Safety signal module Q173DSXY Safety
Contents
1. Motion CPU Bottom of Q17 DSCPU r E Safety signal module1 Safety signal module2 Safety signal module3 j Bottom of Q173DSXY Bottom of Q173DSXY Bottom of Q173DSXY RIO SW setting SW setting SW setting 0 1 2 I RIO1 RIO1 RIO1 Ee Er ER B Rion J RIO cable ROD RIO cable L RIO Q173DSXYCBL M Q173DSXYCBLIM 1 I a O CT CL O U UH 0 nU 13 4 3 Pin layout of safety signal module connector Motion IO 1B 1B 1B 1B 1B 1B 1B 1B 1B 1B 1B 1B 1B 1B 1B 1B 1B 1B 1B 1B 20 19 18 17 16 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 AAA DPPPPPPPDPDPDPPPPPPPPPLP COOOOOOCOOSBS45445444544f ANWATUIDNWOOO NWARUIONWOOO NNDNNMNNMNNNMNNNNNNNNNNNY UJ 0909 UJ UJ UJ U9UJ UJ UJ UJ UJUJ UJ UJ UJUJ UJ UJ UJ DODDDOOOO 3 3 3 3 3 a a ANWKUONWOOCA NWAVIONOOO Koen Front view of the module Signal name MC X00 Signal name PLC X00 MC X01 PLC X01 MC X02 PLC X02 MC X03 PLC X03 MC X04 PLC X04 MC X05 PLC X05 MC X06 PLC X06 MC X07 PLC X07 MC X08 PLC X08 MC X09 PLC X09 IN OUT Note 1 Note 2 MC YOA XOA IN OUT Note 1 Note 2 PLC YOA XOA IN OUT2. Application I O indicator Used to indicate the I O status on off LED Only the PLC Motion IO connector PLC IO connector The safety signal connector Motion CPU The safety signal connector PLC CPU Rotary switch For setting of the module station number Module 1 Setting 0 for station Module 2 5 Setting 1 number setting Module 3 Setting 2 RIO communication connector for Motion CPU RIO1 connector Connect to Motion CPU RIO or other safety signal unit RIO2 connected RIO communication connector for Motion CPU Connect to other safety signal unit RIO2 connected RIO2 connector Connection example of the Motion controller and safety signal module
3. MITSUBISHI ELECTRIC MITSUBISHI MOTION CONTROLLER Safety signal module Q173DSXY Safety Information Thank you for purchasing the Mitsubishi Motion controller The Motion controller is suitable for establishing safety observation functions for general industrial machinery Prior to use please read both this manual and detailed manual thoroughly and familiarize yourself with the product All rights reserved Specified product properties and technical data do not represent a guarantee declaration O 2012 MITSUBISHI ELECTRIC CORPORATION REVISIONS The manual number is given on the bottom left of the back cover IB NA 0300186 A Jun 2012 IB NA 0300186 B Revision for according to certification of safety standard Partial correction Section 1 1 2 3 2 4 2 6 7 1 7 2 Addition Chapter 8 Jun 2014 IB NA 0300186 C Revision for according to addition of safety communication function French translation added Partial correction Section 2 3 2 6 7 1 This manual confers no industrial property rights or any rights of any other kind nor does it confer any patent licenses Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual 2012 MITSUBISHI ELECTRIC CORPORATION 1 About this manual 1 1 Related Manuals This manual describes the mounting of the safety signal module Q17
4. Q04UDHCPU Q06UDHCPU Q10UDHCPU Q13UDHCPU Q20UDHCPU Q26UDHCPU Q03UDECPU PLC CPU module QO4UDEHCPU Q06UDEHCPU Q10UDEHCPU Q13UDEHCPU Q20UDEHCPU Q26UDEHCPU Q50UDEHCPU Q100UDEHCPU Motion CPU module Q173DSCPU Q172DSCPU Q173DCPU S1 Q172DCPU S1 Safety signal module Q173DSXY Main base unit Q35DB Q38DB Q312DB Note 1 Use PLC CPU module which the first five digits of the serial number are 10102 or later 2 Operating system software list safety observation function built in product Model name Compatible CPU Version SW8DNC SV22QJ SW8DNC SV13QJ Q173DSCPU or later SW8DNC SV22QL SW8DNC SV13QL Q172DSCPU or later SW8DNC SV22QA SW8DNC SV13QB Q173DCPU S1 OON or later 97 SW8DNC SV22QC SW8DNC SV13QD Q172DCPU S1 00S or later Note 1 In the case of using only safety signal comparison function Note 2 In the case of using both safety signal comparison function and speed monitoring function Note 3 In the case of using safety observation functions in safety signal comparison function speed monitoring function and safety communication function 2 4 General protective notes and protective measures Observe the protective notes and measures Please observe the following items in order to ensure proper use of the CAUTION Motion controller When mounting installing and using the Motion controller observe the standards and directives applicable
5. 24889 Taiwan R O C M 14 M 30 M 12 Bangpongpang TSUBISHI ELECTRIC AUTOMATION KOREA CO LTD 80 6 Gayang Dong Gangseo Gu Seoul 157 200 Korea TSUBISHI ELECTRIC ASIA PTE LTD 7 Alexandra Road Mitsubishi Electric Building Singapore 159943 TSUBISHI ELECTRIC FACTORY AUTOMATION THAILAND CO LTD th Floor SV City Building Office Tower 1 No 896 19 and 20 Rama 3 Road Kwaeng et Yannawa Bangkok 10120 Thailand PT MITSUBISHI ELECTRIC INDONESIA M Gedung Jaya 11th Floor JL MH Thamrin No 12 Jakarta Pusat 10340 Indonesia TSUBISHI ELECTRIC VIETNAM COMPANY LIMITED Unit 01 04 10th Floor Vincom Center 72 Le Thanh Ton Street District 1 Ho Chi Minh City Vietnam M M 34 TSUBISHI ELECTRIC INDIA PVT LTD Pune Branch Emerald House EL 3 J Block M I D C Bhosari Pune 411026 Maharashtra State India TSUBISHI ELECTRIC AUSTRALIA PTY LTD 8 Victoria Road P O Box 11 Rydalmere N S W 2116 Australia Tel Te Fax Te Fax Te Fax Te Fax Te Fax Te Fax Te Fax Te Fax Te Fax Te Fax Te Fax Te Fax Te Fax Te Fax Te Fax Te Fax Te Fax Te Fax Te Fax Te Fax Te Fax Te Fax MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE TOKYO BUILDING 2 7 3 MARUNOUCHI CHIYODA KU TOKYO 100 8310 JAPAN NAGOYA WORKS 1 14 YADA MINAMI 5 CHOME HIGASHI KU NAGOYA JAPAN Fa
