MELSERVO-J5 Series Servo Amplifier Safety Sub-Functions
Safety Sub-Functions
Specifications of servo amplifiers (Note 1)
| Item | Specifications | |||
|---|---|---|---|---|
| MR-J5-G(4)(-N1) MR-J5-B(4)(-RJ) MR-J5W_-B MR-J5-A(4)(-RJ) |
MR-J5-G(4)-RJ(N1) MR-J5W_-G(-N1) MR-J5D_-G4(-N1) |
MR-J5-G4-HS(N1) | ||
| Safety performance |
Standards | EN ISO 13849-1:2015 Category 3 PL e, IEC 61508 SIL 3, EN IEC 62061 maximum SIL 3, EN 61800-5-2 |
EN ISO 13849-1:2015 Category 4 PL e, IEC 61508 SIL 3, EN IEC 62061 maximum SIL 3, EN 61800-5-2 |
|
| Mean time to dangerous failure (MTTFd) |
MTTFd ≥ 100 [years] (314a) | MTTFd ≥ 100 [years] (750a) | MTTFd ≥ 100 [years] (300a) | |
| Diagnostic coverage (DC) | DC = Medium, 97.6 % | DC = Medium, 96.5 % | ||
| Probability of dangerous Failure per Hour (PFH) |
PFH = 6.4 × 10-9 [1/h] | PFH = 3 × 10-9 [1/h] | PFH = 7.7 × 10-9 [1/h] | |
| Mission time (TM) (Note 2) | TM = 20 [years] | |||
- Notes:
- 1. Supported safety sub-functions and their safety levels vary by the combinations of the servo amplifier or the drive unit and the servo motor, and the firmware version of the servo amplifier. Refer to "List of supported safety sub-functions".
- 2. The performance of special proof tests within the mission time of the product is regarded as not necessary, however, the diagnostic interval is suggested as at least one test per three months for Category 3 PL e, SIL 3 on IEC 61800-5-2:2016.
Function specifications
| Item | Specifications | ||||
|---|---|---|---|---|---|
| MR-J5-G(4)(-RJ(N1)) MR-J5W_-G(-N1) MR-J5D_-G4(-N1) MR-J5-B(4)(-RJ) MR-J5W_-B MR-J5-A(4)(-RJ) |
MR-J5-G4-HS(N1) | ||||
| Safety sub-functions | STO | Shut-off response time (STO input off → energy shut off) |
8 ms or less (using input device) 60 ms or less (using CC-Link IE TSN/EtherCAT®) (Note 3, 4, 7) |
||
| SS1 | Deceleration delay time | 0 ms to 60000 ms (functional safety parameter setting) | |||
| SS2 | Deceleration delay time | 0 ms to 60000 ms (functional safety parameter setting) | |||
| SOS | Observation position | 0 rev to 1000 rev (functional safety parameter setting) | |||
| SBC | Shut-off response time | 8 ms or less (using input device) 60 ms or less (using CC-Link IE TSN/EtherCAT®) (Note 3, 4, 7) |
|||
| SLS1/2/3/4 | Observation speed | 0 r/min (mm/s) to 10000 r/min (mm/s) (functional safety parameter setting) (Note 5) | |||
| SSM | Observation speed | 0 r/min (mm/s) to 10000 r/min (mm/s) (functional safety parameter setting) | |||
| SDI | Direction monitor delay time | 0 ms to 60000 ms (functional safety parameter setting) | |||
| SLI | Observation position | 0 rev to 1000 rev (functional safety parameter setting) | |||
| SLT | Observation torque | -1000.0 % to 1000.0 % (functional safety parameter setting) | |||
| Input/output function | Input device |
Number of inputs (double wiring) | 1 point | 3 points | |
| Permissible time for mismatched double inputs | 0 ms to 60000 ms (functional safety parameter setting) | ||||
| Noise elimination filter | 1.000 ms to 32.000 ms (functional safety parameter setting) | ||||
| Test pulse off time (Note 6) | 1 ms or less | ||||
| Test pulse interval (Note 6) | 250 ms to 1000 ms | ||||
| Output device |
Number of outputs (double wiring) | 1 point | 3 points | ||
| Test pulse off time | 0.500 ms to 2.000 ms (functional safety parameter setting) | ||||
| Test pulse interval | 1 s or less | ||||
| External wiring diagnostic output |
Number of outputs (double wiring) | - | 1 point | ||
| Test pulse off time | - | 1.000 ms to 2.000 ms (functional safety parameter setting) | |||
| Test pulse interval | - | 1 s or less | |||
| Safety communication function |
Response time | 250 ms (Note 2) | |||
| Transmission interval monitor time | 16.0 ms to 1000.0 ms (functional safety parameter setting) (using CC-Link IE TSN) (Note 7) | ||||
| FSoE Watchdog Time | 16.0 ms to 65534.0 ms (object setting) (using EtherCAT®) (Note 7) | ||||
| Safety communication delay time | 60 ms or less (using CC-Link IE TSN/EtherCAT®) (Note 4, 7) | ||||
- Notes:
- 1. Supported safety sub-functions and their safety levels vary by the combinations of the servo amplifier or the drive unit and the servo motor, and the firmware version of the servo amplifier. Refer to "List of supported safety sub-functions".
