Mitsubishi Electric MR-D30 User manual

SH (NA) 030132-B (1501) MEE Printed in Japan Specifications are subject to change without notice.
This Instruction Manual uses recycled paper.
MODEL
MODEL
CODE
General-Purpose AC Servo
MR-D30 INSTRUCTION MANUAL
HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310
1CW817
MR-D30 INSTRUCTIONMANUAL
Functional safety unit
MODEL
MR-D30
INSTRUCTION MANUAL
B
B

A - 1
Safety Instructions
Please read the instructions carefully before using the equipment.
To use the equipment correctly, do not attempt to install, operate, maintain, or inspect the equipment until
you have read through this Instruction Manual, Installation guide, and appended documents carefully. Do not
use the equipment until you have a full knowledge of the equipment, safety information and instructions.
In this Instruction Manual, the safety instruction levels are classified into "WARNING" and "CAUTION".
WARNING Indicates that incorrect handling may cause hazardous conditions,
resulting in death or severe injury.
CAUTION Indicates that incorrect handling may cause hazardous conditions,
resulting in medium or slight injury to personnel or may cause physical
damage.
Note that the CAUTION level may lead to a serious consequence according to conditions.
Please follow the instructions of both levels because they are important to personnel safety.
What must not be done and what must be done are indicated by the following diagrammatic symbols.
Indicates what must not be done. For example, "No Fire" is indicated by .
Indicates what must be done. For example, grounding is indicated by .
In this Instruction Manual, instructions at a lower level than the above, instructions for other functions, and so
on are classified into "POINT".
After reading this Instruction Manual, keep it accessible to the operator.

A - 2
1. To prevent electric shock, note the following
WARNING
Before wiring or inspection, turn off the power and wait for 15 minutes or more until the charge lamp
turns off. Then, confirm that the voltage between P+ and N- is safe with a voltage tester and others.
Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or
not, always confirm it from the front of the servo amplifier.
Ground the servo amplifier and servo motor securely.
Any person who is involved in wiring and inspection should be fully competent to do the work.
Do not attempt to wire the servo amplifier and servo motor until they have been installed. Otherwise, it
may cause an electric shock.
Do not operate switches with wet hands. Otherwise, it may cause an electric shock.
The cables should not be damaged, stressed, loaded, or pinched. Otherwise, it may cause an electric
shock.
During power-on or operation, do not open the front cover of the servo amplifier. Otherwise, it may cause
an electric shock.
Do not operate the servo amplifier with the front cover removed. High-voltage terminals and charging
area are exposed and you may get an electric shock.
Except for wiring and periodic inspection, do not remove the front cover of the servo amplifier even if the
power is off. The servo amplifier is charged and you may get an electric shock.
To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) of the servo
amplifier to the protective earth (PE) of the cabinet.
To avoid an electric shock, insulate the connections of the power supply terminals.
2. To prevent fire, note the following
CAUTION
Install the servo amplifier, servo motor, and regenerative resistor on incombustible material. Installing
them directly or close to combustibles will lead to smoke or a fire.
Always connect a magnetic contactor between the power supply and the main circuit power supply (L1,
L2, and L3) of the servo amplifier, in order to configure a circuit that shuts down the power supply on the
side of the servo amplifier’s power supply. If a magnetic contactor is not connected, continuous flow of a
large current may cause smoke or a fire when the converter unit or servo amplifier malfunctions.
Always connect a molded-case circuit breaker, or a fuse to each servo amplifier between the power
supply and the main circuit power supply (L1, L2, and L3) of the servo amplifier, in order to configure a
circuit that shuts down the power supply on the side of the servo amplifier’s power supply. If a molded-
case circuit breaker or fuse is not connected, continuous flow of a large current may cause smoke or a
fire when the servo amplifier malfunctions.
When using the regenerative resistor, switch power off with the alarm signal. Otherwise, a regenerative
transistor malfunction or the like may overheat the regenerative resistor, causing smoke or a fire.
Provide adequate protection to prevent screws and other conductive matter, oil and other combustible
matter from entering the servo amplifier, servo motor, and MR-D30.

