Mitsubishi Electric MELSEC iQ-R Series Parts list manual

MELSEC iQ-R Safety Function Block Reference

1
SAFETY PRECAUTIONS
(Read these precautions before using this product.)
Before using MELSEC iQ-R series programmable controllers, please read the manuals for the product and the relevant
manuals introduced in those manuals carefully, and pay full attention to safety to handle the product correctly.
Make sure that the end users read this manual and then keep the manual in a safe place for future reference.
CONDITIONS OF USE FOR THE PRODUCT
INTRODUCTION
Thank you for purchasing the Mitsubishi Electric MELSEC iQ-R series programmable controllers.
This manual describes the programming using the safety FBs.
Before using this product, please read this manual and the relevant manuals carefully and develop familiarity with the
functions and performance of the MELSEC iQ-R series programmable controller to handle the product correctly.
When applying the program examples provided in this manual to an actual system, ensure the applicability and confirm that it
will not cause system control problems.
Please make sure that the end users read this manual.
(1) Although MELCO has obtained the certification for Product's compliance to the international safety standards
IEC61508, EN954-1/ISO13849-1 from TUV Rheinland, this fact does not guarantee that Product will be free from any
malfunction or failure. The user of this Product shall comply with any and all applicable safety standard, regulation or
law and take appropriate safety measures for the system in which the Product is installed or used and shall take the
second or third safety measures other than the Product. MELCO is not liable for damages that could have been
prevented by compliance with any applicable safety standard, regulation or law.
(2) MELCO prohibits the use of Products with or in any application involving, and MELCO shall not be liable for a default, a
liability for defect warranty, a quality assurance, negligence or other tort and a product liability in these applications.
(a) power plants,
(b) trains, railway systems, airplanes, airline operations, other transportation systems,
(c) hospitals, medical care, dialysis and life support facilities or equipment,
(d) amusement equipments,
(e) incineration and fuel devices,
(f) handling of nuclear or hazardous materials or chemicals,
(g) mining and drilling,
(h) and other applications where the level of risk to human life, health or property are elevated.

2
MEMO

3
CONTENTS
CONTENTS
SAFETY PRECAUTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1
CONDITIONS OF USE FOR THE PRODUCT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1
INTRODUCTION. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1
RELEVANT MANUALS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4
TERMS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5
CHAPTER 1 OVERVIEW 6
CHAPTER 2 GENERAL SPECIFICATIONS 8
2.1 List of Safety FBs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.2 Common Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.3 General Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2.4 Generic State Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
2.5 How to Register the Safety FB Library to a Project . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
2.6 Copying and Pasting a Ladder containing a Safety FB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
CHAPTER 3 PRECAUTIONS 13
3.1 Precautions for System Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
3.2 Precautions for Management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
CHAPTER 4 SAFETY FB SPECIFICATIONS 15
4.1 M+SF_2HAND2_R . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
4.2 M+SF_2HAND3_R . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
4.3 M+SF_EDM_R . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
4.4 M+SF_ENBLSW_R. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
4.5 M+SF_ESPE_R. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
4.6 M+SF_ESTOP_R . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
4.7 M+SF_GLOCK_R . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
4.8 M+SF_GMON_R . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
4.9 M+SF_MODSEL_R . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
4.10 M+SF_MUTE2_R . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
4.11 M+SF_MUTEP_R . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
4.12 M+SF_MUTES_R . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
4.13 M+SF_OUTC_R . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
4.14 M+SF_TSSEN_R . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
4.15 M+SF_EQUI_R . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
4.16 M+SF_ANTI_R . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
APPENDICES 112
Appendix 1 Approximate Number of Steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
INDEX 115
INSTRUCTION INDEX 116
REVISIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
WARRANTY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118
TRADEMARKS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .120

4
RELEVANT MANUALS
e-Manual refers to the Mitsubishi Electric FA electronic book manuals that can be browsed using a dedicated
tool.
e-Manual has the following features:
• Required information can be cross-searched in multiple manuals.
• Other manuals can be accessed from the links in the manual.
• The hardware specifications of each part can be found from the product figures.
• Pages that users often browse can be bookmarked.
• Sample programs can be copied to an engineering tool.
Manual name [manual number] Description Available form
MELSEC iQ-R Safety Function Block Reference
[BCN-P5999-0815] (this manual)
Specifications of the safety FBs e-Manual
PDF
GX Works3 Operating Manual
[SH-081215ENG]
System configuration, parameter settings, and online
operations of GX Works3
e-Manual
PDF

