Mitsubishi Electric MELFA CR800 Series Instruction Manual
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Mitsubishi Electric MELFA CR800 Series Instruction Manual

Mitsubishi Electric MELFA CR800 Series Instruction Manual

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Mitsubishi Electric Industrial Robot
CR800 series controller
Robot Safety Option
Instruction Manual
4F-SF003-05
BFP-A3762-E
Table of Contents
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Summary of Contents for Mitsubishi Electric MELFA CR800 Series

  • Page 1 Mitsubishi Electric Industrial Robot CR800 series controller Robot Safety Option Instruction Manual 4F-SF003-05 BFP-A3762-E...
  • Page 3 Safety Precautions Always read the following precautions and the separate "Safety Manual" before starting use of the robot to learn the required measures to be taken. CAUTION All teaching work must be carried out by an operator who has received special training.
  • Page 4 The points of the precautions given in the separate "Safety Manual" are given below. Refer to the actual "Safety Manual" for details. DANGER When automatic operation of the robot is performed using multiple control devices (GOT, programmable controller, push-button switch), the interlocking of operation rights of the devices, etc.
  • Page 5 CAUTION After editing the program, always confirm the operation with step operation before starting automatic operation. Failure to do so could lead to interference with peripheral devices because of programming mistakes, etc. CAUTION Make sure that if the safety fence entrance door is opened during automatic operation, the door is locked or that the robot will automatically stop.
  • Page 6 (VPNs), and antivirus solutions. Mitsubishi Electric shall have no responsibility or liability for any problems involving Robot trouble and system trouble by unauthorized access, DoS attacks, computer viruses, and other cyberattacks.
  • Page 7 ■ Revision history Date of print Manual No. Details of revisions 2020-12-16 BFP-A3762  First print 2021-04-01 BFP-A3762-A  Updated some RT ToolBox3 screen images for Ver. 1.90U.  Corrected other mistakes and changed some sections.  Added the following error codes. C0244, H0250, H0251 ...
  • Page 8 ■ Introduction Thank you for purchasing an industrial robot from Mitsubishi Electric Corporation. The "robot safety option", used together with external devices such as a safety switch or light curtain, enhances the robot safety function. Before using the "robot safety option", make sure to read and fully understand the contents of this manual.

  • Page 9: Table Of Contents

    [CONTENTS] FUNCTIONS AND CONFIGURATION .................... 1-1 1.1 Overview ..............................1-1 1.2 System Configuration ..........................1-2 1.3 Specifications ............................1-3 1.4 Risk Assessment ............................. 1-6 1.4.1 Residual Risk (Common) ........................1-6 1.4.2 Residual Risk (Specific to Each Function) ..................1-6 INSTALLATION ..........................2-8 2.1 Product Components ..........................
  • Page 10 4.5.6 Safely-limited position function (SLP) ................... 4-77 4.6 Safety Diagnosis Function ........................4-86 4.6.1 Test pulse diagnosis (EMG)......................4-86 4.6.2 Safety diagnosis function ........................ 4-87 STATE VARIABLE ........................5-88 5.1 List of State Variables ..........................5-88 5.2 State Variables ............................5-88 TROUBLESHOOTING ........................

  • Page 11: Functions And Configuration

    1 FUNCTIONS AND CONFIGURATION 1. FUNCTIONS AND CONFIGURATION 1.1 Overview This document explains how to use the safety monitoring functions with the robot safety option. As for the functions available in the standard robot controller and the operation method, refer to the instruction manual provided with the robot controller.

  • Page 12: System Configuration

    1 FUNCTIONS AND CONFIGURATION 1.2 System Configuration Emergency stop 非常停止 Safety extension unit 安全拡張ユニット Lamp ランプ Laser エリアセンサ scanner Safety sequencer ライトカーテン 安全シーケンサ Light curtain Fig. 1-1 System configuration example Tab. 1-2 System configuration Item Description Remarks Robot arm Vertical RV-2FRB, RV-2FRLB, RV-4FR, RV- Additional axes and user articulated robot...