A - 3
3. To prevent injury, note the following
CAUTION
Only the voltage specified in the Instruction Manual should be applied to each terminal. Otherwise, a
burst, damage, etc. may occur.
Connect cables to the correct terminals. Otherwise, a burst, damage, etc. may occur.
Ensure that polarity (+/-) is correct. Otherwise, a burst, damage, etc. may occur.
The servo amplifier heat sink, regenerative resistor, servo motor, etc. may be hot while power is on or for
some time after power-off. Take safety measures, e.g. provide covers, to avoid accidentally touching the
parts (cables, etc.) by hand.
4. Additional instructions
The following instructions should also be fully noted. Incorrect handling may cause a malfunction, injury,
electric shock, fire, etc.
(1) Transportation and installation
CAUTION
Transport the products correctly according to their mass.
Stacking in excess of the specified number of product packages is not allowed.
Do not hold the front cover when transporting the servo amplifier. Otherwise, it may drop.
Install the servo amplifier and the servo motor in a load-bearing place in accordance with the Instruction
Manual.
Do not get on or put heavy load on the equipment.
The equipment must be installed in the specified direction.
Leave specified clearances between the servo amplifier and the cabinet walls or other equipment.
Do not install or operate the servo amplifier and MR-D30 which have been damaged or have any parts
missing.
Do not block the intake and exhaust areas of the servo amplifier and MR-D30. Otherwise, it may cause a
malfunction.
Do not drop or strike the servo amplifier, servo motor, and MR-D30. Isolate them from all impact loads.
When you keep or use the equipment, please fulfill the following environment.
Item Environment
Ambient
temperature
Operation 0 ˚C to 55 ˚C (non-freezing)
Storage -20 ˚C to 65 ˚C (non-freezing)
Ambient
humidity
Operation 90 %RH or less (non-condensing)
Storage
Ambience Indoors (no direct sunlight), free from corrosive gas, flammable gas, oil mist, dust, and dirt
Altitude 1000 m or less above sea level
Vibration resistance 5.9 m/s2, at 10 Hz to 55 Hz (directions of X, Y and Z axes)
When the product has been stored for an extended period of time, contact your local sales office.
When handling the servo amplifier and MR-D30, be careful about the edged parts such as corners of
them.

A - 4
CAUTION
The servo amplifier and MR-D30 must be installed in a metal cabinet.
When fumigants that contain halogen materials such as fluorine, chlorine, bromine, and iodine are used
for disinfecting and protecting wooden packaging from insects, they cause malfunction when entering our
products. Please take necessary precautions to ensure that remaining materials from fumigant do not
enter our products, or treat packaging with methods other than fumigation (heat method). Additionally,
disinfect and protect wood from insects before packing products.
(2) Wiring
CAUTION
Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly.
Do not install a power capacitor, surge killer, or radio noise filter (optional FR-BIF-(H)) on the servo
amplifier output side.
To avoid a malfunction, connect the wires to the correct phase terminals (U, V, and W) of the servo
amplifier and servo motor.
Connect the servo amplifier power output (U, V, and W) to the servo motor power input (U, V, and W)
directly. Do not let a magnetic contactor, etc. intervene. Otherwise, it may cause a malfunction.
U
Servo motor
M
V
W
U
V
W
U
M
V
W
U
V
W
Servo amplifier Servo motorServo amplifier
The surge absorbing diode installed to the DC relay for control output signals should be fitted in the
specified direction. Otherwise, the emergency stop and other protective circuits may not operate.
DO4NB
DO4PB
24 V DC
MR-D30
RA
For sink output interface
DO24VA/
DO24VB/
DO4PA
Control
output signal
24 V DC
MR-D30
RA
For source output interface
When the cable is not tightened enough to the terminal block, the cable or terminal block may generate
heat because of the poor contact. Be sure to tighten the cable with specified torque.
Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the servo amplifier may cause a
malfunction.
(3) Test run and adjustment
CAUTION
Before operation, check the parameter settings. Improper settings may cause some machines to operate
unexpectedly.
Never make a drastic adjustment or change to the parameter values as doing so will make the operation
unstable.
Do not get close to moving parts during the servo-on status.

