Mitsubishi Electric MR-D30 User manual

Copyright©2014 Mitsubishi Electric Corporation All Rights Reserved.
Installation Guide
J
IB(NA)-0300227-J(2309)MEE
HEAD OFFICE: TOKYO BLDG., 2-7-3, MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN
Specifications are subject to change without notice.
Compliance with the indicated global standards and regulations
is current as of the release date of this installation guide.
The original instructions for Europe are in English.
MR-D30
Functional safety unit
Model
General-Purpose AC Servo
Country/Region
USA
Germany
China
Korea
Japan
Sales office
Mitsubishi Electric Automation, Inc.
500 Corporate Woods Parkway, Vernon Hills, IL 60061, U.S.A.
Mitsubishi Electric Europe B.V. German Branch
Mitsubishi-Electric-Platz 1, 40882 Ratingen, Germany
Mitsubishi Electric Automation (China) Ltd.
Mitsubishi Electric Automation Center, No.1386 Hongqiao Road, Shanghai, China
Mitsubishi Electric Automation Korea Co., Ltd.
7F to 9F, Gangseo Hangang Xi-tower A, 401, Yangcheon-ro, Gangseo-Gu, Seoul, Korea
Mitsubishi Electric Corporation
Tokyo Building, 2-7-3, Marunouchi, Chiyoda-ku, Tokyo 100-8310, Japan
Tel
Tel
Tel
Tel
Tel
Tel
: [phone]
: [phone]
: [phone]
: [phone]
: [phone]
Contents of the package
Contents Quantity
MR-D30 functional safety unit 1
MR-D30 Installation Guide (this guide) 1
Rating plate
The following shows an example of rating plate for
explanation of each item.
Warning plate
An example of warning plate is shown below.
Serial number
Model
IP rating, Manual numbe
r
Capacity
Applicable power supply
Rated output
Standard
Ambient temperature
KC number
Date of manufacture
Country of origin
Regulation/legislation marking
An example of regulation/legislation marking is shown
below.
1. About the manuals
To use the MR-D30 safely, read "MR-D30 Instruction Manual" carefully.
1.1 MELSERVO-J4 relevant manuals
This installation guide explains how to mount MR-J4 servo amplifiers. You can also check it with our website for free.
http://www.mitsubishielectric.com/fa/
If you have any questions about the operation or programming of the equipment described in this guide, contact your
local sales office.
In addition, when you mount a protective device, specific technical skills which are not detailed in the guide will be
required.
Servo amplifiers and drive units are written as servo amplifiers in this guide under certain circumstances, unless
otherwise stated.
1.2 Purpose of this guide
This installation guide explains the safe operation of MR-J4 servo amplifiers for engineers of machinery manufacturers
and machine operators. For detailed information of the products, refer to "MR-D30 Instruction Manual". This installation
guide does not explain how to operate equipment in which MR-D30 and MR-J4 servo amplifier are integrated.
1.3 Terms related to safety
(1) STO (Safe torque off)
Shuts off servo motor drive energy electronically based on an input signal from an external device (secondary-side
output shut-off). This corresponds to stop category 0 of IEC/EN 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, STO function will be activated (SS1). This corresponds to stop category 1 of IEC/EN 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/EN 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 safety output signal when the servo motor speed is within a regulated speed.
(7) SBC (Safe brake control)
Outputs a safety output signal for an external brake control.
(8) Status monitor (SM)
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.
2. About safety
This chapter explains safety of users and machine operators. Please read the chapter carefully before mounting the
equipment. In this installation guide, the specific warnings and cautions levels are classified as follows.
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.
2.1 Professional engineer
Only professional engineers should mount this to MR-J4 servo amplifiers.
Here, professional engineers should meet all the conditions below.
(1) Persons who took a proper training of related work of electrical equipment or persons who can avoid risk based on
past experience.
(2) Persons who have read and familiarized himself/herself with this installation guide and operating manuals for the
protective devices (e.g. light curtain) connected to the safety control system.
2.2 Applications of the devices
MR-D30 has a control system whose configuration is possible to be for safety.
This product complies with the following standards.
EN ISO 13849-1:2015 Category 3 PL d and Category 4 PL e
IEC 61508 SIL 2 and SIL 3
EN IEC 62061:2021 maximum SIL 2 and maximum SIL 3
EN 61800-5-2
IEC/EN 61800-3/GB 12668.3/KN 61800-3 (KS C 9800-3)
An achieved safety level depends on external circuit, wiring conditions, parameter settings, sensor selections, and
mounting position on the machine.
A photoelectric and contact sensor such as light curtain, laser scanner, safety switch, sensor, and push button for
emergency stop can be used with programs. The power of an actuator mounted on the machine or system can be shut
off safely using switching output of the safety control system.
2.3 Correct use
WARNING
If you need to get close to the moving parts of the machine for inspection or others, ensure
safety by confirming the power off, etc. Otherwise, it may cause an accident.
CAUTION
MR-D30 complies with basic specifications concerning radiation electromagnetic immunity
and fulfills requirements of industrial uses. Therefore, MR-D30 is only for use in industrial
environment, not for general use.
Use the MR-D30 within specifications. Refer to "MR-D30 Instruction Manual" for specifications such as voltage,
temperature, etc. Mitsubishi Electric Co. accepts no claims for liability if the equipment is used in any other way or if
modifications are made to the device, even in the context of mounting and installation.