5
TERMS
Unless otherwise specified, this manual uses the following terms.
Term Description
GX Works3 Product name of the MELSEC programmable controller software package.
NC Abbreviation for normal close contact which is normally closed, but opened when a switch or other function is operated.
NO Abbreviation for normal open contact which is normally opened, but closed when a switch or other function is operated.
Performance Level (PL) Safety level which is standardized in ISO13849-1:2015. (The safety level is classified into five levels of a to e.)
Risk Degree of hazards, which is the combination of the occurrence probability and degree of an injury and a health problem.
Safety application Generic term for the applications that are operated using the safety programmable controller for realizing the safety
functions.
Safety communications Communication service to process the transmission at the safety layer defined in the safety communication protocol.
Safety control Safety programs are executed and safety communications are performed to control machinery. Machinery is stopped
safely when an abnormality occurs.
Safety CPU Generic term for the R08SFCPU, R16SFCPU, R32SFCPU, and R120SFCPU
This module is used with a safety function module as a pair, and performs both standard control and safety control.
Safety data Data which is transmitted through safety communications.
Safety device Device that can be used in safety programs.
Safety function module Another term for the R6SFM
This module is used with the Safety CPU as a pair and performs safety control. The module can only be paired with the
Safety CPU.
Safety functions Functions to be realized to protect a human from machinery hazards.
Safety input Generic term for the signals that are input to the safety programmable controller for realizing the safety functions.
Safety output Generic term for the signals that are output from the safety programmable controller for realizing the safety functions.
Safety programmable controller Generic term for the MELSEC iQ-R series modules that perform safety control (such as a Safety CPU, safety function
module, CC-Link IE Field Network remote I/O module (with safety functions))
Safety related system System executing the safety functions to be required.
Safety remote I/O module Abbreviation for the NZ2GFSS2-32D and NZ2EXSS2-8TE CC-Link IE Field Network remote I/O module (with safety
functions).
Safety station Generic term for the station to perform safety communications and general communications.
SIL Safety level which is standardized in IEC61508: 2010. (The safety level is classified into four levels of SIL1 to SIL4.)

61 OVERVIEW
1OVERVIEW
Safety FBs are the manufacturer offer function blocks that received the certification of ISO13849-1:2015 PLe, IEC62061:2012
SIL3, and IEC61508:2010 SIL3. The safety FBs can be used with the MELSEC iQ-R series safety CPUs.
Improving the productivity and the maintainability of a safety program
The major functions used in programming safety applications are provided as the safety FB library. A safety program
becomes simple by using the safety FBs, and the productivity and maintainability of the safety program are improved.
Moreover, efficiency of debug and verification for a safety program is also improved.
The high safe level application using the safety certified FB
Since the safety FB received the safety certification, a user can build a safety application which is in compliance with
ISO13849-1:2006 PLe, IEC62061:2012 SIL3, and IEC61508:2010 SIL3. A user can develop an advanced safety application
using the safety FBs, and it becomes easy to get the safety certification of user's safety application from an inspector.
Improving the reliability of the safety program
Since users cannot read the inside logic of the safety FBs, the users cannot customize or modify them. Therefore, the safety
FBs cannot be intentionally modified by an intentional or mistaken operation and the reliability of a safety feature of a program
will improve. Also, a safety FB used is whether the certified one or not can be identified by its name because the safety FBs
and their name cannot be created and changed by a user.
Displaying a diagnostic code
The diagnostic code includes error codes and status codes. When a safety FB detects an internal error (including out of range
of parameters and invalid static Reset), it displays an error code. When no error is detected, a safety FB displays a status
code. Diagnostic codes are useful in knowing the operating status of the safety FBs and debugging.
Combination with a ladder
Safety FBs can be used within a ladder diagram. By combining a popular ladder and the certified safety functions, a user can
make a safe and highly flexible safety program.