6. 52 to 4 53 D inch Mass 0 2 to 0 24 kg Included items 19 7 4 Motion CPU Specifications Item Specification 5VDC internal current 1 3 to 1 75A consumption Tee 98 to 120 5 H x 27 4 W x 119 3 to 120 3 D mm Exterial dimensions 3 86 to 4 74 H x 1 08 W x 4 7 to 4 74 D inch Mass 0 33 to 0 38 kg Modulex1 Battery Q6BAT x1 Battery holder unit Q170BATC x1N Battery cable 01700 1 05 1 1 Safety Guidelines IB 67423 x1 Included items Note 1 Q170DCPU S1 Only 7 5 Safety signal module Q173DSXY Specifications Specification 32 inputs x 2 paths 32 for PLC CPU control 32 for Motion CPU Number of inputs control 20 safety inputs x 2 paths and 12 feedback inputs x 2 paths Input side insulation Photo coupler method Rated input voltage 24VDC 10 10 ripple rate within 5 Rated input current Approx 4mA point Input resistance Approx 8 2k ohm ON voltage ON current 20V or higher 3mA or higher OFF voltage OFF current 5V or lower 1 7mA or lower PLC CPU control input 10ms digital filter s initial value Input response time Motion CPU control 15ms CR filter 32 points negative common type Input common PLC Motion I O are separated Input type Type 1 Current sinking 12 outputs x 2 paths PLC CPU control 12 outputs Motion CPU control 12 outputs Number of outputs use insulation Photo coupler Rated load voltage
7. applicable laws and has any function or structure considered to be indispensable according to a common sense in the industry 4 A failure which may be regarded as avoidable if consumable parts designated in the instruction manual etc are duly maintained and replaced 5 Any replacement of consumable parts battery fan etc 6 A failure caused by external factors such as inevitable accidents including without limitation fire and abnormal fluctuation of voltage and acts of God including without limitation earthquake lightning and natural disasters 7 A failure generated by an unforeseeable cause with a scientific technology that was not available at the time of the shipment of the Product from our company 8 Any other failures which we are not responsible for or which you acknowledge we are not responsible for 2 Onerous Repair Term after Discontinuation of Production 1 We may accept the repair at charge for another seven 7 years after the production of the product is discontinued The announcement of the stop of production for each model can be seen in our Sales and Service etc 2 Please note that the Product including its spare parts cannot be ordered after its stop of production 3 Service in overseas countries Our regional FA Center in overseas countries will accept the repair work of the Product However the terms and conditions of the repair work may differ depending on each FA Center Please ask your local FA center
8. sure that safety can be ensured during this period The error occurs when detected speed is different between the motor encoder and the external auxiliary input pulse and the time required to detect the error depends on the frequency of the external auxiliary pulse Determine the number of external input pulse considering the error detection risk 3 Safe Speed Monitor SSM If the safety output condition of SSM is used as a restart trigger incidental start up cannot be prevented A restart interlock must comply with EN60204 1 However using it as the operation ready signal is possible 4 Shut off function STO SS1 STO function disables energy supply to the servo motor by electrical shut off The function does not mechanically disconnect electricity from the motor Therefore it cannot prevent exposure to electric shock install a magnetic contactor or a molded case circuit breaker to the main circuit power supply L1 L2 and L3 of the servo amplifier STO function can disable the energy to servo motor by the electrical shutoff This function does not guarantee the procedure of stopping the servo motor and deceleration control SS1 function only guarantees the delay time before STO becomes effective e If SS1 delay time is shorter than servo motor deceleration time or forced stop function has an error STO becomes effective during motor rotation dynamic brake stop or free run stop is activated Even if STO function beco
9. these applications 1 power plants 2 trains railway systems airplanes airline operations other transportation systems 3 hospitals medical care dialysis and life support facilities or equipment 4 amusement equipments 5 incineration and fuel devices 6 handling of nuclear or hazardous materials or chemicals 7 mining and drilling 8 and other applications where the level of risk to human life health or property are elevated 4 Product description 4 1 Safety signal module Q173DSXY The Safety signal module is the I O combined module that has 20 safety input points x2 paths and 12 safety output points x2 paths It fulfills the following tasks Passing on the input information to the Motion CPU and PLC CPU module Receiving the control signals from the Motion CPU and PLC CPU module and corresponding switching of the outputs Passing on the output information to the Motion CPU and PLC CPU module Q173DSXY is not available separately from Motion controller and PLC Please use with Motion controller and PLC Up to three Q173DS XY are used on one base unit It can not be used on the extension base unit Safety Safety Safety PLC Motion signal signal signal CPU CPU module1 module2 module3 B Q173DSXY Q173DSXY Q173DSXY Ne 1 For Motion CPU 20inputs 12outputs Note 1 1 output is controlled by the For PLC CPU 20inputs 12outputs system as a shutdown signal For Motion CPU 20inputs 1