2.3.1 Peripheral device
The following are selected based on IEC/EN 61800-5-1, UL 61800-5-1, UL 508C, and CSA C22.2 No. 274.
(1) Motor overload and Over temperature protection
The overload protection of the servo motor does not include a thermal memory function, and is not speed
sensitive. The servo amplifier cannot detect overheating of the servo motor. The servo motors are protected by the
servo motor overheat protection function of the servo amplifiers (a protection characteristic based on 120 % of the
rated current). To provide the servo motor with overheat protection, use a magnetic contactor (electromagnetic
switch) with a thermal relay. Alternatively, install a thermal sensor or equivalent equipment near the rating plate of
the servo motor to check that the servo motor temperature is under 105 °C with sensing device. (Refer to Chapter
4)
2.3.2 Europe/UK compliance
The CE/UKCA marking proves the compliance of the servo product with the essential requirements specified in the
relevant EU Directives and UK Regulations, and this marking also applies to machines and equipment incorporating
servos.
(1) EMC requirement
The combination of MR-J4 servo amplifier and MR-D30 complies with EN/BS EN IEC 61800-3. As for I/O wires
(max. length 10 m) and encoder cables (max. length 50 m), use shielded wires and ground the shields.
Install an EMC filter and surge protector on the primary side. The following shows recommended products.
EMC filter: Soshin Electric HF3000A-UN series
Surge protector: Okaya Electric Industries RSPD-250-U4 series
MR-J4 Series are not intended to be used on a low-voltage network which supplies domestic premises;
electromagnetic interference is expected if used on such a network.
The installer shall provide a guide for Installation and use, including recommended mitigation devices. To avoid the
risk of crosstalk to signal cables, the installation instructions shall either recommend that the power interface cable
be segregated from signal cables.
(2) For Declaration of Conformity (DoC)
We declare that the servo amplifier with MR-D30 is in compliance with EC directives (Machinery directive
(2006/42/EC), EMC directive (2014/30/EU), Low-voltage directive (2014/35/EU), and RoHS directive (2011/65/EU,
(EU) 2015/863)) and applicable regulations of the UK. For the copy of Declaration of Conformity, contact your local
sales office.
2.3.3 USA/Canada compliance
The servo amplifiers on which MR-D30 is mounted are designed in compliance with UL 508C or UL 61800-5-1 for the
use in the United States. For the use in Canada, the servo amplifiers on which MR-D30 is mounted are designed in
compliance with CSA C22.2 No. 274.
(1) Installation
The minimum cabinet size is 150 % of each MR-J4 servo amplifier's volume including MR-D30. Also, design the
cabinet so that the ambient temperature in the cabinet is 55 ˚C or less. The servo amplifiers on which MR-D30 is
mounted must be installed in a metal cabinet. For environment, the units should be used in open type (UL 50) and
overvoltage category III or lower. MR-D30 and servo amplifier needs to be installed at or below pollution degree 2.
For connection, use only copper wires.
(2) Short-circuit current rating (SCCR)
Each servo amplifier on which MR-D30 is mounted has checked with a short-circuit test.
(3) Capacitor discharge
It takes 15 minutes for capacitor discharging of the servo amplifier on which MR-D30 is mounted. Do not touch the
unit and terminals immediately after power off.
(4) Branch circuit protection
For installation in United States, branch circuit protection must be provided, in accordance with the National
Electrical Code and any applicable local codes. For installation in Canada, branch circuit protection must be
provided, in accordance with the Canadian Electrical Code and any applicable provincial codes.
2.3.4 South Korea compliance
Products that bear the KC mark comply with the Radio Wave Law. Please note the following to use the product.
이 기기는 업무용 (A급) 전자파적합기기로서 판매자 또는 사용자는 이 점을 주의하시기 바라며, 가정외의지역에서
사용하는 것을 목적으로 합니다.
(The product is for business use (Class A) and meets the electromagnetic compatibility requirements. The seller and the
user must note the above point, and use the product in a place except for home.)
2.4 Safety observation function compatible unit
The safety observation function is executed by writing a parameter to MR-D30 in a system using an MR-J4 servo
amplifier, motion CPU and safety programmable controller in the following table. Set the parameters of MR-D30
correctly for a proper operation of the safety observation function. Protective functions such as the safety observation
function may not work due to an incorrect setting. Refer to "MR-D30 Instruction Manual" for the parameter setting
details.
(1) List of safety observation function compatible unit
Product name Model
Servo amplifier
MR-J4-_GF-RJ/MR-J4-_GF4-RJ
MR-J4-_B-RJ/MR-J4-_B4-RJ/MR-J4-_B1-RJ/MR-J4-DU_B-RJ/MR-J4-DU_B4-RJ
MR-J4-_A-RJ/MR-J4-_A4-RJ/MR-J4-_A1-RJ/MR-J4-DU_A-RJ/MR-J4-DU_A4-RJ
Programmable controller (Note 1) R_SFCPU
Motion CPU module (Note 2) Q173DSCPU/Q172DSCPU
Note 1. For usin
g
the safet
y
observation function throu
g
h CC-Link IE Field
2. For usin
g
the safet
y
observation function throu
g
h SSCNET III/H
(2) List of safety observation function compatible unit version
(a) Servo amplifier and functional safety unit
1) MR-J4-_GF_-RJ
a) Safety observation function control by input device
MR-D30
software version
Servo amplifier
software version Safety observation function Servo motor with functional safety Servo amplifier
A1 or later A3 or later (Note) STO/SS1/SBC/SLS/SSM/SOS/
SS2/SM
HG-KR_W0C
HG-SR_W0C
HG-JR_W0C
MR-J4-_GF_-RJ
Note. CC-Link IE Field Network Basic communication is not supported. While CC-Link IE Field Network Basic has been set, connecting
with the MR-D30 functional safet
y
unit tri
gg
ers
[
AL. 3E.8
]
.