  • Page 13: Specifications

    1 FUNCTIONS AND CONFIGURATION 1.3 Specifications Tab. 1-3 Specifications Item Description Remarks Safety STO function The function electrically shuts off IEC 60204-1:2016 function the driving energy to the motor of Corresponds to stop the robot arm. category 0 The driving energy to the motor is shut off, which means that safety is ensured.
  • Page 14 1 FUNCTIONS AND CONFIGURATION Item Description Remarks Safety Environment Installation Indoors No direct sunlight. extension environment Place where no intense Do not install the unit electromagnetic energy is unit on very rough generated surfaces. No roughness or tilt on the installation surface Input signal Eight routes (duplex signal)
  • Page 15 1 FUNCTIONS AND CONFIGURATION The following table shows the safety performance of the CR860 controller. Function Item Description Remarks Safety Level SIL 3 (IEC 61508:2010) Performance when: • External emergency Category 4, PL e stop input when the test (EN ISO 13849-1:2015) pulse diagnosis settings Mean time to dangerous failure MTTFd ≥...

  • Page 16: Risk Assessment

    1 FUNCTIONS AND CONFIGURATION 1.4 Risk Assessment To ensure safety, the user needs to assess all the risks and determine residual risks for the mechanical system as a whole. Companies or individuals who configure the system will accept full responsibility for installation and authorization of the safety system.
  • Page 17 1 FUNCTIONS AND CONFIGURATION (6) SLP function In the following cases, the monitoring position may go across a position monitoring plane or a position monitoring area. The following shows some concrete examples. • When the position monitoring plane is applied, the robot position is beyond the plane. •...

  • Page 18: Installation

    2 INSTALLATION 2. INSTALLATION 2.1 Product Components Accessories 2.1.1 Please check to see if the package has all the necessary parts before use. Tab. 2-1 List of items included in the package Number Item Model Quantity Outer appearance Remarks If using it with Safety 4F-SFUNIT2 the CR860,...

  • Page 19: Items To Be Prepared By Customer

    2 INSTALLATION Items to be prepared by customer 2.1.2 Items to be prepared by customer for the CR800 series controller Tab. 2-2 Items to be prepared by customer for the CR800 series controller Item Quantity Description Remarks The power supply for the safety 24 V power supply Refer to 8.1 Appendix 1: extension unit.
  • Page 20 2 INSTALLATION ・Supplementary explanation when using this product with the CR860 When installing the 24V power supply of the safety extension unit outside the CR860 1) Pull the 24V power supply cable through the cable entrance (Note 1), and connect the cable to the safety extension unit as shown in Fig.
  • Page 21 2 INSTALLATION ・Wiring precautions When wiring this product inside the controller, fix the cable using the studs and the ribs of the door. When wiring the product inside the door, ensure enough cable length for the opening and closing sections. Otherwise, excessive force may be applied to the cable when the door is opened or closed, causing the cable to be cut or disconnected.
  • Page 22 2 INSTALLATION ・Supplementary explanation when using this product with the CR860 Connect the grounding plate located inside the controller and the FG cable of the safety extension unit. Fix the FG cable using the studs inside the controller as shown in the figure below. Fig.

  • Page 23: Part Names

    2 INSTALLATION 2.2 Part Names The names of each part of the safety extension unit (4F-SFUNIT2) are shown below: (12) (11) (10) Fig. 2-6 Names of each part of the safety unit Tab. 2-5 Names of each part of the safety extension unit Connector Function Remarks...

  • Page 24: Installation And Connection

    2 INSTALLATION 2.3 Installation and Connection Make sure the power of the robot controller is turned OFF before fixing the safety Caution extension unit, connecting the robot controller and the safety extension unit, or installing the connectors to the safety extension unit. Please pay attention to the orientation of insertion of the connectors.

  • Page 25: Safety Extension Unit External Dimensions

    2 INSTALLATION 2) Fix the safety extension unit to the metal plate using M5 screws. Fig. 2-7 Installing the unit inside the CR860 controller Safety extension unit external dimensions 2.3.2 Fig. 2-8 External dimensions Installation and Connection 2-15...

