Mitsubishi Electric MR-D30 User manual

SH(NA)030132ENG-E(1805)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
E
E

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/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/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 power/signal specified in the Instruction Manual should be applied to each terminal. Otherwise,
it may cause an electric shock, fire, injury, etc.
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 the power is on
and for some time after power-off. Take safety measures such as providing covers to avoid accidentally
touching them by hands and parts such as cables.
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, cables, or connectors when carrying the servo amplifier.
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. Otherwise, it may cause injury.
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 apply heavy impact on the servo amplifiers, servo motors, and MR-D30. Otherwise, it may
cause injury, malfunction, etc.
Do not strike the connector. Otherwise, it may cause a connection failure, malfunction, etc.
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 5 %RH to 90 %RH (non-condensing)
Storage
Ambience Indoors (no direct sunlight), free from corrosive gas, flammable gas, oil mist, dust, and dirt
Altitude 2000 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.
To prevent a fire or injury in case of an earthquake or other natural disasters, securely install, mount, and
wire the servo motor in accordance with the Instruction Manual.
(2) Wiring
CAUTION
Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly.
Make sure to connect the cables and connectors by using the fixing screws and the locking mechanism.
Otherwise, the cables and connectors may be disconnected during operation.
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/W) of the servo amplifier
and servo motor.
Connect the servo amplifier power output (U/V/W) to the servo motor power input (U/V/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.
Configure a circuit to turn off EM2 or EM1 when the main circuit power is turned off to prevent an
unexpected restart of the servo amplifier.
To prevent malfunction, avoid bundling power lines (input/output) and signal cables together or running
them in parallel to each other. Separate the power lines from the signal cables.

A - 5
(3) Test run and adjustment
CAUTION
When executing a test run, follow the notice and procedures in this instruction manual. Otherwise, it may
cause a malfunction, damage to the machine, or injury.
Before operation, check and adjust 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.
(4) Usage
CAUTION
Provide an external emergency stop circuit to stop the operation and shut the power off immediately.
For equipment in which the moving part of the machine may collide against the load side, install a limit
switch or stopper to the end of the moving part. The machine may be damaged due to a collision.
Do not disassemble, repair, or modify the product. Otherwise, it may cause an electric shock, fire, injury,
etc. Disassembled, repaired, and/or modified products are not covered under warranty.
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 affect the electronic equipment used near the servo amplifier.
Do not burn or destroy the servo amplifier. Doing so may generate a toxic gas.
Use the servo amplifier with the specified servo motor.
Wire options and peripheral equipment, etc. correctly in the specified combination. Otherwise, it may
cause an electric shock, fire, injury, etc.
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 incorrect wiring, 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.
If the dynamic brake is activated at power-off, alarm occurrence, etc., do not rotate the servo motor by an
external force. Otherwise, it may cause a fire.

A - 6
(5) Corrective actions
CAUTION
Ensure safety by confirming the power off, etc. before performing corrective actions. Otherwise, it may
cause an accident.
If it is assumed that a power failure, machine stoppage, or product malfunction may result in a hazardous
situation, use a servo motor with an electromagnetic brake or provide an external brake system for
holding purpose to prevent such hazard.
Configure an electromagnetic brake circuit which is interlocked with an external emergency stop switch.
Servo motor
Electromagnetic brake
B
RA
Contacts must be opened with
the emergency stop switch.
Use ALM (Malfunction) or SBCS
(SBC output) to open the contacts.
24 V DC
When an alarm occurs, eliminate its cause, ensure safety, and deactivate the alarm to restart operation.
If the molded-case circuit breaker or fuse is activated, be sure to remove the cause and secure safety
before switching the power on. If necessary, replace the servo amplifier and recheck the wiring.
Otherwise, it may cause smoke, fire, or an electric shock.
Provide an adequate protection to prevent unexpected restart after an instantaneous power failure.
After an earthquake or other natural disasters, ensure safety by checking the conditions of the
installation, mounting, wiring, and equipment before switching the power on to prevent an electric shock,
injury, or fire.
(6) Maintenance, inspection and parts replacement
CAUTION
Make sure that the emergency stop circuit operates properly such that an operation can be stopped
immediately and a power is shut off by the emergency stop switch.
It is recommended that the servo amplifier be replaced every 10 years when it is used in general
environment.
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 lead 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.