A - 5
(4) Usage
CAUTION
When it is assumed that a hazardous condition may occur due to a power failure or product malfunction,
use a servo motor with an external brake to prevent the condition.
Do not disassemble, repair, or modify the equipment.
Before resetting an alarm, make sure that the run signal of the servo amplifier is off in order to prevent a
sudden restart. Otherwise, it may cause an accident.
Use a noise filter, etc. to minimize the influence of electromagnetic interference. Electromagnetic
interference may be given to the electronic equipment used near the servo amplifier.
Burning or breaking a servo amplifier may cause a toxic gas. Do not burn or break it.
Use the servo amplifier with the specified servo motor.
The electromagnetic brake on the servo motor is designed to hold the motor shaft and should not be
used for ordinary braking.
For such reasons as service life and mechanical structure (e.g. where a ball screw and the servo motor
are coupled via a timing belt), the electromagnetic brake may not hold the motor shaft. To ensure safety,
install a stopper on the machine side.
(5) Corrective actions
CAUTION
When it is assumed that a hazardous condition may occur due to a power failure or product malfunction,
use a servo motor with an electromagnetic brake or external brake to prevent the condition.
Configure an electromagnetic brake circuit so that it is activated also by an external EMG stop switch.
Servo motor
Electro-
magnetic
brake
BU
RA
Contacts must be opened with the EMG stop switch.Contacts must be opened when ALM (Malfunction)
or SBCS (SBC output) turns off.
24 V DC
When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before
restarting operation.
Provide an adequate protection to prevent unexpected restart after an instantaneous power failure.

A - 6
(6) Maintenance, inspection and parts replacement
CAUTION
With age, the electrolytic capacitor of the servo amplifier will deteriorate. To prevent a secondary
accident due to a malfunction, it is recommended that the electrolytic capacitor be replaced every 10
years when it is used in general environment. Please contact your local sales office.
When using a servo amplifier whose power has not been turned on for a long time, contact your local
sales office.
Do not touch the Iead sections such as ICs or the connector contacts.
Do not place the unit on metal that may cause a power leakage or wood, plastic or vinyl that may cause
static electricity buildup.
The parameters of MR-D30 are protected by passwords to prevent incorrect settings. The parameters of
MR-D30 which are returned for fixing/investigation will be initialized. The parameters and other settings
need to be set again.
(7) General instruction
To illustrate details, the equipment in the diagrams of this Instruction Manual may have been drawn
without covers and safety guards. When the equipment is operated, the covers and safety guards must
be installed as specified. Operation must be performed in accordance with this Instruction Manual.
(8) Conditions of use for the product
MR-D30 complies with a safety standard, but this fact does not guarantee that MR-D30 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. Our
company is not liable for damages that could have been prevented by compliance with any applicable
safety standard, regulation or law.
Our company prohibits the use of Products with or in any application involving, and we 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.
(1) Power plants
(2) Trains, railway systems, airplanes, airline operations, and other transportation systems
(3) Hospitals, medical care, dialysis and life support facilities or equipment
(4) Amusement equipment
(5) Incineration and fuel devices
(6) Handling of nuclear or hazardous materials or chemicals
(7) Mining and drilling
(8) Other applications where the level of risk to human life, health or property are elevated.

A - 7
DISPOSAL OF WASTE
Please dispose a servo amplifier, battery (primary battery) and other options according to your local laws and
regulations.
EEP-ROM life
The number of write times to the EEP-ROM, which stores parameter settings, etc., is limited to 100,000. If
the total number of the following operations exceeds 100,000, MR-D30 may malfunction when the EEP-ROM
reaches the end of its useful life.
Write to the EEP-ROM due to parameter setting changes
Write to the EEP-ROM due to device changes
«About the manual»
You must have this Instruction Manual and the following manuals to use this servo. Ensure to prepare
them to use the servo safely.
Relevant manuals
Manual name Manual No.
MELSERVO-J4 MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual (Note 5) SH(NA)030106
MELSERVO-J4 MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual (Note 6) SH(NA)030107
MR-J4 Servo Amplifier Instruction Manual (Troubleshooting) SH(NA)030109
MELSERVO Servo Motor Instruction Manual (Vol. 3) (Note 1) SH(NA)030113
MELSERVO Linear Servo Motor Instruction Manual (Note 2) SH(NA)030110
MELSERVO Direct Drive Motor Instruction Manual (Note 3) SH(NA)030112
MELSERVO Linear Encoder Instruction Manual (Note 2, 4) SH(NA)030111
EMC Installation Guidelines IB(NA)67310
Note 1. It is necessary for using a rotary servo motor.
2. It is necessary for using a linear servo motor.
3. It is necessary for using a direct drive motor.
4. It is necessary for using a fully closed loop system.
5. It is necessary for using an MR-J4-_B_(-RJ) servo amplifier.
6. It is necessary for using an MR-J4-_A_(-RJ) servo amplifier.
«Cables used for wiring»
Wires mentioned in this Instruction Manual are selected based on the ambient temperature of 40 ˚C.