- 2. This value is applicable when the transmission interval monitor time is 64.0 ms or less, or FSoE Watchdog Time is 60 ms or less.
- 3. This value is applicable when the transmission interval monitor time is 32.0 ms or less, or FSoE Watchdog Time is 30 ms or less.
- 4. Set the communication cycle as follows:
-
- ●MR-J5-G(4)-RJ, MR-J5-G4-HS, MR-J5D1-G4: 125 μs or more
- ●MR-J5-G(4)-RJN1, MR-J5-G4-HSN1, MR-J5D1-G4-N1: 250 μs or more
- ●MR-J5W_-G(-N1), MR-J5D2-G4(-N1), MR-J5D3-G4(-N1): 500 μs or more
- 5. The observation speed can be set separately.
- 6. The test pulse is a signal for the external circuit to perform self-diagnosis by turning off the signals to the servo amplifier or the drive unit instantaneously at regular intervals.
- 7. The listed value is applicable when the safety sub-functions through the network connection are executed.
List of supported safety sub-functions (Note 10)
Supported safety sub-functions and their safety levels vary by the combinations of the servo amplifier or the drive unit and the servo motor. Refer to the table below.
| Servo amplifier model (Note 11) |
Connection method (connector) |
Servo motor type (Note 16) |
Safety sub-function (IEC/EN 61800-5-2) | ||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| STO | SS1 | SS2 (Note 3, 6) |
SOS (Note 3, 6) |
SBC | SLS (Note 3, 6) |
SSM (Note 3, 6) |
SDI (Note 3, 6) |
SLI (Note 3, 6) |
SLT (Note 6) |
||||
| SS1-t | SS1-r (Note 3, 6) |
SS2-t, SS2-r |
|||||||||||
| MR-J5-G(4)(-N1) MR-J5-B(4)(-RJ) MR-J5W_-B MR-J5-A(4)(-RJ) |
DI/O connection (CN8) |
Servo motor with functional safety Rotary servo motor Linear servo motor Direct drive motor |
Cat. 3 PL e, SIL 3 |
- (Note 8) |
- | - | - | - | - | - | - | - | - |
|
MR-J5-G(4)-RJ(N1) (Note 14) MR-J5-G4-HS(N1) MR-J5W_-G(-N1) (Note 4, 9, 14) MR-J5D1-G4(-N1) (Note 14) MR-J5D2-G4(-N1) (Note 9, 14) MR-J5D3-G4(-N1) (Note 9, 14) |
DI/O connection (Note 2) (CN8/CN3) |
Servo motor with functional safety |
Cat. 4 PL e, SIL 3 |
Cat. 4 PL e, SIL 3 |
Cat. 4 PL e, SIL 3 |
Cat. 4 PL e, SIL 3 |
Cat. 4 PL e, SIL 3 |
Cat. 4 PL e, SIL 3 |
Cat. 4 PL e, SIL 3 |
Cat. 4 PL e, SIL 3 |
Cat. 4 PL e, SIL 3 |
Cat. 4 PL e, SIL 3 |
Cat. 3 PL d, SIL 2 |
| Rotary servo motor Linear servo motor Direct drive motor |
Cat. 4 PL e, SIL 3 |
Cat. 4 PL e, SIL 3 |
Cat. 3 PL d, SIL 2 |
- | - | Cat. 4 PL e, SIL 3 |
Cat. 3 PL d, SIL 2 |
Cat. 3 PL d, SIL 2 |
Cat. 3 PL d, SIL 2 |
- | Cat. 3 PL d, SIL 2 |
||
| Network connection (Note 1, 5, 7, 12, 13, 15) (CN1A/CN1B) |
Servo motor with functional safety |
Cat. 4 PL e, SIL 3 |
Cat. 4 PL e, SIL 3 |
Cat. 4 PL e, SIL 3 |
Cat. 4 PL e, SIL 3 |
Cat. 4 PL e, SIL 3 |
Cat. 4 PL e, SIL 3 |
Cat. 4 PL e, SIL 3 |
Cat. 4 PL e, SIL 3 |
Cat. 4 PL e, SIL 3 |
Cat. 4 PL e, SIL 3 |
Cat. 3 PL d, SIL 2 |
|
| Rotary servo motor Linear servo motor Direct drive motor |