A - 7
(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 - 8
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.
Servo amplifiers and drive units are written as servo amplifiers in this Instruction Manual under certain
circumstances, unless otherwise stated.
Relevant manuals
Manual name Manual No.
MELSERVO MR-J4-_B_(-RJ) Servo Amplifier Instruction Manual (Note 5) SH(NA)030106ENG
MELSERVO MR-J4-_A_(-RJ) Servo Amplifier Instruction Manual (Note 6) SH(NA)030107ENG
MELSERVO MR-J4-_GF_(-RJ) Servo Amplifier Instruction Manual (Motion Mode) (Note 8, 9) SH(NA)030218ENG
MELSERVO MR-J4-_GF_(-RJ) Servo Amplifier Instruction Manual (I/O Mode) (Note 9) SH(NA)030221ENG
MELSERVO MR-CV_/MR-CR55K_/MR-J4-DU_(-RJ) Amplifier Instruction Manual (Note 7) SH(NA)030153ENG
MELSERVO MR-J4-DU_B4-RJ100 Drive Unit Instruction Manual (Note 10) SH(NA)030280ENG
MR-J4 Servo Amplifier Instruction Manual (Troubleshooting) SH(NA)030109ENG
MELSERVO Servo Motor Instruction Manual (Vol. 3) (Note 1) SH(NA)030113ENG
MELSERVO Linear Servo Motor Instruction Manual (Note 2) SH(NA)030110ENG
MELSERVO Direct Drive Motor Instruction Manual (Note 3) SH(NA)030112ENG
MELSERVO Linear Encoder Instruction Manual (Note 2, 4) SH(NA)030111ENG
MELSERVO EMC Installation Guidelines IB(NA)67310ENG
MELSEC iQ-R Safety Application Guide SH(NA)081538ENG
Q173D(S)CPU/Q172D(S)CPU Motion Controller Programming Manual (Safety Observation) IB(NA)0300183
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.
7. It is necessary for using an MR-J4-DU_-RJ drive unit.
8. It is necessary for using an MR-J4-_GF_-RJ servo amplifier in the motion mode.
9. It is necessary for using an MR-J4-_GF_-RJ servo amplifier in the I/O mode.
10. It is necessary for using an MR-J4-DU_B4-RJ100 drive unit.
«Cables used for wiring»
Wires mentioned in this Instruction Manual are selected based on the ambient temperature of 40 °C.

1
CONTENTS
1. FUNCTIONS AND CONFIGURATION 1- 1 to 1-28
1.1 Summary........................................................................................................................................... 1- 1
1.2 Outline of safety observation function .............................................................................................. 1- 5
1.3 Function block diagram..................................................................................................................... 1- 6
1.3.1 MR-J4-_GF_-RJ......................................................................................................................... 1- 6
1.3.2 MR-J4-_B_-RJ ........................................................................................................................... 1- 8
1.3.3 MR-J4-_A_-RJ .......................................................................................................................... 1-10
1.3.4 MR-J4-DU_B_-RJ ..................................................................................................................... 1-11
1.3.5 MR-J4-DU_A_-RJ ..................................................................................................................... 1-13
1.4 System configuration ....................................................................................................................... 1-14
1.4.1 MR-J4-_GF_-RJ........................................................................................................................ 1-14
1.4.2 MR-J4-_B_-RJ/MR-J4-DU_B-RJ .............................................................................................. 1-16
1.4.3 MR-J4-_A_-RJ/MR-J4-DU_A-RJ .............................................................................................. 1-18
1.5 Standard specifications.................................................................................................................... 1-19
1.6 Function list...................................................................................................................................... 1-21
1.7 Combinations with servo amplifiers and servo motors .................................................................... 1-21
1.8 Rating plate...................................................................................................................................... 1-26
1.9 Risk assessments............................................................................................................................ 1-26
1.9.1 Common residual risks in each function ................................................................................... 1-26
1.9.2 Residual risks in each function ................................................................................................. 1-27
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 life.................................................................................................................... 2- 4
2.5 Maintenance ..................................................................................................................................... 2- 4
2.6 Attachment and detachment of MR-D30 .......................................................................................... 2- 5
3. SIGNALS AND WIRING 3- 1 to 3-22
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