b) Safety observation function control by network
MR-D30
software version
Servo amplifier
software version Safety observation function Servo motor with functional safety Servo amplifier
A2 or later A3 or later STO/SS1/SBC/SLS/SSM/SOS/
SS2/SM
HG-KR_W0C
HG-SR_W0C
HG-JR_W0C
MR-J4-_GF_-RJ
2) MR-J4-(DU)B_-RJ/MR-J4-(DU)A_-RJ
MR-D30
software version
Servo amplifier
software version Safety observation function Servo motor with functional safety Servo amplifier
A0 B3 or later STO/SS1/SBC/SLS/SSM/SM Not compatible MR-J4-_B_-RJ
A1 or later
B3/B4 STO/SS1/SBC/SLS/SSM/SM Not compatible MR-J4-_B_-RJ
B5 or later STO/SS1/SBC/SLS/SSM/SOS/
SS2/SM
HG-KR_W0C
HG-SR_W0C
HG-JR_W0C
MR-J4-_B_-RJ
MR-J4-_A_-RJ (Note)
MR-J4-DU_B_-RJ
MR-J4-DU_A_-RJ (Note)
Note. The servo amplifiers manufactured in November, 2014 or later is supported.
(b) Programmable controller
Model Software version
R_SFCPU 07 or later
(c) Motion controller
Model OS Software version
Q173DSCPU SW8DNC-SV22QJ/SW8DNC-SV13QJ 05 or later
Q172DSCPU SW8DNC-SV22QL/SW8DNC-SV13QL
2.5 General cautions for safety protection and protective measures
POINT
Observe the cautions for safety protection and protective measures.
Observe the items in this section for proper use of MR-D30.
(1) When mounting, installing, and using the MR-D30, always observe standards and directives applicable in the
country.
(2) When using an MR-D30 in an EU member state, comply with the following directives.
Machinery directive 2006/42/EC
EMC directive 2014/30/EU
Low voltage directive 2014/35/EU
RoHS directive 2011/65/EU
Other laws/regulations of labor safety
(3) The manufacturer and owner of machines on which an MR-D30 is used should be familiarized with all the
applicable laws and regulations and should be responsible to observe them.
For Declaration of Conformity (DoC), our company declares that the servo amplifiers are in compliance with the
necessary requirements and standards (2006/42/EC, 2014/30/EU, 2014/35/EU and 2011/65/EU). You can obtain
the copy of Declaration of Conformity from our website.
(4) The contents of "MR-D30 Instruction Manual" must be observed.
(5) Tests should be performed by professional engineers, especially qualified and responsible personnel, and should
be recorded/documented for a third party to rebuild and confirm the tests.
(6) Based on IEC/EN 60204-1, connect to a power supply that has tolerance against instantaneous power failure of 20
ms or more.
2.6 Disposal
Disposal of unusable or irreparable devices should always occur in accordance with the applicable country-specific
waste disposal regulations.
2.7 Risk assessment
To ensure safety, users should decide all the risk assessments and residual risks in the entire machine equipment. A
company and/or individual who constructed the safety related system must take full responsibility for installation and
commissioning of the system. Additionally, when complying with a European machinery directive, the system must
acquire safety standards certification as a whole.
Perform all risk assessments and safe level certification to the machine or the system as a whole. It is recommended
that a Certification Body final safety certification of the system be used.
The following shows residual risks concerning the safety observation function of this product.
2.7.1 Common residual risks in each function
(1) At the shipment to end-users, check the settings of safety related components with programming tools and
monitored/displayed contents on display and record and save the setting data concerning the safety observation
function and the programming tools you used. Perform them using a check sheet, etc.
(2) The safety will not be ensured such as in assembling machine until installing, wiring, and adjustment are
completed properly. Install, wire, and adjust your system referring to installation guide for each unit.
(3) Only qualified personnel are authorized to install, start-up, repair or adjust the machines in which these
components are installed. Only trained engineers should install and operate the equipment. (ISO 13849-1:2015
Table F.1 No. 5)
(4) Separate the wiring for safety observation function from other signal wirings.
(ISO 13849-1:2015 Table F.1 No. 1)
(5) Protect the cables with appropriate ways (routing them in a cabinet, using a cable guard, etc.).
(6) We recommend using a switch, relay, sensor, etc. which comply with safety standards. When using a switch,
relay, sensor, etc. which do not comply with safety standards, perform a safety confirmation.
(7) Keep the required clearance/creepage distance depending on voltage you use.
(8) The time to a safety observation error depends on parameter settings.
2.7.2 Residual risks in each function
(1) Speed monitoring (SLS)
(a) Speed monitoring function guarantees the servo motor speed), but it does not guarantee the actual machine
safety speed. Set parameters so that the safe speed of the machine is the same as the safety speed of the
specified motor.