1 OVERVIEW
7
1
MEMO

82 GENERAL SPECIFICATIONS
2.1 List of Safety FBs
2GENERAL SPECIFICATIONS
2.1 List of Safety FBs
The following lists the safety FBs provided.
*1 FB version information such as "_01A", which is displayed at the end of an FB name, is omitted hereinafter.
For the safety FB library, please consult your local Mitsubishi representative.
For how to register the FB library, see the following.
GX Works3 Operating Manual
Name*1 Function Description Reference
M+SF_2HAND2_R_01A Two-hand switch Type This FB provides the two-hand control functionality. Page 15 M+SF_2HAND2_R
M+SF_2HAND3_R_01A Two-hand switch Type This FB provides the two-hand control functionality (Fixed
specified time difference is 500ms).
Page 19 M+SF_2HAND3_R
M+SF_EDM_R_01A External device monitor This FB controls a safety output and monitors controlled
actuators, e.g. subsequent contactors.
Page 23 M+SF_EDM_R
M+SF_ENBLSW_R_01A Enable switch This FB evaluates the signals of an enable switch with three
positions.
Page 29 M+SF_ENBLSW_R
M+SF_ESPE_R_01A Light curtain (ESPE) This FB is a safety-related FB for monitoring electro-sensitive
protective equipment (ESPE).
Page 34 M+SF_ESPE_R
M+SF_ESTOP_R_01A Emergency stop This FB is a safety-related FB for monitoring an emergency
stop button. This FB can be used for emergency switch off
functionality (stop category 0).
Page 38 M+SF_ESTOP_R
M+SF_GLOCK_R_01A Guard lock and interlocking This FB controls an entrance to a hazardous area via an
interlocking guard with guard locking ("four state interlocking").
Page 42 M+SF_GLOCK_R
M+SF_GMON_R_01A Guard monitoring This FB monitors the relevant safety guard. There are two
independent input parameters for two switches at the safety
guard coupled with a time difference (i_dMonitoringTime) for
closing the guard.
Page 48 M+SF_GMON_R
M+SF_MODSEL_R_01A Mode selector This FB selects the system operation mode, such as manual,
automatic, semi-automatic.
Page 54 M+SF_MODSEL_R
M+SF_MUTE2_R_01A Muting with 2 sensors Muting is the intended suppression of the safety function. (e.g.,
light barriers) In this FB, parallel muting with two muting sensors
is specified.
Page 60 M+SF_MUTE2_R
M+SF_MUTEP_R_01A Parallel muting In this FB, parallel muting with four muting sensors is specified. Page 67 M+SF_MUTEP_R
M+SF_MUTES_R_01A Sequential muting In this FB, sequential muting with four muting sensors is
specified.
Page 79 M+SF_MUTES_R
M+SF_OUTC_R_01A Output control Control of a safety output with a signal from the functional
application and a safety signal with optional startup inhibits.
Page 87 M+SF_OUTC_R
M+SF_TSSEN_R_01A Testable safety sensor This FB detects, for example, the loss of the sensing unit
detection capability, the response time exceeding that specified,
and static ON signal in single-channel sensor systems. It can be
used for external testable safety sensors.
Page 93 M+SF_TSSEN_R
M+SF_EQUI_R_01A Dual input (NC+NC or
NO+NO)
This FB converts two equivalent bit inputs (both NO or NC) to
one bit with discrepancy time monitoring. This FB output shows
the result of the evaluation of both channels.
Page 102 M+SF_EQUI_R
M+SF_ANTI_R_01A Dual input (NO+NC) This FB converts two antivalent bit inputs (NO/NC pair) to one
bit output with discrepancy time monitoring. This FB output
shows the result of the evaluation of both channels.
Page 107 M+SF_ANTI_R