2
3.7 Wiring method of CN10A/CN10B connectors.................................................................................. 3-16
3.8 Connection example with other devices .......................................................................................... 3-17
3.8.1 MR-J4-_GF_-RJ........................................................................................................................ 3-17
3.8.2 MR-J4-_B_-RJ/MR-J4-DU_B_-RJ ............................................................................................ 3-19
3.8.3 MR-J4-_A_-RJ/MR-J4-DU_A_-RJ ............................................................................................ 3-21
3.9 Power-on sequence......................................................................................................................... 3-22
4. SAFETY OBSERVATION FUNCTION 4- 1 to 4-46
4.1 Achievable safety level ..................................................................................................................... 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- 6
4.3.3 Mandatory parameter setting ..................................................................................................... 4- 8
4.3.4 Test operation ............................................................................................................................ 4- 9
4.3.5 Unit replacement ........................................................................................................................ 4- 9
4.4 I/O function........................................................................................................................................ 4- 9
4.4.1 Input device ................................................................................................................................ 4- 9
4.4.2 Output device ............................................................................................................................ 4-18
4.4.3 Safety observation function control by input device.................................................................. 4-21
4.4.4 Servo motor with functional safety ............................................................................................ 4-27
4.4.5 Position feedback fixing diagnosis function .............................................................................. 4-27
4.5 Safety observation function ............................................................................................................. 4-28
4.5.1 STO function ............................................................................................................................. 4-28
4.5.2 SS1 function .............................................................................................................................. 4-30
4.5.3 SS2/SOS function ..................................................................................................................... 4-34
4.5.4 SLS function .............................................................................................................................. 4-38
4.5.5 SSM function ............................................................................................................................. 4-41
4.5.6 SBC function ............................................................................................................................. 4-42
4.5.7 Status monitor (SM) function..................................................................................................... 4-43
4.5.8 Multiple inputs of safety observation functional operation commands ..................................... 4-43
4.5.9 Simultaneous operation of STO and SS1 functions ................................................................. 4-44
4.5.10 At alarm occurrence ................................................................................................................ 4-44
5. PARAMETERS 5- 1 to 5-22
5.1 Parameter list.................................................................................................................................... 5- 1
5.1.1 Safety observation function parameters 1 ([Pr. PSA_ _ ]) ......................................................... 5- 2
5.1.2 Network 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 Network parameters ([Pr. PSC_ _ ]) ......................................................................................... 5-10
5.2.3 Safety I/O device parameters ([Pr. PSD_ _ ]) ........................................................................... 5-13
6. DISPLAY 6- 1 to 6- 2

3
7. TROUBLESHOOTING 7- 1 to 7- 4
7.1 Alarm and warning list ...................................................................................................................... 7- 1
7.2 Combinations of the parameters that trigger [AL. 7A.3 Parameter combination error
(safety observation function)]............................................................................................................ 7- 4
8. DIMENSIONS 8- 1 to 8- 2
8.1 MR-D30 functional safety unit........................................................................................................... 8- 1
8.2 When an MR-D30 is attached to a servo amplifier........................................................................... 8- 2
APPENDIX App. - 1 to App. - 1
App. 1 EC declaration of conformity .................................................................................................App.- 1