10. 24VDC 10 10 ripple rate within 5 0 1A x 8 ports 0 2A x 4 ports x 2 paths Max load current current 1 6A or less for dn connector Max inrush current 0 7A within 10ms 1 4A within 10ms for 0 2A output pin Output response time 1ms or less Rated load resistance load Output type Current sourcing External power suppl 24VDC 10 10 ripple rate within 5 Performance indication ON indication LED indicates PLC CPU s 32 input Number of occupied I O boints Applicable wire size 0 3mm NI A6CON 1 Accessory External wiring connector A6CON2 ASCONG Optional PLC CPU communication style Motion CPU Serial transmission RS 485 Use a RIO cable communication style Q173DSXYCBLO1M Accessory 0 1m 0 33ft Q173DSXYCBLOSM Optional 0 5m 1 64ft Number of module to 3 modules installed only on main base unit 5VDC internal current consumption 200mA When TYP all points ON 98 H x27 4 W x90 D mm EXITUS 3 86 H 1 08 W x3 54 D inch Mass 0 15k Modulex1 RIO cable Q173DSXYCBLO1M x1 Included item connector AGCON1 x2 This manual IB 0300186 x1 32 points In I O assignment set as a 32 point I O module BUS transmission 20 8 Check list for user documentation a MITSUBISHI ELECTRIC Motion controller installation checklist for manufacturer installer The following items must be satisfied by the initial test operation at least The manufacturer installer mu
11. 2outputs For PLC CPU 20inputs 12outputs For Motion CPU 20inputs 12outputs For PLC CPU q 20inputs 120utputs HDUCILIU da b o o 4 2 Name of parts 1 PLC CPU module QnUDE H CPU mn Q03UDECPU MODE 1 RUN ERR USER BAT 666060 GCOS ONS RUN Application MODE LED Indicates the mode of the CPU module Indicates the operating status of the CPU module RUN LED ON RUN OFF STOP ON Detection of self diagnosis error which will not stop operation Flash Detection of the error that stops operation OFF Normal ON F turned on OFF Normal ON yellow Battery error of the memory card Flash yellow Battery error of the CPU module battery ON green After the restoration of data to the standard BAT LED ROM lit for 5 seconds Flash green When the backup is complete to the standard ROM OFF Normal ON Start of boot operation OFF Non execution of boot operation RUN Exe
12. 3DSXY of a Motion controller For detailed information of the products refer to each user s manual or programming manual Can obtain the PDF data of latest manual from our website 1 2 Function of this document This manual instructs the technical staff of the machine manufacturer and or of the machine operator on the safe mounting of the safety signal module of the Motion controller In addition mounting protective devices also requires specific technical skills which are not detailed in this documentation This manual does not provide descriptions the machine in which the Motion controller is or will be integrated Information of this kind will be found in the manuals for the machine 2 On safety This chapter deals with your own safety and the safety of the equipment operators Please read this chapter carefully before beginning with the installation 2 1 Qualified safety personnel The Motion controller may only be installed by qualified safety personnel Qualified safety personnel are defined as persons who have undergone the appropriate technical training and have been instructed by the responsible machine operator in the operation of the machine and the current valid safety guidelines and have access to the Motion controller manuals and have read and familiarized themselves with them and have access to the manuals for the protective devices e g light curtains connected to the Motion controller and have read a
13. B02 1 02 1 1 15 5 Mounting Dismantling 5 1 Mounting the modules Base unit Module connector Module fixing projection Module Module fixing hole Module fixing projection 1 Module 3 mounting ZA lever Module fixing hole Base unit 5 Module fixing hook Ne Module fixing projection Base unit Module mounting lever Module fixing hole Base unit Y Module fixing projection Module fixing hole When installing the module always insert the module fixing projection into the module fixing hole of the base unit At that time securely insert the module fixing projection so that it does not come off from the module fixing hole If the module is forcibly installed without the latch being inserted the module connector and module will be damaged When using the modules in a place where there is large vibration or impact screw the module to the base unit Module fixing screw M3x12 user prepared Screw the Motion CPU module to the main base unit using supplied fixing screws Do not install remove the module onto from base unit or terminal block more than 50 times after the first use of the product Failure to do so may cause the module to malfunction due to poor contact of connector 16 5 2 Removal Push Module fixing hook Base unit Module connec
14. Compliant with IEC 61131 2 Shock resistance Operating ambience No corrosive gases Operating altitude Nee 2000m 6562 feet max Installation location Inside control panel Overvoltage category N Il max Pollution level 913 2 max Note 1 Do not use or store the Motion controller under pressure higher than the atmospheric pressure of altitude Om Doing so can cause a malfunction When using the modules under pressure please contact your sales representative Note 2 This indicates the section of the power supply to which the equipment is assumed to be connected between the public electrical power distribution network and the machinery within premises Category II applies to the equipment for which electrical power is supplied from fixed facilities The surge voltage withstand level for up to the rated voltage of 300V is 2500V Note 3 This index indicates the degree that the conductive material is generated in terms of the environment in which the equipment is used Pollution level 2 is when only non conductive pollution occurs A temporary conductivity caused by condensing must be expected occasionally Mount the Motion controller on a cabinet which meets IP54 in the correct vertical direction to maintain pollution level 2 7 3 PLC CPU Specifications Item Specification 5VDC internal current 0 33 to 0 55A consumption 98 H x 27 4 W x 89 3 to 115 D mm EREA dimensions 3 86 H x 1 08 W x 3