A - 8
MEMO

1
CONTENTS
1. FUNCTIONS AND CONFIGURATION 1- 1 to 1-18
1.1 Summary........................................................................................................................................... 1- 1
1.2 Outline of safety observation function .............................................................................................. 1- 2
1.3 Function block diagram..................................................................................................................... 1- 4
1.3.1 MR-J4-_B_-RJ ........................................................................................................................... 1- 4
1.3.2 MR-J4-_A_-RJ ........................................................................................................................... 1- 6
1.4 System configuration ........................................................................................................................ 1- 7
1.4.1 MR-J4-_B_-RJ ........................................................................................................................... 1- 7
1.4.2 MR-J4-_A_-RJ ........................................................................................................................... 1- 9
1.5 Standard specifications.................................................................................................................... 1-10
1.6 Function list...................................................................................................................................... 1-12
1.7 Combinations with servo amplifiers and servo motors .................................................................... 1-12
1.8 Rating plate...................................................................................................................................... 1-15
1.9 Risk assessments............................................................................................................................ 1-16
1.9.1 Common residual risks in each function ................................................................................... 1-16
1.9.2 Residual risks in each function ................................................................................................. 1-17
2. INSTALLATION 2- 1 to 2- 8
2.1 Installation direction and clearances ................................................................................................ 2- 2
2.2 Keep out foreign materials................................................................................................................ 2- 4
2.3 Inspection items................................................................................................................................ 2- 4
2.4 Parts having service lives ................................................................................................................. 2- 4
2.5 Maintenance ..................................................................................................................................... 2- 4
2.6 Installation and removal of MR-D30 ................................................................................................. 2- 5
3. SIGNALS AND WIRING 3- 1 to 3-20
3.1 Connectors and pin assignment ....................................................................................................... 3- 3
3.2 I/O signal connection example.......................................................................................................... 3- 4
3.2.1 Input signal ................................................................................................................................. 3- 4
3.2.2 Output signal .............................................................................................................................. 3- 5
3.3 Connection of I/O interface ............................................................................................................... 3- 6
3.3.1 Source output............................................................................................................................. 3- 6
3.3.2 Sink input.................................................................................................................................... 3- 7
3.3.3 DO1_ to DO3_ source output .................................................................................................... 3- 9
3.3.4 DO4NA source output and DO4NB sink output......................................................................... 3- 9
3.4 Wiring for SBC output ...................................................................................................................... 3-10
3.5 Noise reduction techniques ............................................................................................................. 3-11
3.6 Signal explanations.......................................................................................................................... 3-13
3.6.1 Input device ............................................................................................................................... 3-13
3.6.2 Output device ............................................................................................................................ 3-14
3.6.3 Power supply............................................................................................................................. 3-15
3.7 Wiring method of CN10A/CN10B connectors.................................................................................. 3-16
3.8 Connection example with other devices .......................................................................................... 3-17
3.8.1 MR-J4-_B_-RJ .......................................................................................................................... 3-17
3.8.2 MR-J4-_A_-RJ .......................................................................................................................... 3-19
3.9 Power-on sequence......................................................................................................................... 3-20

