Factory Automation

MELSERVO-J5 Series Servo Amplifier Safety Sub-Functions

Safety Sub-Functions

Specifications of servo amplifiers

Item Specifications
MR-JET-G4-HS(N1)
Safety
performance		 Standards EN ISO 13849-1:2015 Category 4 PL e, IEC 61508 SIL 3,
EN IEC 62061:2021 maximum SIL 3, EN 61800-5-2
Mean time to dangerous failure
(MTTFd)		 MTTFd ≥ 100 [years] (300a)
Diagnostic coverage (DC) DC = Medium, 96.5 %
Probability of dangerous Failure
per Hour (PFH)		 PFH = 7.7 × 10-9 [1/h]
Mission time (TM) (Note 1) TM = 20 [years]
  • Notes:
  • 1. 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-JET-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 1, 4, 5)
SS1 Deceleration delay time 0 ms to 60000 ms (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 1, 4, 5)
SLS1/2/3/4 Observation speed 0 r/min (mm/s) to 10000 r/min (mm/s) (functional safety parameter setting) (Note 6)
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)
SLT Observation torque -1000.0 % to 1000.0 % (functional safety parameter setting)
Input/output function Input
device		 Number of inputs (double wiring) 3 points
Permissible time for mismatched double inputs 0 ms to 60000 ms (functional safety parameter setting) (Note 8)
Noise elimination filter 1.000 ms to 32.000 ms (functional safety parameter setting)
Test pulse off time (Note 7) 1 ms or less
Test pulse interval (Note 7) 250 ms to 1000 ms
Output
device		 Number of outputs (double wiring) 3 points
Test pulse off time 0.500 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 1)
FSoE Watchdog Time 16.0 ms to 65534.0 ms (object setting) (using EtherCAT®) (Note 1)
Safety communication delay time 60 ms or less (using CC-Link IE TSN/EtherCAT®) (Note 1, 4)
  • Notes:
  • 1. The listed value is applicable when the safety sub-functions through the network connection are executed.
  • 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. 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.
  • 4. 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.
  • 5. Set the communication cycle as follows:
    • ●MR-JET-G4-HS: 125 μs or more
    • ●MR-JET-G4-HSN1: 250 μs or more
  • 6. The observation speed can be set separately.
  • 7. The test pulse is a signal for the external circuit to perform self-diagnosis by turning off the signals to the servo amplifier instantaneously at regular intervals.
  • 8. If it is set to 0 ms, no alarm occurs.

List of supported safety sub-functions

Servo amplifier
model		 Connection
method
(connector)		 Servo motor type Safety sub-function (IEC/EN 61800-5-2)
STO SS1 SBC SLS
(Note 3)		 SSM
(Note 3)		 SDI
(Note 3)		 SLT
SS1-t SS1-r
(Note 3)
MR-JET-G4-HS(N1) DI/O
connection
(Note 2)
(CN3)		 Rotary servo 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, 4, 5)
(CN1A/CN1B)
  • Notes:
  • 1. Combine the servo amplifier with an R_SFCPU safety CPU with firmware version 20 or later.
  • 2. The listed safety levels are applicable when the following executes safety sub-function control with a diagnosis using test pulses.
  • ● 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, SLS, SSM, and SDI.
  • 4. The safety sub-functions through the network connection are not available when the servo amplifiers use CC-Link IE Field Network Basic.
  • 5. Set the communication cycle as follows:
  • ● MR-JET-G4-HS: 125 μs or more
  • ● MR-JET-G4-HSN1: 250 μs or more

Related Link