2 GENERAL SPECIFICATIONS
2.2 Common Specifications 9
2
2.2 Common Specifications
This section describes the common specifications to each safety FB. The following table lists the general input/output
specifications of the safety FBs. Variables other than i_bS_In and o_bS_Out are all used under the same names, data types,
default values, specifications, and functions for the safety FB use. For details on each name, data type, default value,
specification, and function of the safety input-output variables other than those described in the figure below, see the
description of individual safety FB.
Labels
■Input labels
Use safety data for connecting the variable whose data type is "bit*" to input-output circuits.
No. Name Data type Default value Description and variable value
(1) i_bActivate Bit OFF Activation of the safety FB. Default value is OFF.
OFF: All output variables are set to the default values.
ON: The safety FB is active.
For details, see the following.
Page 11 Whether safety FBs are active or not
(2) i_bS_In Safety input signals to the safety FB.
For details on each name, data type, default value, specification, and function, see the
individual safety FB.
(3) i_bS_StartReset Bit* OFF Selection of a reset method for the activated (first time) safety FB.
OFF (= default value): Manual reset when the safety FB is activated.
ON: Automatic reset when the safety FB is activated.
For details on the function, see the following.
Page 11 Reset selection
(4) i_bS_AutoReset Bit* OFF Selection of a reset method for an input signal (i_bS_In) reset to ON.
OFF (= default value): Manual reset when an emergency stop button is released.
ON: Automatic reset when an emergency stop button is released.
For details on the function, see the following.
Page 11 Reset selection
(5) i_bReset Bit OFF Reset input. (This function is only active on a signal change from OFF to ON. This input
can be used for different purposes.)
• Reset of the error that occurred in the safety FB.
• Manual reset in setting i_bS_StartReset and i_bS_AutoReset to OFF.
• Additional safety FB-specific reset functions.
For details on the function, see the following.
Page 11 Securing of input signal Reset
o_bS_Out: BB: i_bS_In
B: i_bReset
M+SF_¨¨_R
B: i_bActivate o_bReady: B
B: i_bS_StartReset o_bError: B
B: i_bS_AutoReset o_wDiagCode: W
(1) (6)
(2) (7)
(3) (8)
(4) (9)
(5)
WARNING

10 2 GENERAL SPECIFICATIONS
2.2 Common Specifications
■Output labels
No. Name Data type Default value Description and variable value
(6) o_bReady Bit OFF Status of whether the safety FB is activated or not.
OFF: The safety FB is not activated.
ON: The safety FB is activated.
For details on the function, see the following.
Page 11 Whether safety FBs are active or not
(7) o_bS_Out Safety output signals from the safety FB.
For details on each name, data type, default value, specification, and function, see the
individual safety FB.
(8) o_bError Bit OFF Error flag.
OFF: Indicates that an error has not occurred and the safety FB is in another state.
ON: Indicates that an error has occurred and the safety FB is in an error state.
For details on the function, see the following.
Page 11 Safety FB status check
(9) o_wDiagCode Word [signed] 0 Diagnostic code. (An error code or status code is indicated in hexadecimal.)
When an error occurs (o_bError=ON): Indicates an error code.
When no error occurs (o_bError=OFF): Indicates an status code.
For details on the function, see the following.
Page 11 Safety FB status check

2 GENERAL SPECIFICATIONS
2.3 General Functions 11
2
2.3 General Functions
Whether safety FBs are active or not
Input signal, i_bActivate, sets whether to activate a safety FB or not. In addition, whether the safety FB is active or not can be
checked with output signal, o_bReady. If i_bActivate is OFF, all values of the output signals are set to the default values.
Inputting the signal of the safety refresh communication status for CC-Link IE Field Network inactivates the safety FB when an
error occurs in the safety station and then prevents unnecessary signals from outputting.
Reset selection
A reset method of safety FBs can be selected from i_bS_StartReset (after safety FBs are activated) and i_bS_AutoReset
(after safety inputs are restored).
■Manual reset
In this method, a safety output signal is not set to ON immediately even though safety input signals are correctly set. By
changing i_bReset safety input signal from OFF to ON while the safety input signals are correctly set, the safety output signal
is set to ON.
■Automatic reset
In this method, a safety output signal is immediately set to ON when safety input signals are correctly set.
Securing of input signal Reset
To prevent a machine startup in the event of switch failures (contact welding, damaged springs), the safety FB can only be
activated when Reset input signal is set to ON. If Reset remains ON without detecting that it is set to ON, the safety FB
detects an error.
Safety FB status check
The current status of safety FBs can be checked with output signal, o_wDiagCode (hexadecimal number). If an error occurs in
the safety FB, o_bError output signal is set to ON and an error code is output to o_wDiagCode. If more than one error occurs,
only the error code corresponding to the error detected at first is output. If an error does not occur in the safety FB, o_bError
output signal is OFF and a status code is output to o_wDiagCode.
The automatic reset can only be activated if it is ensured that no hazard can occur when a safety FB is activated (with i_bS_StartReset input) or a safety input
is set (with i_bS_AutoReset input). (Also, the manual reset switched from the automatic reset or the automatic reset switched from the manual reset can be
activated.)
Therefore, the use of automatic reset requires implementation of other systems or application measures to ensure that unexpected (or unintended) startup
does not occur.
Take action against error messages and perform reset operations properly.
WARNING
WARNING