15. Note 1 MC YOB XOB IN OUT Note 1 PLC YOB XOB IN OUT MC YOC X0C IN OUT PLC YOC XOC IN OUT MC YOD XOD IN OUT PLC YOD XOD IN OUT MC YOE XOE IN OUT PLC YOE XOE IN OUT MC YOF XOF IN OUT PLC YOF XOF No connect No connect No connect No connect 24VDC 24VDC 24VDC MC X10 24VDC PLC X10 MC X11 PLC X11 MC X12 PLC X12 MC X13 PLC X13 MC X14 PLC X14 MC X15 PLC X15 MC X16 PLC X16 MC X17 PLC X17 MC X18 PLC X18 MC X19 PLC X19 IN INQUT MC Y1A X1A Note 1 PLC Y1A X1A INQUT MC Y1B X1B IN OUT Note 1 PLC Y1B X1B IN OUT MC Y1C X1C IN OUT PLC Y1C X1C IN OUT MC Y1D X1D IN OUT PLC Y1D X1D IN OUT MC Y1E X1E IN OUT PLC Y1E X1E IN OUT MC Y1F X1F IN OUT PLC Y1F X1F No connect No connect No connect No connect COM2 OV COM2 OV COM2 OV COM2 OV Note 1 0 2A output is possible assumed the output specification another output is 0 1A Note 2 Controlled by the system Safety observation function normally is turned ON abnormally is turned OFF 14 4 4 External wiring diagram 565 1820 ga o AN Only PLC gt Internal circuit 18101 H 1A05 DC24V 1
16. TRIC DO BRASIL COM RCIO E SERVICOS LTDA ua Jussara 1750 Bloco B Anexo Jardim Santa Cecilia CEP 06465 070 Barueri SP Brasil TSUBISHI ELECTRIC EUROPE B V German Branch othaer Strasse 8 D 40880 Ratingen Germany TSUBISHI ELECTRIC EUROPE B V UK Branch ravellers Lane Hatfield Hertfordshire ALTO 8XB U K TSUBISHI ELECTRIC EUROPE B V Italian Branch entro Direzionale Colleoni Palazzo Sirio Viale Colleoni 7 20864 Agrate Brianza Milano Italy TSUBISHI ELECTRIC EUROPE B V Spanish Branch arretera de Rub 76 80 Apdo 420 08173 Sant Cugat del Vall s Barcelona Spain TSUBISHI ELECTRIC EUROPE B V French Branch Boulevard des Bouvets F 92741 Nanterre Cedex France TSUBISHI ELECTRIC EUROPE B V Czech Branch venir Business Park Radlicka 751 113e 158 00 Praha5 Czech Republic TSUBISHI ELECTRIC EUROPE B V Polish Branch Krakowska 50 32 083 Balice Poland TSUBISHI ELECTRIC EURO PE B V Russian Branch St Petersburg office skarevsky pr 2 bld 2 lit Sch BC office 720 RU 195027 St Petersburg Russia TSUBISHI ELECTRIC TURKEY A S mraniye Branch 34775 Umraniye Istanbul Turkey Waterford Office Park 189 Witkoppen Road ZA Fourways South Africa TSUBISHI ELECTRIC AUTOMATION LTD No 1 386 Hongqiao Road Mitsubishi Electric Automation Center Changning District Shanghai ina SETSUYO ENTERPRISE CO LTD 6F No 105 Wugong 3rd Road Wugu District New Taipei City
17. al quality assurance system including applications for railway companies and government or public offices are not recommended and we assume no responsibility for any failure caused by these applications when used In addition applications which may be substantially influential to human lives or properties for such as airlines medical treatments railway service incineration and fuel systems man operated material handling equipment entertainment machines safety machines etc are not recommended and we assume no responsibility for any failure caused by these applications when used We will review the acceptability of the abovementioned applications if you agree not to require a specific quality for a specific application Please contact us for consultation Country Region USA Mexico Brazil Germany UK Italy Spain France Czech Republic Poland Russia Turkey South Africa China Taiwan Korea Singapore Thailand Indonesia Vietnam India Australia IB NA 0300186 C 1406 MEE MITSUBISHI ELECTRIC Global FA Centers Sales office MITSUBISHI ELECTRIC AUTOMATION INC 500 Corporate Woods Parkway Vernon Hills IL 60061 U S A E QZ m lt lt oz oz 5 gt v pz NY 0 erifali Mahallesi Nutuk Sokak No 5 DROIT TECHNOLOGIES TSUBISHI ELECTRIC AUTOMATION INC Mexico Branch ariano Escobedo 69 Col Zona Industrial Tlalnepantla Edo C P 54030 M xico TSUBISHI ELEC
18. cutes sequence program operation STOP Stops sequence program operation RESET Performs hardware reset USB connector Connector for connection with USB compatible peripheral device Ethernet connector Note 1 Write the safety parameters and safety sequence program to CPU module by connecting the peripheral devices to this connector Switch the destination to the PLC CPU or Motion CPU by setting of the peripheral devices ERR LED USER LED BOOT LED RUN STOP RESET switch Note 1 Connector for connecting an Ethernet device 11 2 Motion CPU Q173DSCPU Front face Bottom 7 segment LED Application Indicates the operating status and error information Rotary function select 1 switch Rotary function select 2 switch t RUN STOP switch Set the operation mode Normal operation mode Installation mode Mode operated by ROM etc When user safety sequence program writes to CPU is a rotary switch setting 1 is set to RUN Motion program is started STOP Motion program is stopped Forced stop input connector SSCNETI CN1 connector Input to stop all axes of servo amplifier in a lump Connector to connect the servo amplifier of system 1 up to 16 axes SSCNETI CN2 connector PERIPHERAL I F connector N Internal I F connector Connector to connect the