2
4. SAFETY OBSERVATION FUNCTION 4- 1 to 4-40
4.1 Safety observation function specification ......................................................................................... 4- 2
4.2 Safety diagnosis function list ............................................................................................................ 4- 3
4.3 Startup .............................................................................................................................................. 4- 4
4.3.1 Switching power on for the first time .......................................................................................... 4- 4
4.3.2 Parameter................................................................................................................................... 4- 5
4.3.3 Mandatory parameters to be set ................................................................................................ 4- 6
4.3.4 Test operation ............................................................................................................................ 4- 6
4.3.5 Unit replacement ........................................................................................................................ 4- 7
4.4 I/O function........................................................................................................................................ 4- 7
4.4.1 Input device ................................................................................................................................ 4- 7
4.4.2 Output device ............................................................................................................................ 4-16
4.4.3 Using a drive safety integrated motion controller...................................................................... 4-19
4.4.4 Servo motor with functional safety ............................................................................................ 4-19
4.4.5 Position feedback fixing diagnosis function .............................................................................. 4-20
4.5 Safety observation function ............................................................................................................. 4-21
4.5.1 STO function ............................................................................................................................. 4-21
4.5.2 SS1 function .............................................................................................................................. 4-23
4.5.3 SS2/SOS function ..................................................................................................................... 4-27
4.5.4 SLS function .............................................................................................................................. 4-31
4.5.5 SSM function ............................................................................................................................. 4-34
4.5.6 SBC function ............................................................................................................................. 4-35
4.5.7 Status monitor (SM) function..................................................................................................... 4-36
4.5.8 Multiple inputs of safety observation functional operation commands ..................................... 4-36
4.5.9 Simultaneous operation of STO and SS1 functions ................................................................. 4-37
4.5.10 At alarm occurrence................................................................................................................ 4-37
5. PARAMETERS 5- 1 to 5-20
5.1 Parameter list.................................................................................................................................... 5- 1
5.1.1 Safety observation function parameters 1 ([Pr. PSA_ _ ])......................................................... 5- 2
5.1.2 SSCNET III/H parameters ([Pr. PSC_ _ ]) ................................................................................. 5- 3
5.1.3 Safety I/O device parameters ([Pr. PSD_ _ ]) ............................................................................ 5- 5
5.2 Detailed list of parameters ................................................................................................................ 5- 7
5.2.1 Safety observation function parameters 1 ([Pr. PSA_ _ ])......................................................... 5- 7
5.2.2 SSCNET III/H parameters ([Pr. PSC_ _ ]) ................................................................................ 5-10
5.2.3 Safety I/O device parameters ([Pr. PSD_ _ ]) ........................................................................... 5-12
6. DISPLAY 6- 1 to 6- 2
7. TROUBLESHOOTING 7- 1 to 7- 4
7.1 Alarm and warning list ...................................................................................................................... 7- 1
8. DIMENSIONS 8- 1 to 8- 2
8.1 MR-D30 functional safety unit........................................................................................................... 8- 1
8.2 When an MR-D30 is mounted on a servo amplifier.......................................................................... 8- 2

3
APPENDIX App. - 1 to App. - 2
App. 1 EC declaration of conformity.................................................................................................App.- 1

4
MEMO

1. FUNCTIONS AND CONFIGURATION
1 - 1
1. FUNCTIONS AND CONFIGURATION
1.1 Summary
POINT
If the combination of MR-D30 and servo amplifier is wrong, "ERROR" will turn
on.
This instruction manual only describes the functions of MR-D30. Refer to "MR-J4-_B_(-RJ) Servo Amplifier
Instruction Manual" or "MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual" for functions of the servo
amplifier you use.
You can extend the safety observation function by using MR-D30 with the MR-J4-_B_-RJ servo amplifier or
MR-J4-_A_-RJ servo amplifier. However, which extension you can use depends on software version. The
safety observation function cannot be used other than the following combinations. "ERROR" on the MR-D30
display will turn on with other combinations.
MR-D30
software version
Servo amplifier
software version
Safety observation function
(IEC/EN 61800-5-2)
Servo motor
with functional
safety
Servo amplifier
A0 B3/B4 STO/SS1/SBC/SLS/SSM Not compatible MR-J4-_B_-RJ
B5 or later STO/SS1/SBC/SLS/SSM Not compatible MR-J4-_B_-RJ
A1
B3/B4 STO/SS1/SBC/SLS/SSM Not compatible MR-J4-_B_-RJ
B5 or later STO/SS1/SBC/SLS/SSM/SOS/SS2 Compatible
MR-J4-_B_-RJ
MR-J4-_A_-RJ
(Note)
Note. MR-J4-_A_-RJ manufactured in November, 2014 or later is supported.
The following shows characteristics of functions.
(1) Use of safety observation function with wiring to MR-D30
By combination of MR-D30 functional safety unit, MR-J4-_-RJ servo amplifier, and servo motor with
functional safety, the safety observation function (STO/SS1/SBC/SLS/SSM/SOS/SS2) which compatible
with Category 4, PL e, SIL 3 can be used. When a servo motor with functional safety is not used, the
SOS/SS2 functions are not available. The SLS/SSM functions are compatible with Category 3, PL d, SIL
2.
(2) Use of the safety observation function using the drive safety integrated motion controller through
SSCNET III/H
By using safety integrated motion controller to control the safety observation function, the amplifier
complies with Category 3, PL d, SIL 2 (STO/SS1/SBC/SLS/SSM). (Refer to table 1.1.)
By using parameter of MR-D30 to control the safety observation function, the amplifier complies with
Category 3, PL d, SIL 2 (STO/SS1/SBC/SLS/SSM). (Refer to table 1.1.)