12 2 GENERAL SPECIFICATIONS
2.4 Generic State Diagram
2.4 Generic State Diagram
The safety FB state transitions according to the state diagram described in the safety FB specifications. However, a program
operation is suspended while the operation status of the CPU module is in STOP or PAUSE. Consequently, the state
transition does not occur. The following shows how to read the state diagram.
2.5 How to Register the Safety FB Library to a Project
For details, refer to the following.
GX Works3 Operating Manual
2.6 Copying and Pasting a Ladder containing a Safety
FB
A program containing a safety FB cannot be selected to copy/paste on the navigation window. Select a ladder block and copy/
paste it.
Basic way to read the state diagram
• The state name and diagnostic code are indicated in the circle.
The state name is "Idle", and the diagnosis code is "0000H".
• The arrows connecting two circles indicate the direction of the state transition. Also, the transition conditions are described near the arrows. When there are
multiple transition destination states, the circled numbers indicate the transition priority when multiple transition conditions are satisfied simultaneously. (0 is
the highest priority.)
There are three transition destination states from the Run state depending on the condition. The transition priority is in the following order: 8000H →0000H,
8000H →C001H, and 8000H →8001H.
• If i_bActivate input signal is set to OFF, any state transitions to the Idle state.
• Meaning of transition state symbols
⋅AND, OR, XOR, and NOT: Logical operators
⋅R_TRIG at signal: The signal is changed from OFF to ON
⋅F_TRIG at signal: The signal is changed from ON to OFF
• Variable name with no ON/OFF specification on the state diagram indicates that the variable is ON.
Idle
0000H
Init
8001H
0
Run
8000H
1
i_bActivate=ON
2
1
1
2
Error 1
C001H
1
Start
0
0
0i_bActivate=OFF
i_bActivate
=OFF
i_bActivate
=OFF
i_bActivate
=OFF
i_bS_In=ON AND
(R_TRIG at
i_bReset)=ON
i_bS_In
=OFF
o_bError
o_bError
i_bReset
o_bReady=OFF
o_bReady=ON
o_bS_Out=OFF
o_bS_Out=ON
0
Safety FB state
(1) Safety FBs are not active.
(2) Safety outputs are OFF.
Safety FB state
(1) Safety FBs are active.
(2) Safety outputs are OFF.
Safety FB state
(1) Safety FBs are active.
(2) Safety outputs are ON.
Basic states in each area and conditions of
state transition
State transition from a
non-active FB to an active FB
State transition of safety output
from OFF to ON
Generic state diagram
Idle
0000H
Run
8000H
1
2
0

3 PRECAUTIONS
3.1 Precautions for System Design 13
3
3PRECAUTIONS
3.1 Precautions for System Design
Validation for the overall system
Please note that you must carry out a validation every time you make a safety-related modification to your overall system.
Check the following;
• The safety devices are connected to the correct safety sensors and actuators in your safety application.
• The safety remote I/O modules and safety input/output devices have been parameterized correctly.
• The variables have been linked to the safety sensors and actuators correctly (single channel or dual channel).
• Line control (short-circuit and cable break monitoring) is implemented in your application if it is required in your application.
• Variables of the safety FB are connected to proper data.
Error and DiagCode
The safety FB has an internal state, which transitions depending on a change in the input signal. The value for this state is
output as a DiagCode (o_wDiagCode). When an error is detected in the safety FB, the error flag (o_bError) is set to ON. If
error information for the safety FB is required for your application, use these values for programming.
3.2 Precautions for Management
Project data management
Manage and operate the project data properly. A system manager has to back up the project and save the backup data so
that the data restoration is always possible.