19. equence programs for safety observation Make sure that the safety signal is properly input via two different paths Make sure that the screws will not get loose after fixing the connector on the safety signal module Make sure that all the modules are firmly inserted into the main base unit or extension base unit Scan time processing must be within 100ms so that PLC CPU performs the comparison function within a certain process time Make sure that the program contents can be handled less than 100ms If the scan time is 100ms or longer PLC CPU should be added for safety to distribute the load of the safety process 2 Speed monitoring function SLS Under the condition that the failure rate of the additional pulse encoder components does not exceed 195FIT 395FIT the resulting PFD PFH will be less than 195FIT 395FIT See below diagram Q17L IDSCPU Q173DSXY Encoder H MR J4 L B HH po Additional Pulse QnUDHCPU Encoder Comp and Q3nDB oum eie 1 Common Comp Common Avoid the continuous use about 8 hours of the same Speed Monitor parameter block to prevent the accumulation of errors Speed monitoring function guarantees the motor control the motor rotation speed but it does not guarantee the actual machine safety speed Make sure to set parameters so that the safe speed of the machine is the same as the safety speed of the motor When SLS function of speed zero
20. fiers that support the safety communication function check that safety communication is connected To ensure that PLC CPU executes the safety communication function within the safety communication cycle make a sequence program that is less than or equal to the value of the maximum scan time value below If the scan time of the sequence program exceeds the value below add more PLC CPUs and distribute the processes Maximum scan time lt safety communication cycle 3 555 ms Safety communication function can only be used with SSCNETIII H communication Safety communication function cannot be used with SSCNETIII communication 3 Conditions of use for the product 1 Motion controller complies with a safety standard but this fact does not guarantee that Product 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 MELCO is not liable for damages that could have been prevented by compliance with any applicable safety standard regulation or law 2 MELCO prohibits the use of Products with or in any application involving and MELCO shall not be liable for a default a liability for defect warranty a quality assurance negligence or other tort and a product liability in
21. for details 4 Exclusion of Loss in Opportunity and Secondary Loss from Warranty Liability Whether under or after the term of warranty we assume no responsibility for any damages arisen from causes for which we are not responsible any losses of opportunity and or profit incurred by you due to a failure of the Product any damages secondary damages or compensation for accidents arisen under a specific circumstance that are foreseen or unforeseen by our company any damages to products other than the Product and also compensation for any replacement work readjustment start up test run of local machines and the Product and any other operations conducted by you 5 Change of Product specifications Specifications listed in our catalogs manuals or technical documents may be changed without notice 6 Precautions for Choosing the Products 1 For the use of our Motion controller its applications should be those that may not result in a serious damage even if any failure or malfunction occurs in Motion controller and a backup or fail safe function should operate on an external system to Motion controller when any failure or malfunction occurs 2 Our Motion controller is designed and manufactured as a general purpose product for use at general industries Therefore applications substantially influential on the public interest for such as atomic power plants and other power plants of electric power companies and also which require a speci
22. in your country The national international rules and regulations apply to the installation use and periodic technical inspection of the Motion controller in particular Machinery Directive 2006 42 EC EMC Directive 2004 108 EC Low Voltage Directive 2006 95 EC The work safety regulations safety rules Manufacturers and owners of the machine on which a Motion controller is used are responsible for obtaining and observing all applicable safety regulations and rules For Declaration of Conformity DoC MITSUBISHI ELECTRIC EUROPE B V declares that the Motion controllers are in compliance with the necessary requirements and standards 2006 42 EC 2004 108 EC and 2006 95 EC You can obtain the copy of Declaration of Conformity from our website Observe the contents of Motion controller programming manual Safety Observation The tests must be carried out by specialized personnel or specially qualified and authorized personnel and must be recorded and documented to ensure that the tests can be reconstructed and retraced at any time by third parties The external voltage supply of the device must be capable of buffering brief main voltage failures of 20ms as specified in IEC 60204 1 The system may not start up normally if power is restored immediately after shut down within five seconds Wait for five seconds or longer before restoring power 2 5 Disposal Disposal of unusable or irreparable devices should alway