Cat. 4 PL e, SIL 3 |
Cat. 4 PL e, SIL 3 |
Cat. 3 PL d, SIL 2 |
- | - | Cat. 4 PL e, SIL 3 |
Cat. 3 PL d, SIL 2 |
Cat. 3 PL d, SIL 2 |
Cat. 3 PL d, SIL 2 |
- | Cat. 3 PL d, SIL 2 |
||
- Notes:
- 1. Combine the servo amplifier with an R_SFCPU safety CPU with firmware version of 20 or later.
- 2. The listed safety levels are applicable when one of the following executes safety sub-function control with a diagnosis using test pulses.
- ● MR-J5-G4-HS(N1)
- ● Safety CPU or safety controller that meets Category 4 PL e, SIL 3
When a forced stop switch, a safety switch, or an enable switch is directly connected to the servo amplifier and a diagnosis using test pulses is not executed, the safety level is Category 3 PL d, SIL 2. - 3. A fully closed loop system does not support SS1-r, SS2, SOS, SLS, SSM, SDI, and SLI.
- 4. The safety sub-functions are supported by MR-J5W_-G manufactured in November 2019 or later.
- 5. Set the communication cycle as follows:
- ● MR-J5-G(4)-RJ, MR-J5-G4-HS, MR-J5D1-G4: 125 μs or more
- ● MR-J5-G(4)-RJN1, MR-J5-G4-HSN1, MR-J5D1-G4-N1: 250 μs or more
- ● MR-J5W_-G(-N1), MR-J5D2-G4(-N1), MR-J5D3-G4(-N1): 500 μs or more
- 6. When used with CC-Link IE Field Network Basic, SS1-r, SS2, SOS, SLS, SSM, SDI, SLI, and SLT are available on servo amplifiers or drive units with firmware version D8 or later.
- 7. The safety sub-functions through the network connection are not available when the servo amplifiers or drive units use CC-Link IE Field Network Basic.
- 8. The servo amplifiers support SS1-t when combined with MR-J3-D05. Refer to "MELSERVO-J5 catalog" for details.
- 9. The STO function can be set for each axis.
- 10. For 200 V class servo amplifiers, the firmware version B2 or later is required.
- 11. The functional safety unit (MR-D30) cannot be connected.
- 12. When used with CC-Link IE TSN Class A, the safety sub-functions through the network connection are available on servo amplifiers or drive units with firmware version D4 or later.
- 13. The safety sub-functions through the network connection are not available when the servo amplifier uses driver communication function.
- 14. For MR-J5-G(4)-RJN1, MR-J5W_-G(-N1), and MR-J5D_-G4-N1, SS1-r, SS2, SOS, SLS, SSM, SDI, SLI, and SLT are available on servo amplifiers or drive units with firmware version D8 or later.
- 15. For MR-J5-G(4)-RJN1, MR-J5W_-G(-N1), and MR-J5D_-G4-N1, the safety sub-functions through the network connection are available on servo amplifiers or drive units with firmware version D8 or later.
- 16. Refer to the following for the possible combinations of servo motors and servo amplifiers.
- - Combinations of Rotary Servo Motors and Servo Amplifiers
- - Combinations of Linear Servo Motors and Servo Amplifiers
- - Combinations of Direct Drive Motors and Servo Amplifiers