14 3 PRECAUTIONS
3.2 Precautions for Management
MEMO

4 SAFETY FB SPECIFICATIONS
4.1 M+SF_2HAND2_R 15
4
4SAFETY FB SPECIFICATIONS
4.1 M+SF_2HAND2_R
Overview
Labels
■Input labels
■Output labels
FB details
This FB provides the two-hand control functionality according to ISO13851, Section 4 Type . If i_bS_Button1 and
i_bS_Button2 are set to ON in correct sequence, then o_bS_TwoHand_Out output will also be set to ON. The FB also controls
the release of both buttons before setting output o_bS_TwoHand_Out again to ON.
Item Description
Function name Two-hand switch Type 
Functional overview This FB provides the two-hand control functionality (see ISO13851, Type ).
Symbol
No. Variable name Data type Default value Description
(1) i_bActivate Bit OFF Activation of the safety FB.
For details, see the following.
Page 11 General Functions
(2) i_bS_Button1 Bit* OFF Input of button 1 (for category 3 or 4: two antivalent contacts)
OFF: Button 1 released.
ON: Button 1 actuated.
(3) i_bS_Button2 Bit* OFF Input of button 2 (for category 3 or 4: two antivalent contacts)
OFF: Button 2 released.
ON: Button 2 actuated.
No. Variable name Data type Default value Description
(4) o_bReady Bit OFF Status of whether the safety FB is activated or not.
For details, see the following.
Page 11 General Functions
(5) o_bS_TwoHand_Out Bit* OFF Safety output signal.
OFF: No correct two-hand operation.
ON: i_bS_Button1 and i_bS_Button2 inputs are ON and no error occurred. Correct
two-hand operation.
(6) o_bError Bit OFF Error flag.
For details, see the following.
Page 11 General Functions
(7) o_wDiagCode Word [signed] 0 Diagnostic code.
For details, see the following.
Page 11 General Functions
Use safety data for connecting the variable whose data type is "Bit*" to input-output circuits.
o_bS_TwoHand_Out: BB: i_bS_Button1
B: i_bActivate o_bReady: B
B: i_bS_Button2 o_bError: B
o_wDiagCode: W
(1) (4)
(2) (5)
(3) (6)
(7)
M+SF_2HAND2_R
WARNING

16 4 SAFETY FB SPECIFICATIONS
4.1 M+SF_2HAND2_R
State diagram
State transition of M+SF_2HAND2_R
Note: The transition from any state to the Idle state due to i_bActivate=OFF is not shown. However these transitions have the highest priority (0).
0
i_bActivate=OFF
Idle
0000H
i_bActivate=ON o_bReady=OFF
o_bReady=ON
B1=ON OR
B2=ON
Error
C001H B1
C002H B2
C003H B1&B2
1
1
Init
8001H
B1=OFF AND
B2=OFF
B1=OFF AND
B2=OFF
B2=ON
B1=OFF AND
B2=OFF
2
B1=OFF AND
B2=OFF
B1=OFF AND
B2=OFF
Buttons
Released
8004H
B1=OFF AND
B2=OFF
2
1
3
1
3
B1=ON AND B2=ON
1
3
1
1
2
2
2
12
3
3
2
2
Locked Off
8009H
Button 1
Released
8008H
Button 2
Released
8007H
Locked On
8019H
Button 1
Actuated
8005H
3
1Buttons
Actuated
8000H
3
Button 2
Actuated
8006H
1
B1=i_bS_Button1
B2=i_bS_Button2
o_bS_TwoHand_Out=ON
o_bS_TwoHand_Out=OFF
B1=OFF AND
B2=ON
B1=ON AND
B2=OFF
B1=ON AND
B2=OFF
B1=ON
B1=OFF AND
B2=OFF
B1=OFF AND
B2=OFF
B1=ON DNA B2=OFF
B1=ON AND B2=ON
B1=OFF AND
B2=ON
B1=OFF AND B2=ON
B1=OFF AND B2=ON
B1=ON AND B2=OFF
B1=OFF AND B2=OFF
B1=ON AND B2=ON
B1=ON AND B2=ON
B1=ON AND B2=ON
1