4
MEMO

1. FUNCTIONS AND CONFIGURATION
1 - 1
1. FUNCTIONS AND CONFIGURATION
1.1 Summary
POINT
Servo amplifiers and drive units are written as servo amplifiers in this Instruction
Manual under certain circumstances, unless otherwise stated.
If the combination of MR-D30 and servo amplifier is wrong, "ERROR" will turn
on.
The simple cam function cannot be used with a servo amplifier on which MR-
D30 is mounted.
When replacing MR-D30 with one having a different software version, check that
the software version of MR-D30 supports the safety observation functions to
prevent them from operating unintentionally. As necessary, disable the safety
observation function.
This Instruction Manual only describes the functions of MR-D30. For servo amplifiers, refer to each servo
amplifier instruction manual.
You can extend the safety observation function by using MR-D30 with a compatible servo amplifier or drive
unit. 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.
(1) Compatibility of servo amplifiers
(a) MR-J4-_GF_-RJ
1) 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 STO/SS1/SBC/SLS/SSM/SOS/
SS2/SM
HG-KR_W0C
HG-SR_W0C
HG-JR_W0C
MR-J4-_GF_-RJ
2) 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

1. FUNCTIONS AND CONFIGURATION
1 - 2
(b) 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 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. MR-J4-(DU)_A_-RJ manufactured in November, 2014 or later is supported.
(c) MR-J4-DU_B4-RJ100
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-JR_W0C MR-J4-DU_B4-RJ100
(2) Characteristics of functions
(a) When using the safety observation function with wiring to the CN10_ connector of MR-D30 (Safety
observation function control by input device)
By combination of MR-D30 functional safety unit, servo amplifier compatible with MR-D30, and servo
motor with functional safety, the safety observation functions (STO/SS1/SBC/SLS/SSM/SOS/SS2)
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.

1. FUNCTIONS AND CONFIGURATION
1 - 3
(b) When using the safety observation function through SSCNET III/H or CC-Link IE Field Network
(Safety observation function control by network)
The safety observation function is available by combining MR-D30 with MR-J4-B_-RJ through
SSCNET III/H, or with MR-J4-GF_-RJ through CC-Link IE Field Network. This ensures reduced
wiring. (Refer to table 1.1.)
Table 1.1 Compatibility of safety observation function
Safety observation function
control by network
(CC-Link IE Field Network) (Note 9)
Safety observation function
control by network
(SSCNET III/H) (Note 10)
Safety observation function
control by input device (Note 8)
Compatible controller
Safety Programmable Controller
R_SFCPU (Note 5)
+
Safety function module
R6SFM (Note 7)
+
Simple motion module
RD77GF_ (Note 6)
Drive safety integrated motion
controller
Q173DSCPU
Q172DSCPU
+
Safety signal module
Q173DSXY
STO
Category 4, PL e, SIL 3 (Note 1)
Category 3, PL d, SIL 2
Category 4, PL e, SIL 3 (Note 1)
SS1
SBC
SLS (Note 2) Category 3, PL d, SIL 2
Category 4, PL e, SIL 3 (Note 3)
Category 3, PL d, SIL 2
Category 4, PL e, SIL 3 (Note 3)
SSM (Note 2)
SS2 (Note 2, 4) Category 4, PL e, SIL 3 (Note 1) Category 4, PL e, SIL 3 (Note 1)
SOS (Note 2, 4)
Note 1. To meet Category 4, PL e, SIL 3 for input signals, a diagnosis using test pulses is required. Refer to section 4.1 for detailed
conditions.
2. Linear servo system, direct drive servo system, and fully closed loop system are not compatible with SLS, SSM, SS2, and
SOS. Table 1.2 shows safety observation functions compatible with each system.
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.
5.
A
safety programmable controller with software version 07 or later is necessary.
6.
A
simple Motion module with software version 05 or later is necessary.
7. Safety function unit with Manufacturer Software Version 07 or later is required.
8. The combination of MR-D30 and MR-J4-_GF_-RJ is supported by MR Configurator2 with software version 1.60N or later. The
combination of MR-D30 and MR-J4-_B_-RJ is supported by MR Configurator2 with software version 1.25B or later. The
combination of MR-D30 and MR-J4-_A_-RJ is supported by MR Configurator2 with software version 1.34L or later.
9. This is supported by GX Works3 with software version 1.035M or later and MR Configurator2 with software version 1.60N or
later.
10. This is supported by MT Works2 with software version 1.100E or later.