23. mes effective with a STO switch voltage may be left in the servo motor due to the inherent delay of the equipment When the servo amplifier is replaced make sure that new one is the same type as the old one After installation make sure to check the performance of safety observation function before operating the system Check the safety at a certain cycle or with machinery which is defined by the safety standard to prevent the accumulation of failures Check the safety at least once a day regardless of system safety level f a power module of a servo amplifier shorted at the upper and lower positions the servo motor axis rotates half at maximum For a linear servo motor the primary side will move a distance of pole pitch Make sure to supply STO input signals STO1 STO2 from one power supply Otherwise the STO function may not function properly due to a sneak current failing to bring the STO shut off state For the STO I O signals of the STO function supply power by using a safety extra low voltage SELV power supply with the reinforced insulation 5 Standstill monitoring SS2 SOS The position dependent safety observation function SOS is based on two independent safety related sensors One of them is part of the motor which has a built in encoder for functional motion control the other must be provided by the customer s application e g an external sensor PLG During Safe Operating Stop make sure that moni
24. nd familiarized themselves with them 2 2 Applications of the device The Motion controller is a configurable controller for safety applications It can be used Declaration of conformity No BCN B61008 076 in accordance with EN ISO 13849 1 2008 Category 3 PL d in accordance with EN 62061 SIL CL 2 The degree of safety actually attained depends on the external circuit the realization of the wiring the parameter configuration the choice of the pick ups and their location at the machine Opto electronic and tactile safety sensors e g light curtains laser scanners safety switches sensors emergency stop buttons are connected to the Motion controller and are linked logically The corresponding actuators of the machines or systems can be switched off safely via the switching outputs of the Motion controller 2 3 Correct use The Motion controller fulfills the requirements of industrial applications in accordance with the Interference emission basic specifications CAUTION The Motion controller is therefore only suitable for use in an industrial environment and not for private use The Motion controller may only be used within specific operating limits voltage temperature etc refer to the technical data and to the section Applications areas of the device It may only be used by specialist personnel and only at the machine at which it was mounted and initially commissioned by qualified personnel in accordance with
25. nel are authorized to install start up repair or service the machines in which components are installed Only trained engineers should install and operate the equipment ISO 13849 1 Table F 1 No 5 Separate the wiring for safety observation function from other signal wirings ISO 13849 1 Table F 1 No 1 Protect the cables with appropriate ways routing them in a cabinet using a cable guard etc To use the switch relay and sensor which complies with the safety standards is recommended In case of using the switch relay and sensor which does not comply with the safety standard please apply them for the certifications Keep the required clearance creepage distance depending on voltage Time to detect the safety observation error depend on the process cycle of safety observation of each CPU The residual risk in each function of safety observation function is shown below 1 Safety signal comparison Make sure that the mounting location of the safety signal module MT Developer2 number head device and GX Works2 GX Developer I O assignments are correctly set When a signal error occurs make sure that safety is secured within the signal mismatch permissible time that is set by a parameter Even when a signal error occurs the servo motor does not stop automatically Give a forced stop command and execute a forced stop processing Make sure that the ladder name to be written to a PLC CPU is not the same as that of s
26. ning it close to or bundling it with the power and main circuit cables to minimize the influence of electromagnetic interface Separate them more than 200mm 0 66ft away Connect the shield wire of the connection cable to the FG terminal of the external equipment Securely tighten the cable connector fixing screws and fixing mechanisms Insufficient fixing may lead to cables combing off during operation Be sure to wire the cables when power is off Not doing so may damage the circuit of modules Wire the cable correctly The safety observation function may not work correctly by wrong wiring Please make sure the wiring and test sufficiently 7 Technical data 7 1 Safety specification Safety Integrity Level SIL CL2 EN62061 Performance Level PL d EN I8013849 1 MTTFd 169 years or longer DC Low PFH 247x105 hr Safety signal comparison safety communication STO 551 552 SOS SLS SBC SSM IEC61800 5 2 2007 Note Scope of the safety specifications is only processing block Input block including sensor and output block contactor and safety servo STO function are not included Safety observation functions 7 2 General Specifications Specification Operating ambient o o temperature 0 to 55 C 32 to 131 F Storage ambient temperature 25 to 75 C 13 to 167 F Operating ambient humidity 5 to 95 RH non condensing Storage ambient humidity 5 to 95 RH non condensing Vibration resistance