(b) Check if the speed of the monitored servo axis is the same as the actual speed by using a tachometer, etc.
considering the speed includes an error caused by the command and encoder resolution.
(c) The defect of the mechanical section such as slid of shaft and wanting of a timing belt, etc. is not covered. Be
sure to eliminate the risk of mechanical section before operation.
(d) Speed monitoring error detection time is set to 1 ms. Error in shorter than this time are not detected.
(e) After speed is over the limit, safety observation error (shut-off signal off) does not occur during the speed error
detection time set by the parameter. Make sure that safety can be ensured during this period.
(2) Safe speed monitor (SSM)
When SSM is used as a restart trigger, perform it according to IEC/EN 60204-1.
(3) Safe brake control (SBC)
This function guarantees only that power to mechanic break is properly supplied and abrasion of the brake cannot
be detected. Check this function regularly that the mechanic brake can operate.
3. Conditions of use for the product
(1) 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.
(2) 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.
(a) Power plants
(b) Trains, railway systems, airplanes, airline operations, and other transportation systems
(c) Hospitals, medical care, dialysis and life support facilities or equipment
(d) Amusement equipment
(e) Incineration and fuel devices
(f) Handling of nuclear or hazardous materials or chemicals
(g) Mining and drilling
(h) Other applications where the level of risk to human life, health or property are elevated.
4. Block diagram and timing chart
(1) Function block diagram (for using input signal)
This is an example of a combination with MR-J4-_B_-RJ.
MCCB MC
Power
L1
L2
L3
L11
L21
Servo amplifier Servo motor (Note 2)
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
(Remove the short-circuit connector.)
SSCNETIII/H
SSCNETIII/H
Controller or
servo amplifier
Servo amplifier
Parameter setting
Functional safety unit
Input signal
(Note 1) Output signal
(Note 1)
CN8
Control
CN1ACN1BCN5
USB
CN2
Safety observation function
processing part 1
Safety observation function
processing part 2
CN10ACN10B
CN10ACN10B
Sensing device
Electromagneti
c
brake
Note 1. Safety switch, safety relay, etc.
2. The servo motor with functional safety is required to use the SS2/SOS functions.
(2) How to use the functions
To use the safety observation functions, combine MR-D30 with MR-J4. For how to use the functions, refer to "MR-
D30 Instruction Manual".
5. Maintenance and disposal
MR-D30 safety logic unit is equipped with LED displays to check errors for maintenance.
Please dispose this unit according to your local laws and regulations.
Changing the combination of MR-D30 and MR-J4 servo amplifier will trigger [AL. 7A.4 Functional safety unit combination
error (safety observation function)] and the safety observation function you set will not operate.
6. Functions and configuration
6.1 Summary
(1) Safety observation functions are available with your servo amplifier.
Mounting the functional safety unit to the servo amplifier enables you to use the safety observation functions such
as STO/SS1/SS2/SOS/SLS/SSM/SBC without depending on a controller.
(2) Drive safety compatible integrated motion controller
Safety communication with motion controllers is available by using MR-D30 with MR-J4-_B_-RJ. With this, the
wiring which was required can be reduced for the STO signal and encoder signal for safety observation.
(3) Drive safety integrated programmable controller
Safety communication with safety programmable controller is available by using MR-D30 with MR-J4-_GF_-RJ.
With this, the wiring which was required can be reduced for the STO signal and encoder signal for safety
observation.
6.2 Transportation and storage
CAUTION
Transport the products correctly according to their mass.
Stacking in excess of the limited number of product packages is not allowed.
Install the equipment in a load-bearing place in accordance with "MR-D30 Instruction
Manual".
Do not put excessive load on the machine.
When you keep or use it, please fulfill the following environment.
Item Environment
Ambient temperature
Operation [°C] 0 to 55 Class 3K3 (IEC/EN 60721-3-3)
Transportation
(Note) [°C] -20 to 65 Class 2K12 (IEC/EN 60721-3-2)
Storage (Note) [°C] -20 to 65 Class 1K4 (IEC/EN 60721-3-1)
Ambient humidity Operation, transportation,
storage 5 %RH to 90 %RH
Vibration resistance
Test condition
10 Hz to 57 Hz with amplitude of 0.075 mm
57 Hz to 150 Hz with constant acceleration of 9.8 m/s2to IEC/EN 61800-5-1 (Test Fc of IEC
60068-2-6)
Operation 5.9 m/s2(X, Y, Z axes)
Transportation
(Note) Class 2M3 (IEC/EN 60721-3-2)
Storage Class 1M2 (IEC/EN 60721-3-2)
Pollution degree 2