1. FUNCTIONS AND CONFIGURATION
1 - 2
Table 1.1 Compatibility of safety observation function
Safety observation function with
wiring to MR-D30
Safety observation function through
SSCNET III/H
Compatible controller
Servo system controller
Q173DSCPU
Q172DSCPU
Q170MSCPU
QD77MS
LD77MS
General-purpose interface
Drive safety integrated motion
controller
Q173DSCPU
Q172DSCPU
+
Safety signal module
Q173DSXY
STO
Category 4, PL e, SIL 3 (Note 1)
SS1
SBC Category 3, PL d, SIL 2
SLS (Note 2) Category 3, PL d, SIL 2
Category 4, PL e, SIL 3 (Note 3)
SSM (Note 2)
SS2 (Note 4) Category 4, PL e, SIL 3 (Note 1)
SOS (Note 4)
Note 1. To meet Category 4, PL e, SIL 3, an input diagnosis using test pulses is required.
2. Linear servo system, direct drive servo system, and fully closed loop system are not
compatible with SLS, SSM, SS2, and SOS.
3. To meet Category 4, PL e, SIL 3, a servo motor with functional safety is required.
4. To enable SS2 and SOS, a servo motor with functional safety is required.
1.2 Outline of safety observation function
The following functions can be used by MR-D30 functional safety unit.
(1) STO (Safe torque off)
Shuts off servo motor drive energy electronically with based on an input signal from an external device
(secondary-side output shut-off). This corresponds to stop category 0 of IEC 60204-1.
(2) SS1 (Safe stop 1)
Starts deceleration based on an input signal from an external device (EM2). After a specified time for the
check of stop, the STO function will be activated (SS1). This corresponds to stop category 1 of IEC
60204-1.
(3) SS2 (Safe stop 2)
Starts deceleration based on an input signal from an external device (EM2). After a specified time for the
check of stop, the SOS function will be activated (SS2). This corresponds to stop category 2 of IEC
60204-1.
(4) SOS (Safe operating stop)
This is a function to monitor whether the servo motor stops within the prescribed range for the stop
position. The power is supplied to the servo motor.
(5) SLS (Safely-limited speed)
This is a function to observe whether the speed is within a regulated speed limit value. When the speed
is over a specified speed, energy will be shut off by STO.
(6) SSM (Safe speed monitor)
Outputs a signal when the servo motor speed is within a regulated speed.

1. FUNCTIONS AND CONFIGURATION
1 - 3
(7) SBC (Safe brake control)
Outputs a signal for an external brake control.
(8) Status monitor (SM: Status monitor)
Outputs a signal for the safety observation function status. This function is not the one defined in IEC/EN
61800-5-2. The function is an original function of the functional safety unit.

1. FUNCTIONS AND CONFIGURATION
1 - 4
1.3 Function block diagram
1.3.1 MR-J4-_B_-RJ
(1) When using input signals
The following block diagram shows an operation of the safety observation function using input devices
assigned to pins of the CN10A and CN10B connectors. By diagnosis of input signals, the amplifier
complies with safety level Category 4, PL e, SIL 3.
MCCB MC
Power
supply
L1
L2
L3
L11
L21
Servo amplifier Servo motor
M
U
V
W
U
V
W
Gate circuit
Control circuit
power supply 24 V DC B1
B2 B
Encoder
RA
CN9
CN90
CN7
CN70
Not used
SSCNET III/H
SSCNET III/H
Controller
or servo
amplifier
Servo
amplifier
USB
Parameter setting
Functional safety
unit
CN8CN1ACN1BCN5
CN2
Control
Input signal
(Note)
Output signal
(Note)
Output
device
control
Output
device
control
Input device
control
Self-check
Parameter
Self-check
Parameter
Input device
control
CN10ACN10B CN10ACN10B
Safety observation
function
STO function
SS1 function
SS2 function
SOS function
SLS function
SSM function
SBC function
SM function
Safety observation
function
STO function
SS1 function
SS2 function
SOS function
SLS function
SSM function
SBC function
SM function
Safety observation
function
processing part 1
Safety observation
function
processing part 2
Electro-
magnetic
brake
(Remove the short-circuit
connector.)
Note. Safety switch, safety relay, etc.

