
output the status of the safety monitoring
functions.
When the safety communication function is
enabled, the following safety monitoring
functions are available.
SS1 (STO), SS2 (SOS), SLS, SLP
IEC 61784-3:2017
compliant
Safety
communication
function
Input data
8 points
-
Output data
4 points
-
Network
CC-Link IE TSN (CR800-R/CR860-R
controllers)
-
CC-Link IE
TSN
Station type
Local station (safety station)
Safety communication possible with the
MELSEC iQ-R series safety CPU module
(RnSFCPU)
-
Protocol
CC-Link IE Safety Protocol Ver.2
-
Open system
Passive (safety connection established
from the communication destination)
-
Maximum number of
safety connections
1
-
Safety cycle time
7.11 ms (safety cycle time)
-
Safety
performance
Standard
EN ISO 10218-1:2011
EN ISO 13849-1:2015
IEC 61508-1:2010
IEC 61508-2:2010
IEC 61508-3:2010
EN 61800-5-1:2007/A1:2017
EN 61800-5-2:2017
IEC 61326-3-1:2017
EN 60204-1:2018
EN 61000-6-7:2015
-
Classification
Type B
-

1 FUNCTIONS AND CONFIGURATION
Specifications 1-7
The following table shows the safety performance of the CR800-R controller.
Function
Item
Performance
Remarks
STO
Safety Level (Note 1)
SIL 3 (IEC 61508:2010)
Performance when:
• External emergency stop
input when the test pulse
diagnosis settings are
enabled (Note 2)
• Safety communication
function's safety input
Category 4, PL e
(EN ISO 13849-1:2015)
Mean time to dangerous
failure (MTTFd) (Note 1)
MTTFd ≥ 100 years
Diagnostic coverage (DC)
(Note 1)
DC = 99%
Probability of dangerous
failure per hour (PFH)
(Note 1)
PFH = 1.40 × 10-8
[1/hour]
Hardware Fault Tolerance
1
Mission time
20 years
Diagnostic test interval
1000ms
Systematic capability
SC3
Safety Level (Note 1)
SIL 2 (IEC 61508:2010)
Performance when:
• External emergency stop
input when the test pulse
diagnosis settings are
disabled (factory settings)
• Door switch input
• Mode selector switch
input
Category 3, PL d
(EN ISO 13849-1:2015)
Mean time to dangerous
failure (MTTFd) (Note 1)
MTTFd ≥ 100 years
Diagnostic coverage (DC)
(Note 1)
DC = 90%
Probability of dangerous
failure per hour (PFH)
(Note 1)
PFH = 1.57 × 10-8
[1/hour]
Hardware Fault Tolerance
1
Mission time
20 years
Diagnostic test interval
1000ms
Systematic capability
SC2
SS1, SS2,
SOS, SLS,
SLP
Safety Level (Note 1)
SIL 2 (IEC 61508:2010)
-
Category 3, PL d
(EN ISO 13849-1:2015)
Mean time to dangerous
failure (MTTFd) (Note 1)
MTTFd = 24 years
Diagnostic coverage (DC)
(Note 1)
DC = 90%
Probability of dangerous
failure per hour (PFH)
(Note 1)
PFH = 3.42 × 10-7 [1/hour]
Hardware Fault Tolerance
1
Mission time
20 years
Diagnostic test interval
1000ms
Systematic capability
SC2
Note 1: The specifications of the robot controller. When constructing systems such as safety programmable
controller programs and settings, and safety I/O devices, adopt a safe design and evaluate the safety.
Note 2: To use this product at a performance level of SIL 3, Category 4, PL e, refer to “4.6.1 Test pulse diagnosis
(EMG)”.
* This table shows the specifications of robot controllers.
* Connect the robot controller's emergency stop input, door switch input, and mode selector switch input as
described in the Standard Specifications Manual.
* The safety communication function cannot be used together with the robot safety option (4F-SF002-01, 4F-
SF003-05).
* For information on network specifications such as the maximum number of connectable devices per network,
refer to the following manuals.
□ MELSEC iQ-R CC-Link IE TSN User's Manual (Startup) (SH-082127ENG)
□ MELSEC iQ-R CC-Link IE TSN User's Manual (Application) (SH-082129ENG)
* For information on transmission delay times, safety response times, and safe stopping distances, refer to the
following sections.
4.7.4 Transmission delay time, 7. SAFETY RESPONSE TIME AND SAFE STOPPING DISTANCE

1 FUNCTIONS AND CONFIGURATION
1-8 Specifications
The following table shows the safety performance of the CR860-R controller.
Function
Item
Performance
Remarks
STO
Safety Level (Note 1)
SIL 3 (IEC 61508:2010)
Performance when:
• External emergency stop
input when the test pulse
diagnosis settings are
enabled (Note 2)
• Safety communication
function's safety input
Category 4, PL e
(EN ISO 13849-1:2015)
Mean time to dangerous
failure (MTTFd) (Note 1)
MTTFd ≥ 100 years
Diagnostic coverage (DC)
(Note 1)
DC = 99%
Probability of dangerous
failure per hour (PFH)
(Note 1)
PFH = 1.60 × 10-8 [1/hour]
Hardware Fault Tolerance
1
Mission time
20 years
Diagnostic test interval
1000ms
Systematic capability
SC3
Safety Level (Note 1)
SIL 2 (IEC 61508:2010)
Performance when:
• External emergency stop
input when the test pulse
diagnosis settings are
disabled (factory settings)
• Door switch input
• Enabling device input
Category 3, PL d
(EN ISO 13849-1:2015)
Mean time to dangerous
failure (MTTFd) (Note 1)
MTTFd ≥ 100 years
Diagnostic coverage (DC)
(Note 1)
DC = 96%
Probability of dangerous
failure per hour (PFH)
(Note 1)
PFH = 2.24 × 10-8 [1/hour]
Hardware Fault Tolerance
1
Mission time
20 years
Diagnostic test interval
1000ms
Systematic capability
SC2
SS1, SS2,
SOS, SLS,
SLP
Safety Level (Note 1)
SIL 2 (IEC 61508:2010)
-
Category 3, PL d
(EN ISO 13849-1:2015)
Mean time to dangerous
failure (MTTFd) (Note 1)
MTTFd ≥ 100 years
Diagnostic coverage (DC)
(Note 1)
DC = 95%
Probability of dangerous
failure per hour (PFH)
(Note 1)
PFH = 5.58 × 10-7 [1/hour]
Hardware Fault Tolerance
1
Mission time
20 years
Diagnostic test interval
1000ms
Systematic capability
SC2
Note 1: The specifications of the robot controller. When constructing systems such as safety programmable
controller programs and settings, and safety I/O devices, adopt a safe design and evaluate the safety.
Note 2: To use this product at a performance level of SIL 3, Category 4, PL e, refer to “4.6.1 Test pulse diagnosis
(EMG)”.
* This table shows the specifications of robot controllers.
* Connect the robot controller's emergency stop input, door switch input, and enabling device input as described
in the Standard Specifications Manual.
* The safety communication function cannot be used together with the robot safety option (4F-SF003-05).
* For information on network specifications such as the maximum number of connectable devices per network,
refer to the following manuals.
□ MELSEC iQ-R CC-Link IE TSN User's Manual (Startup) (SH-082127ENG)
□ MELSEC iQ-R CC-Link IE TSN User's Manual (Application) (SH-082129ENG)
* For information on transmission delay times, safety response times, and safe stopping distances, refer to the
following sections.
4.7.4 Transmission delay time, 7. SAFETY RESPONSE TIME AND SAFE STOPPING DISTANCE