IP rating
Mounted on a servo amplifier: IP20 (IEC/EN 60529)
MR-D30 (single): IP00 (IEC/EN 60529)
Open type (UL 50)
Altitude Operation, storage 2000 m or less
Transportation 10000 m or less
Note. In regular transport packaging
6.3 Specifications
Model MR-D30
Output Rated voltage 24 V DC
Rated current [A] 0.3
Interface power supply
Voltage 24 V DC ± 10 %
Power supply
capacity [A] 0.8 (Note 1)
Safety performance
Standards certified by CB
EN ISO 13849-1:2015 Category 4, PL e and Category 3, PL d
IEC 61508 SIL 2 and SIL 3
EN IEC 62061:2021 maximum SIL 2 and maximum SIL 3
EN 61800-5-2
Mean time to dangerous
failure (MTTFd) MTTFd ≥100 [years] (313a)
Diagnostic coverage (DC) DC = High, 97.6 [%]
Probability of dangerous
failures per hour (PFH) PFH = 6.57 × 10-9 [1/h]
Mission time (TM) TM= 20 [years]
Response performance
(Note 2)
Using input device: 15 ms or less
Using a drive Safety integrated motion controller: 60 ms or less
Using drive safety integrated programmable controller: 65 ms or less
Speed observation resolution Depends on a command resolution (22 bit position command: 0.1 r/min or less)
Position observation
resolution 1/32 rev
Safety position data resolution 32 pulses/rev (5 bits)
Input device 6 points × 2 systems (source/sink)
Output device Source: 3 points × 2 systems and 1 point × 1 system
Sink: 1 point × 1 system
Safety observation
function
(IEC/EN 61800-5-2)
Safe torque off (STO) Category 4, PL e, SIL 3 (Note 3)/Category 3, PL d, SIL 2
Safe stop 1 (SS1) Category 4, PL e, SIL 3 (Note 3)/Category 3, PL d, SIL 2
Safely-limited speed (SLS)
(Note 7) Category 4, PL e, SIL 3 (Note 3, 4)/Category 3, PL d, SIL 2
Safe speed monitor (SSM)
(Note 7) Category 4, PL e, SIL 3 (Note 3, 4)/Category 3, PL d, SIL 2
Safe brake control (SBC) Category 4, PL e, SIL 3 (Note 3)/Category 3, PL d, SIL 2
Safe operating stop (SOS)
(Note 5, 7) Category 4, PL e, SIL 3 (Note 3)/Category 3, PL d, SIL 2
Safe stop 2 (SS2) (Note 5, 7) Category 4, PL e, SIL 3 (Note 3)/Category 3, PL d, SIL 2
Safety observation
function Status monitor (STO/SOS) Category 4, PL e, SIL 3/Category 3, PL d, SIL 2 (Note 6)
Compliance to global
standards CE marking EMC: EN 61800-3 MD: EN ISO 13849-1:2015, EN 61800-5-2, EN IEC 62061:2021
Structure (IP rating) Natural cooling, open (mounted on a servo amplifier: IP20, MR-D30 (single): IP00)
Mass [g] 150
Note 1. This is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of I/O points.
2. Time from STO input off to energy shut off
3. To meet Category 4, PL e, SIL 3 for input signals, a diagnosis using test pulses is required.
4. To meet Category 4, PL e, SIL 3, using with a servo motor with functional safety is required.
5. To enable SS2 and SOS, using with a servo motor with functional safety is required.
6. For the achievable safety level, refer to the section of "Safety observation function (IEC/EN 61800-5-2)".
7. The scale measurement function of the semi closed loop system, linear servo system, direct drive servo system, and fully closed loop
system are not compatible with SLS, SSM, SS2, and SOS. The MR-J4-_GF_-RJ with software version B0 or later used in a direct drive
servo system is compatible with SLS and SSM.

6.4 When using MR-D30 for an MR-J4 series servo amplifier
6.4.1 Input signal
Servo amplifier
MR-D30
13DI2A
2
4
11
DICOMA
DI1A
DICOMA
10 m or shorte
r
10 m or shorter
CN10A
24 V DC (Note 3)
15
14
6
5
DI4A
DI3A
DI6A
DI5A
13DI2B
2
4
11
DICOMB
DI1B
DICOMB
CN10B
15
14
6
5
DI4B
DI3B
DI6B
DI5B
24 V DC (Note 3)
(Note 1, 2)
(Note 1, 2)
Servo amplifier
MR-D30
13DI2A
2
4
11
DICOMA
DI1A
DICOMA
10 m or shorte
r
10 m or shorter
CN10A
24 V DC (Note 3)
15
14
6
5
DI4A
DI3A
DI6A
DI5A
13DI2B
2
4
11
DICOMB
DI1B
DICOMB
CN10B
15
14
6
5
DI4B
DI3B
DI6B
DI5B
24 V DC (Note 3)
(Note 1, 2)
(Note 1, 2)
Source input interface Sink input interface
Note 1. Separate all the external wires by two types, CN10A and CN10B.
2.
A
ssign each input device to the following combinations of connector and pin. Refer to chapter 7 for each
device.
Combination of connector and pin for input
DI1A (CN10A-4)/DI1B (CN10B-4)
DI2A (CN10A-13)/DI2B (CN10B-13)
DI3A (CN10A-5)/DI3B (CN10B-5)
DI4A (CN10A-14)/DI4B (CN10B-14)
DI5A (CN10A-6)/DI5B (CN10B-6)
DI6A (CN10A-15)/DI6B (CN10B-15)
3. Supply 24 V DC ± 10 % to interfaces from outside. When all the I/O points are used, the required current
capacity is 0.8 A in total. The current capacity can be decreased by reducing the number of I/O points. Refer
to section 7.2 that gives the current value necessary for the interface. The illustration of the 24 V DC power
supply is divided between input signal and output signal for convenience. However, they can be configured by
one.
6.4.2 Output signal
DO1A to DO3A, DO1B to DO3B, and DO4NA can be used as source outputs, and DO4PB can be used as a sink output.