27. replaced Gratis Warranty Term The term of warranty for Product is thirty six 36 months after your purchase or delivery of the Product to a place designated by you or forty two 42 months from the date of manufacture whichever comes first Warranty Period Warranty period for repaired Product cannot exceed beyond the original warranty period before any repair work Gratis Warranty Range 1 You are requested to conduct an initial failure diagnosis by yourself as a general rule It can also be carried out by us or our service company upon your request and the actual cost will be charged However it will not be charged if we are responsible for the cause of the failure 2 This limited warranty applies only when the condition method environment etc of use are in compliance with the terms and conditions and instructions that are set forth in the instruction manual and user manual for the Product and the caution label affixed to the Product 3 Even during the term of warranty the repair cost will be charged on you in the following cases 1 A failure caused by your improper storing or handling carelessness or negligence etc and a failure caused by your hardware or software problem 2 A failure caused by any alteration etc to the Product made on your side without our approval 3 A failure which may be regarded as avoidable if your equipment in which the Product is incorporated is equipped with a safety device required by
28. s occur in accordance with the applicable country specific waste disposal regulations e g European Waste Code 16 02 14 2 6 Residual risks Define all risk assessments and residual risks for the whole machine to ensure safety The company and or individuals who constructed the system take responsibility for everything in terms of safety system installation and commission In addition to correspond to EC Machinery Directive the safety standard needs to be certified as the whole system Execute all risk assessment and safe level verification for the equipment and the whole system It is recommended to use third party certifier as a final certifier of the system The residual risk in safety observation function of this product is shown below This function does not detect errors among the parameters and programs that are set by you Therefore safety of machines cannot be secured unless the safety operation test is performed on the machines At the shipment to end users confirm the safety related setting by monitoring status and displayed details of the programming tools and displays Also record and save the setting data of safety related information and programming tools by using check sheet etc Safety cannot be secured unless assembling installation wiring and adjustment of the machine are completed For the installation wiring and adjustment follow the instructions in the user s manual of each module Only qualified person
29. servo amplifier of system 2 up to 16 axes For communication I F with peripheral devices Connector to connect the manual pulse generator incremental synchronous encoder or to input output the signals RIO connector For the connection with Safety signal module Q173DSXY connector Note 1 In the case of monitoring or writing the safety sequence program of the Motion CPU communicate from the peripheral devices GX Works2 GX Developer by setting the rotary switch to 1 Restart of system is not needed after changing switch Other than 1 Communication with MT Devloper2 is possible Used when writing safety parameters 1 Communication with GX Works2 GX Developer is possible Used when writing safety sequence program to the Motion CPU Note 2 Write the safety parameters and safety sequence program to CPU module by connecting the peripheral devices in this connector Switch the destination to the PLC CPU or Motion CPU by setting of the peripheral devices 12 3 Safety signal module Q173DSXY Front Face Bottom Q173DSXY 1 1 Q173DSXY o a a RIO2 RIO1 SW FRONT C a
30. st 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 15 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 protection class effective Yes 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 21 22 WARRANTY Please confirm the following product warranty details before using this product 1 Gratis Warranty Term and Gratis Warranty Range We will repair any failure or defect hereinafter referred to as failure in our FA equipment hereinafter referred to as the Product arisen during warranty period at no charge due to causes for which we are responsible through the distributor from which you purchased the Product or our service provider However we will charge the actual cost of dispatching our engineer for an on site repair work on request by customer in Japan or overseas countries We are not responsible for any on site readjustment and or trial run that may be required after a defective unit are repaired or
31. stop does not have command data from a controller please switch to SOS function or must use external sensor PLG together The accuracy of safety speed observation depends on the performance of the external auxiliary pulses which is external input pulse Therefore when using external auxiliary pulses the number of the external input pulses for safety speed must be determined considering the external auxiliary pulses resolution and the allowance input pulse frequency Check if the rotation 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 encoder resolution of the external auxiliary input pulses 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 Speed monitoring error detection time is set to in the unit of 10ms but the time resolution in the actual operation is 25ms Error in shorter than this time are not detected Create sequence program so that Scan time is within 2bms to make sure that PLC CPU performs the safety monitoring function within a certain process time If scan time is 25ms or longer PLC CPU should be added to distribute the load of the process Safety observation error shutdown signal OFF does not occur during the time set by the safety monitoring parameters after speed is over the limit Make