4 SAFETY FB SPECIFICATIONS
4.1 M+SF_2HAND2_R 17
4
Typical timing diagram
■For M+SF_2HAND2_R
Error behavior
In the event of an error, the output signals behave as listed below.
For the corrective actions, see the following.
Page 17 List of error codes
List of error codes
List of status codes (no error)
Output signal Status
o_bReady ON
o_bS_TwoHand_Out OFF
o_bError ON
o_wDiagCode
(Hexadecimal)
State name Description, output setting Action
C001H Error 1 B1 i_bS_Button1 was ON on FB activation. Release i_bS_Button1 and i_bS_Button2.
C002H Error 1 B2 i_bS_Button2 was ON on FB activation.
C003H Error 1 B1&B2 The signals at i_bS_Button1 and i_bS_Button2 were ON on FB
activation.
o_wDiagCode
(Hexadecimal)
State name Description, output setting Action
0000H Idle The FB is not active. (Initial state)
• o_bReady: OFF
• o_bS_TwoHand_Out: OFF
• o_bError: OFF
Initialize the FB by setting i_bActivate to
ON.
8000H Buttons Actuated The both buttons actuated correctly. The safety output is enabled.
• o_bReady: ON
• o_bS_TwoHand_Out: ON
• o_bError: OFF
None.
8001H Init The FB is active, but in the Init state.
• o_bReady: ON
• o_bS_TwoHand_Out: OFF
• o_bError: OFF
Actuate i_bS_Button1 or i_bS_Button2.
8004H Buttons Released No button is actuated.
• o_bReady: ON
• o_bS_TwoHand_Out: OFF
• o_bError: OFF
Actuate i_bS_Button1 or i_bS_Button2.
i_bActivate
i_bS_Button1
i_bS_Button2
o_bReady
o_bS_TwoHand_Out
o_bError
o_wDiagCode 0000H C003H 8004H 8005H 8019H 8004H 8006H 8000H 8008H 8009H 8007H 8004H 8006H 8000H

18 4 SAFETY FB SPECIFICATIONS
4.1 M+SF_2HAND2_R
8005H Button 1 Actuated Only Button 1 is actuated.
• o_bReady: ON
• o_bS_TwoHand_Out: OFF
• o_bError: OFF
Release i_bS_Button1, or actuate
i_bS_Button2.
8006H Button 2 Actuated Only Button 2 is actuated.
• o_bReady: ON
• o_bS_TwoHand_Out: OFF
• o_bError: OFF
Release i_bS_Button2, or actuate
i_bS_Button1.
8007H Button 2 Released The safety output was enabled and is disabled again.
i_bS_Button1 is ON and i_bS_Button2 is OFF after disabling the
safety output.
• o_bReady: ON
• o_bS_TwoHand_Out: OFF
• o_bError: OFF
Release i_bS_Button1.
8008H Button 1 Released The safety output was enabled and is disabled again.
i_bS_Button1 is OFF and i_bS_Button2 is ON after disabling the
safety output.
• o_bReady: ON
• o_bS_TwoHand_Out: OFF
• o_bError: OFF
Release i_bS_Button2.
8009H Locked Off The safety output was enabled and is disabled again.
i_bS_Button1 is ON and i_bS_Button2 is also ON after disabling
the safety output.
• o_bReady: ON
• o_bS_TwoHand_Out: OFF
• o_bError: OFF
Release i_bS_Button1 and i_bS_Button2.
8019H Locked On Incorrect actuation of the buttons. Waiting for release of both
buttons.
• o_bReady: ON
• o_bS_TwoHand_Out: OFF
• o_bError: OFF
Please do the above actions when the FB detects an error or is in an unexpected state. However, when the situation is still not corrected, please check the
following.
• A failure in safety devices and emergency stop devices
• Wiring and status of a safety remote I/O module and a safety programmable controller
• Programming logic, the memory allocation of safety devices, and the connections of safety FB variables
o_wDiagCode
(Hexadecimal)
State name Description, output setting Action
WARNING