Servo amplifier
8 DO1A
17 DO2A
9 DO3A
CN10A
MR-D30
7DO24VA
24 V DC (Note 3)
10 m or shorter
10 m or shorter
8 DO1B
17 DO2B
9 DO3B
CN10B
7DO24VB
24 V DC (Note 3)
RA5
RA6
RA7
RA1
RA2
RA3
Source output
(Note 1, 2)
Source output
(Note 1, 2)
16
(Note 4)
(Note 4)
(Note 4)
(Note 4)
DO4PA
18 DO4NA
16 DO4PB
18 DO4NB
RA4
24 V DC (Note 3)
Source output
(Note 1, 2)
24 V DC (Note 3)
RA8 Sink output
(Note 1, 2)
Note 1. Separate all the external wires by two types, CN10A and CN10B. Be sure to wire them separately by the two
types for power supply for IO (24 V DC, 0 V common). Do not mix them when wiring.
2.
A
ssign each output device to the following combinations of connector and pin. Refer to chapter 7 for each
device.
Combination of connector and pin for output
DO1A (CN10A-8)/DO1B (CN10B-8)
DO2A (CN10A-17)/DO2B (CN10B-17)
DO3A (CN10A-9)/DO3B (CN10B-9)
DO4NA (CN10A-18)/DO4PB (CN10B-16)
3. Supply 24 V DC ± 10 % to interfaces from outside. When all the I/O points are used, the required current
capacity is 0.8 A in total. The current capacity can be decreased by reducing the number of I/O points. Refer
to section 7.2 that gives the current value necessary for the interface. The illustration of the 24 V DC power
supply is divided between input signal and output signal for convenience. However, they can be configured by
one.
4. DO4PA (CN10A-16), DO4NA (CN10A-18), DO4PB (CN10B-16) and DO4NB (CN10B-18) will not be available
with MR-D30 manufactured in September 2014 or before. Do not connect anything to these pins.
7. Signals
7.1 Connector and pin assignment
(1) Input device
Assign the devices to DI1_ to DI6_ with [Pr. PSD02 Input device selection DI1] to [Pr. PSD07 Input device
selection DI6]. For the safety observation function control by network, you can input through network.
Device Symbol Connector and pin No. Function
Input pin
status which
the function
turns to be
enabled
STO
command STOC CN10A-4
CN10A-5
CN10A-6
CN10A-13
CN10A-14
CN10A-15
CN10B-4
CN10B-5
CN10B-6
CN10B-13
CN10B-14
CN10B-15
The STO function operates by the STO command. Opened
SS1
command SS1C The SS1 function operates by the SS1 command. Opened
SS2
command SS2C The SS2/SOS functions operate by the SS2/SOS command. Opened
SLS1
command SLS1C
The SLS function 1 operates by the SLS1 command. [Pr. PSA07 SLS
deceleration monitoring time 1] and [Pr. PSA11 SLS speed 1] are used as
parameters.
Opened
SLS2
command SLS2C
The SLS function 2 operates by the SLS2 command. [Pr. PSA08 SLS
deceleration monitoring time 2] and [Pr. PSA12 SLS speed 2] are used as
parameters.
Opened
SLS3
command SLS3C
The SLS function 3 operates by the SLS3 command. [Pr. PSA09 SLS
deceleration monitoring time 3] and [Pr. PSA13 SLS speed 3] are used as
parameters.
Opened
SLS4
command SLS4C
The SLS function 4 operates by the SLS4 command. [Pr. PSA10 SLS
deceleration monitoring time 4] and [Pr. PSA14 SLS speed 4] are used as
parameters.
Opened
Test pulse
output A PLSA CN10A-12 Outputs test pulses for external wiring diagnosis.
Test pulse
output B PLSB CN10B-12 Outputs test pulses for external wiring diagnosis.
(2) Output device
The status monitor (SM) of the safety observation function is output from DO1_ to DO4_. The devices can be
assigned to DO1_ to DO4_ with [Pr. PSD08 Output device selection DO1] to [Pr. PSD11 Output device selection
DO3]. For the safety observation function control by network, you can output through network. Then, DO1_ to
DO4_ can be used simultaneously.
Device Symbol Connector and pin No. Function
Output pin
status during
operation
SSM output SSMS CN10A-8
CN10A-9
CN10A-17
CN10A-18
CN10B-8
CN10B-9
CN10B-17
CN10B-16
Indicates that the servo motor speed is at SLS speed or less while speed
observation is operating by SLS function.
Closed
SBC output SBCS Outputs a control signal of the electromagnetic brake. Opened
STO output STOS This is a monitor output signal meaning that the STO function is operating. Opened
SOS output SOSS This is a monitor output signal meaning that the SS2/SOS function is
operating.
Opened
SS1 output SS1S This is a monitor output signal meaning that the SS1 function is operating. Opened
SS2 output SS2S This is a monitor output signal meaning that the SS2/SOS function
monitors the servo motor is in the stop state.
Opened
SLS1 output SLS1S This is a monitor output signal meaning that the SLS function 1 is
operating.
Opened
SLS2 output SLS2S This is a monitor output signal meaning that the SLS function 2 is
operating.
Opened
SLS3 output SLS3S This is a monitor output signal meaning that the SLS function 3 is
operating.
Opened
SLS4 output SLS4S This is a monitor output signal meaning that the SLS function 4 is
operating.
Opened
(3) Power supply
Name Symbol Connector and pin No. Function and application
Digital input
I/F common
A
DICOMA
CN10A-2
CN10A-11
This is a common terminal for input signal. Input 24 V DC (24 V DC ± 10 % 0.8 A) for I/O
interface. The power supply capacity changes depending on the number of I/O interface
points to be used.