32. the Motion controller Programming Manual Safety Observation and Motion controller User s Manual The modules of the Motion controller conform to Class A Group 1 in accordance with EN 61000 6 4 Group 1 encompasses all the ISM devices in which intentionally generated and or used conductor bound RF energy that is required for the inner function of the device itself occurs Mitsubishi Electric Corporation accepts no claims for liability if the equipment is used in other way or if modifications are made to the device even in the context of mounting and installation UL CSA applications Use 60 C 75 C conductors The terminal tightening torque must be 5 7 Ibs in To be used in a Pollution Degree 2 environment only The safety observation functions are not evaluated by UL The approval is accomplished according to UL508 general use applications In the system using the safety signal module the Motion CPU and PLC CPU described in the below list safety observation function is achieved by writing safety parameters and safety sequence program to the Motion CPU and PLC CPU Make parameter setting correctly Incorrect setting may disable the protective functions such as safety observation functions Refer to Motion controller programming manual Safety Observation for the detail to set a safety parameters and to make a safety sequence program 1 Module list safety observation function built in product QO3UDCPU
33. tor Module fixing hole When the module fixing screw is used always remove the module by removing the module fixing screw and then taking the module fixing projection off the module fixing hole of the base unit Attempting to remove the module by force may damage the module fixing projection Do not touch the heat radiating fins of controller or module case etc while the power is ON and for a short time after the power is turned OFF In this timing these parts become very hot and may lead to burns Remove the modules while paying attention Completely turn off the externally supplied power used in the system before installation or removing the module Not doing so could result in electric shock or damage to the product 17 6 Wiring De energize the entire system The system could start up unexpectedly while you are connecting the CAUTION devices Select the wire and DC power supply to keep input voltage in the range of 21 6 to 26 4VDC including the ripple voltage and voltage spike to the safety signal module which is measured at the input connector When wiring in the safety signal module be sure that it is done correctly by checking the product rated voltage and the terminal layout Connecting a power supply that is different from the rating or incorrectly wiring the product could result in fire or damage Be sure to use a shield cable for connection of the CTRL connector and external equipment and avoid run
34. toring status is enabled by small oscillation before a certain period of time about one hour elapses in the stop status However an error cannot be detected in the check interval The derivation of failure until next check cannot be detected If stop time becomes long use Safe Brake Control SBC as mechanical rock or perform Safe Torque Off STO Avoid the continuous use of Safe Operating Stop SOS for eight hours or more to prevent the accumulation of failure If stop time becomes long use Safe Brake Control SBC as mechanical lock or perform Safe Torque Off STO Encoder position feedback data does not guarantee the range out of the small oscillation Therefore make sure that motor encoder feedback position can operate normally in the machine mobile region At least the performance check of motor mobile region is required The position assurance of the motor with SOS is 1 75 pulses with the external auxiliary input pulse conversion 6 Safe Brake Control SBC This function guarantees only that power to mechanic break is properly supplied Abrasion of the brake cannot be detected Make sure regularly if the mechanic brake can operate 7 Safety Communication Function The safety communication function cannot detect an incorrect servo amplifier station number setting Check that the station number setting for the Motion control program and the axis select rotary switch setting of servo amplifier match For servo ampli
35. x 1 847 478 2100 1 047 478 2253 52 55 9171 7600 52 55 9171 7649 05 11 4689 3000 55 11 4689 3016 49 2102 486 0 49 2102 486 1120 44 1707 28 8780 44 1707 27 8695 39 039 60531 39 039 6053 312 34 935 65 3131 34 935 89 1579 33 1 55 68 55 68 33 1 55 68 57 57 420 251 551 470 420 251 551 471 48 12 630 47 00 48 12 630 47 01 7 812 633 3497 7 812 633 3499 90 216 526 3990 90 216 526 3995 27 11 658 8100 27 11 658 8101 86 21 2322 3030 86 21 2322 3000 886 2 2299 2499 886 2 2299 2509 82 2 3660 9510 82 2 3664 8372 8335 65 6473 2308 65 6476 7439 66 2682 6522 to 653 66 2682 6020 62 21 62 21 84 8 3 84 8 3 92 6461 92 3942 0 5945 0 5947 91 20 2710 2000 91 20 2710 2100 61 2 9684 7777 61 2 9684 7245 Ministry of Economy Trade and Industry for service transaction permission When exported from Japan this manual does not require application to the Specifications subject to change without notice
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