1. FUNCTIONS AND CONFIGURATION
1 - 4
Table 1.2 Safety observation functions
compatible with each system.
System (Note)
Servo motor with
functional safety
Servo motor
Full.
Lin.
DD
STO
SS1
SBC
SLS
SSM
SS2
SOS
: Usable
Note. The systems indicate the following.
Servo motor with functional safety: Semi closed loop system using the servo motor
with functional safet
y
Servo motor: Semi closed loop system using the servo motor
Full.: Fully closed loop system using the servo motor or servo motor with functional
safety
Lin.: Linear servo motor system
DD: Direct drive motor system

1. FUNCTIONS AND CONFIGURATION
1 - 5
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/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, the 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)
Monitors 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)
Observes 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.
(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 is an original function of the functional
safety unit, not the one defined in IEC/EN 61800-5-2.

1. FUNCTIONS AND CONFIGURATION
1 - 6
1.3 Function block diagram
1.3.1 MR-J4-_GF_-RJ
(1) Safety observation function control by input device
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 servo amplifier
complies with safety level Category 4, PL e, SIL 3.
MCCB MC L1
L2
L3
L11
L21
M
U
V
W
U
V
W
24 V DC B1
B2 B
RA
CN9
CN90
CN7
CN70
CC-Link IE
Field Network
CC-Link IE
Field Network
USB
CN8CN1ACN1BCN5
CN2
CN10ACN10B CN10ACN10B
Gate circuit
Powe
r
s
uppl
y
Servo amplifie
r
Servo motor
Control circuit
power supply
Controller
or
CC-Link IE Field
Network device
Controller
or
CC-Link IE Field
Network device
Electro-
magnetic
brake
Encoder
Control
(Remove the short-circuit
connector.)
Not used
Parameter setting
Functional safety
unit
Safety observation
function
Processing part 1
Input device
control
Self-check
Parameter
Safety observation
function
Processing part 2
Self-check
Parameter
Input device
control
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
Output device
control
Output device
control
Output signal
(Note)
Input signal
(Note)
Note. Safety switch, safety relay, etc.

1. FUNCTIONS AND CONFIGURATION
1 - 7
(2) Safety observation function control by network
The following block diagram shows an operation of the safety observation function through CC-Link IE
Field Network. The electric wiring can be omitted.
MCCB MC L1
L2
L3
L11
L21
M
U
V
W
U
V
W
24 V DC B1
B2 B
RA
CN8
CN2
USB
CN1ACN1BCN5
Main
input module
NZ2GFSS2-32D
Extension
output module
NZ2EXSS2-8TE
Input signal
(Note)
iQ-R series safety remote I/O module
CN9
CN90
CN7
CN70
CN10B CN10A
RD77GF_
Safety
function
module
R6SFM
iQ-R
series
safety CPU
iQ-R series safety CPU
Control
Self-check
Parameter
Output device
control
Output device
control
Power
supply
Servo amplifier Servo motor
Control circuit
power supply
Gate circuit
Electro-
magnetic
brake
Encoder
(Remove the short-circuit
connector.)
Not used
Controller
or
CC-Link IE
Field Network device
CC-Link IE
Field Network
CC-Link IE
Field Network
CC-Link IE Field
Network device
or cap
Parameter setting
Functional safety
unit
Safety observation
function
Processing part 1
Self-check
Parameter
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 2
Output signal
(Note)
Output signal
(Note)
Note. Safety switch, safety relay, etc.