For sink interface, connect + of 24 V DC external power supply.
For source interface, connect - of 24 V DC external power supply.
Test pulse
power supply
input A
DC24VA
CN10A-1
CN10A-10
Input a power supply to output test pulses for external wiring diagnosis. Connect the
positive terminal of the 24 V DC external power supply.
Digital output
I/F common
A
DO24VA
CN10A-7 This is a common terminal for output signal.
For source interface, connect + of 24 V DC external power supply.
DO4A power
supply for
digital output
I/F
DO4PA
CN10A-16 This is the power terminal for the DO4A output signal. Connect the positive terminal of the
24 V DC external power supply.
Digital input
I/F common
B
DICOMB
CN10B-2
CN10B-11
This is a common terminal for input signal. Input 24 V DC (24 V DC ± 10 % 0.8 A) for I/O
interface. The power supply capacity changes depending on the number of I/O interface
points to be used.
For sink interface, connect + of 24 V DC external power supply.
For source interface, connect - of 24 V DC external power supply.
Test pulse
power supply
input B
DC24VB
CN10B-1
CN10B-10
Input a power supply to output test pulses for external wiring diagnosis. Connect the
positive terminal of the 24 V DC external power supply.
Digital output
I/F common
B
DO24VB
CN10B-7 This is a common terminal for output signal.
For source interface, connect + of 24 V DC external power supply.
DO4B power
supply for
digital output
I/F
DO4NB
CN10B-18 This is the power terminal for the DO4B output signal. Connect the negative terminal of the
24 V DC external power supply.
7.2 Interface (source I/O)
For MR-D30, source type I/O interfaces can be used. The following shows an example of source interface.
(1) Input interface
For MR-D30, source type and sink type I/O interfaces can be used. Transmit signals from source (open-collector)
type transistor output, relay switch, etc. For sink interface, refer to "MR-D30 Instruction Manual".
(a) External device connection
Connect the output signal to DI _ _.
Approx. 5.6 kΩ
MR-D30
Approx. 5.6 kΩ
DICOMA
DI1A, etc.
CN10A
DICOMB
DI1B, etc.
CN10B
24 V DC
24V IN
0V IN
Control
output 1
Control
output 2
External device
24 V DC 5 mA
24 V DC 5 mA
(2) Output interface
When the output transistor is turned on, the current flows from the output terminal to a load. A lamp, relay or
photocoupler can be driven. Install a diode (D) for an inductive load, or install an inrush current suppressing
resistor (R) for a lamp load. (Rated current: 5 mA to 40 mA, maximum current: 50 mA, inrush current: 100 mA or
less)
A 2.4 V voltage drop occurs in MR-D30.
MR-D30
CN10A
DO24VB
DO1B to
DO3B
CN10B 24 V DC ± 10 %
0.8 A
24 V DC ± 10 %
0.8 A
DO24VA
DO1A to
DO3A
Load
Load
Safety relay
If polarity of diode is
reversed, MR-D30
will malfunction.
If polarity of diode is
reversed, MR-D30
will malfunction.
7.3 Wiring method of CN10A and CN10B connectors
Handle with the tool with care when connecting wires.
(1) Wire strip
(a) Use wires with size of AWG 24 to 16 (recommended electric wire: UL 1007) and strip the wires to make the
stripped length 10 mm ± 0.5 mm. Confirm the stripped length with gauge, etc. before using the wires.
(b) If the stripped wires are bent, loose or too thick due to twisting too much, fix the wires by twisting lightly, etc.
Then, confirm the stripped length before using the wires. Do not use excessively deformed wires.
(c) Smooth out the wire surface and stripped insulator surface.
(2) Connecting wires
Before connecting wires, be sure to pull out the receptacle assembly from the header connector. If wires are
connected with inserted connector, the connector and the printed board may malfunction.
With pressing the release button with a flat-blade screwdriver with the blade edge width of 2.0 mm to 2.5 mm,
insert a wire all the way in and remove the screwdriver. Refer to "MR-D30 Instruction Manual" for wiring.
(3) Connectors
Be sure to insert the connector all the way straight until you hear or feel clicking. After connection, tighten the
screw came with the connector using a flat-blade screwdriver. Loosen the screw before disconnection.
8. Display
MR-D30 has four LED indications. They indicate the followings.
POWER
RUN
STO
ERROR
Green
Green
Yello
w
Red
LED Lighting status Description
POWER Lit Power is being supplied.
Extinguished Power is not supplied.
RUN Lit
The safety observation function is performing. STO, SS1, SS2/SOS, or SLS function
is being executed normally, performing shutoff or observation.
Extinguished
The safety observation function is not performing. Because the operation commands
are not inputted or an internal diagnosis error has occurred.
STO Lit STO function is performing. The power to the motors is shut off.
Extinguished STO function is not performing. The power to the motors is not shut off.
ERROR Lit Some errors have been detected for MR-D30. (Note)
Blinking Some errors have been detected for MR-D30.
Extinguished An error is not being detected in MR-D30.
Note. When a servo amplifier which is not compatible with MR-D30 is connected to MR-D30, "ERROR" will light. Check if
MR-D30 is connected to the MR-J4-_B_-RJ servo amplifier with the software version B3 or later, or the MR-J4-_A_-RJ
servo am
p
lifier with the software version B5 or later.