1. FUNCTIONS AND CONFIGURATION
1 - 5
(2) When using a drive safety integrated motion controller
The following block diagram shows an operation of the safety observation function from a drive safety
integrated motion controller through SSCNET III/H. The electric wiring can be omitted.
MCCB MC L1
L2
L3
L11
L21
Servo motor
M
U
V
W
U
V
W
24 V DC B1
B2 B
Encoder
RA
Functional safety
unit
CN8
CN2
Output signal
(Note)
Output
device
control
Self-check
Parameter
Self-check
Parameter
Safety observation
function
STO function
SS1 function
SLS function
SSM function
SBC function
SM function
Safety observation
function
STO function
SS1 function
SLS function
SSM function
SBC function
SM function
Safety observation
function
processing part 1
Safety observation
function
processing part 2
SSCNET III/H
SSCNET III/H
Servo amplifier or
controller
Servo
amplifier
or cap
USB
Parameter setting
CN1ACN1BCN5
Q17_DSCPU
Programmable
controller CPU
(iQ platform
compatible)
(Note 2)
Motion controller safety signal
unit Q173DSXY
Input signal
(Note 1) Output signal
(Note 1)
CPU (iQ platform compatible)
Output
device
control
CN9
CN90
CN7
CN70
CN10B CN10A
Servo amplifier
Power
supply
Not used
Control circuit
power supply Gate circuit
Control
Electro-
magnetic
brake
(Remove the short-circuit
connector.)
Note 1. Safety switch, safety relay, etc.
2. The safety observation function is certified by Certification Body only by combination of Q17_DSCPU/Q17_DSXY and
QnUD(E)(H)CPU programmable controller.

1. FUNCTIONS AND CONFIGURATION
1 - 6
1.3.2 MR-J4-_A_-RJ
The following block diagram shows an operation of the safety observation function using input devices
assigned to pins of the CN10A and CN10B connectors. By diagnosis of input signals, the amplifier complies
with safety level Category 4, PL e, SIL 3.
(Remove the short-circuit
connector.)
MCCB MC
Power
supply
L1
L2
L3
L11
L21
Servo amplifie
r
Servo motor
M
U
V
W
U
V
W
Gate circuit
Control circuit
power supply 24 V DC B1
B2 B
Electro-
magnetic
brake
Encoder
RA
CN9
CN90
CN7
CN70
Not used
Controller
USB
Parameter setting
Functional safety
unit
CN8CN5
CN2
Control
Input signal
(Note)
Output signal
(Note)
Output device
control
Output device
control
Input device
control
Self-check
Parameter
Self-check
Parameter
Input device
control
CN10ACN10B CN10ACN10B
Safety observation
function
STO function
SS1 function
SS2 function
SOS function
SLS function
SSM function
SBC function
SM function
Safety observation
function
STO function
SS1 function
SS2 function
SOS function
SLS function
SSM function
SBC function
SM function
Safety observation
function
Processing part 1
Safety observation
function
Processing part 2
RS-422
DIO control
CN1CN3
Note. Safety switch, safety relay, etc.

1. FUNCTIONS AND CONFIGURATION
1 - 7
1.4 System configuration
1.4.1 MR-J4-_B_-RJ
Wirings other than in diagram are common with MR-J4-_B_-RJ. Refer to "MR-J4-_B_(-RJ) Servo Amplifier
Instruction Manual".
(1) When using input signals
POINT
Remove the short-circuit connector on CN8.
CN2
W
V
U
CN5
CN3
CN8
CN1A
CN1B
Servo system controller
or previous servo amplifier
CN1B
Next servo amplifier
CN1A or cap
CN10A/CN10B
MR-J4-_B_-RJ MR-D30
24 V DC power
supply for IO
Light curtain
Emergency stop
switch
Personal
computer
MR Configurator2
Junction terminal
block
Safety signal
Safety programmable
controller
Not used
(Remove the short-circuit
connector.)