(
Refer to
(
3
)
(
a
)
of section 2.3.4.
)
The following shows indication example of each state.
POWER RUN STO ERROR
Servo
amplifier
display
Status Description
Normal Power off Power is not supplied.
95._ or Ab During diagnosis
For the safety observation function control by input device,
execute a fixing-diagnosis at start-up. For the safety
observation function control by network, connect networks.
Normal
Safety
observation
function is not
performing.
The safety observation function is not performing.
95._
Safety
observation
function is
performing
(shutting power
off).
STO or SS1 function is performing.
Normal
Safety
observation
function is
performing
(monitoring).
SLS or SS2/SOS function is performing.
/ ◎/ Alarm No. Error has
occurred.
An error has been detected. Refer to chapter 8 for error
details. (Note)
Alarm No.
Error has
occurred
(watchdog)
Watchdog is occurring due to parts error, such as the CPU.
(: Lit, ◎: Blinks, : Extinguished)
Note. When a servo amplifier which is not compatible with MR-D30 is connected to MR-D30, "ERROR" will light. Refer to section 2.3.4 (3) (a) for the
software version of a servo amplifier that is compatible with MR-D30.
9. Setting method
Use MR Configurator2 for the settings. Refer to "MR-D30 Instruction Manual" for details.
Check the contents of [Pr. PSA _ _ ], [Pr. PSC _ _ ], and [Pr. PSD _ _ ] and set [Pr. PSA01 Safety observation function
activation setting] to "_ _ _ 1". Until setting this parameter, STO cannot be canceled due to [AL. 7A Parameter setting
error (safety observation function)] occurrence.
10. Troubleshooting
When power is not supplied or ERROR LED turns on, refer the following table and take the appropriate action.
Event Description Cause Action
Power is not supplied. Power LED does not turn on
although power is supplied.
1. The servo amplifier is
malfunctioning.
Replace the servo amplifier.
2. MR-D30 is not connected to the
servo amplifier properly.
Check the connection.
3. MR-D30 is malfunctioning. Replace the MR-D30.
ERROR LED is blinking. ERROR LED is blinking and an
alarm No. is displayed on the
servo amplifier.
An error has occurred in MR-D30 or
servo amplifier.
Check the alarm No. and remove the
problem referring to "MELSERVO-J4
Servo Amplifier Instruction Manual
(Troubleshooting)".
ERROR LED is on. ERROR LED has been on. MR-D30 is malfunctioning. Replace the MR-D30.
11. Dimensions
[Unit: mm]
5 × 6 mounting hole for grounding
Mounting screw
Screw size: M4
Tightening torque: 1.65 N•m
Rating plate
114.5
97
24.5
161
28
20
104.2
99.2
95.4
Four connector fixing screws
Tightening torque: 0.2 N•m to 0.3 N•m
CN10A
No. Symbol Symbol No.
10 DC24VA DC24VA 1
11 DICOMA DICOMA 2
12 PLSA 3
13 DI2A DI1A 4
14 DI4A DI3A 5
15 DI6A DI5A 6
16 DO24VA 7
17 DO2A DO1A 8
18 DO3A 9
CN10B
No. Symbol Symbol No.
10 DC24VB DC24VB 1
11 DICOMB DICOMB 2
12 PLSB 3
13 DI2B DI1B 4
14 DI4B DI3B 5
15 DI6B DI5B 6
16 DO24VB 7
17 DO2B DO1B 8
18 DO3B 9
DO4PA
DO4NA
DO4PB
DO4NB
Mass: 0.15 [kg]
12. Installation
Installation direction and clearances
10 mm or
more
Wiring allowance
80 mm or more
10 mm or
more
(Note 2)
Top
Bottom
40 mm or
more
(Note 1)
40 mm or
more
Cabinet
Side
+
MR-D30
Servo amplifier
Cabinet
MR-D30
CAUTION
The devices must be installed in the
specified direction. Not doing so
may cause a malfunction.
Mount the servo amplifier on a
cabinet which meets IP54 in the
correct vertical direction to maintain
pollution degree 2.
Even if the power turned off,
touching the resistor will cause an
electric shock because the capacitor
of the servo amplifier is charged for
a while.
Note 1. For 11 kW to 22 kW servo amplifiers, the clearance
between the bottom and ground will be 120 mm or
more.
2. For MR-J4-500_-RJ, the clearance on the left side will
be 25 mm or more.
13 Connector
Servo amplifier MR-D30
CN10A/CN10B connector:
DFMC 1,5/ 9-STF-3,5 (Phoenix Contact)
×
14. Check list for user documentation
MR-D30 installation checklist for manufacturer/installer
The following items must be satisfied by the initial test operation at least. The manufacturer/installer must be
responsible for checking the standards in the items.
Maintain and keep this checklist with related documents of machines to use this for periodic inspection.
1. Is it based on directive/standard applied to the machine? Yes [ ], No [ ]
2. Is directive/standard contained in Declaration of Conformity (DoC)? Yes [ ], No [ ]
3. Does the protection instrument conform to the category required? Yes [ ], No [ ]
4. Are electric shock protective measures (protective class) effective? Yes [ ], No [ ]
5. Is the safety observation function checked (test of all the shut-off wiring)? Yes [ ], No [ ]
Checking the items will not be instead of the first test operation or periodic inspection by professional engineers.