  • Page 26: Connecting With The Robot Controller

    2 INSTALLATION Connecting with the robot controller 2.3.3 (1) Unit connection (CR800 controller) Connect the safety extension unit to the robot controller using the following steps. 1) Use the RIO cable (2F-SFRIOCBL05) to connect the safety extension unit to the robot controller. 2) Connect the terminator cap (2F-SFTM) to the RIO2 socket of the safety extension unit.
  • Page 27 2 INSTALLATION (2) Unit connection (CR860 controller) Connect the safety extension unit to the robot controller using the following steps. 1) Use the RIO cable (2F-SFRIOCBL05) to connect the safety extension unit to the robot controller. 2) Connect the terminator cap (2F-SFTM) to the RIO2 socket of the safety extension unit. 3) Locate the excess RIO cable in a space under the R800CPU module.
  • Page 28 2 INSTALLATION (3) Station number ・Set 【Station Number Group Settings Switch】 to OFF for both 1 and 2. ・Set 【Station No. Setting Switch】 to Station No. 4. If the switch is incorrectly set, an error H2261 occurs. Station number setting switch Fig.

  • Page 29: Connector And Cable

    2 INSTALLATION Connector and cable 2.3.4 Caution Incorrect cable connection to a wiring connector may damage the robot or cause a malfunction. Take sufficient care when connecting the cables to a wiring connector. To assemble the cables to connect to the DCIN connectors, use the included connector set. Tab.

  • Page 30: Check Items

    (4) Make sure the connectors connecting the robot controller and the safety extension unit are securely inserted. 2.5 Replacement Parts No part requires regular replacement. 2.6 Maintenance Spare parts that are required/recommended for maintenance are indicated below. Only purchase parts directly from specified vendors or the Mitsubishi Electric Service Department. Name Type Qty. Manufacture...

  • Page 31: Signals And Wiring

    3 SIGNALS AND WIRING 3. SIGNALS AND WIRING 3.1 Description of Signals Electrical specifications 3.1.1 (1) Safety DI input specifications Tab. 3-1 Safety DI electrical specifications Item Specifications Remarks Input voltage at external contact ON 18 V to 25.2 V Input current at external contact ON 3 mA or more Input voltage at external contact OFF...
  • Page 32 3 SIGNALS AND WIRING (2) Safety DO output specifications Tab. 3-2 Safety DO electrical specifications Item Specifications Remarks Output type Source Output point 4 points 16 points for duplication common control Common input voltage 24V+5%/-10% Output Current 2A max Up to 4A per point of common Up to 8A for the entire unit Output voltage when ON 21.6V or more...
  • Page 33 3 SIGNALS AND WIRING Fig. 3-3 Output signal connection example Fig. 3-4 Output signal connection example Caution 1. When using an induction load, such as a relay, a diode must be connected in parallel to the load to suppress counter-electromotive force. 2.

  • Page 34: Signal Operation

    3 SIGNALS AND WIRING Signal operation 3.1.2 (1) DSI signal The DSI signals are used to switch items that the safety monitoring function monitors. Each of the signals is duplex and the states of the two input signals need to be identical to each other. If the states of the two input signals are different, an error occurs.

  • Page 35: Connector Wiring

    3 SIGNALS AND WIRING and L.6650 (Duplicate setting (special OUT)) occur. 3.2 Connector Wiring Connector Wiring 3-25...
  • Page 36 3 SIGNALS AND WIRING If using the safety extension unit with the CR860, fix the cable using the studs or ribs inside the controller as shown in the figure below. Fig. 3-6 Wiring inside the CR860 controller When wiring cables to the outside of the controller, use the cable entrance on the side of the controller. For information on how to wire the cable through the cable entrance, refer to the following manual: "CR860 Controller Instruction Manual/Controller setup, basic operation, and maintenance"...

  • Page 37: Connectors And Pin Assignment

    3 SIGNALS AND WIRING 3.3 Connectors and Pin Assignment Fig. 3-7 DCIN connector Tab. 3-5 DCIN pin assignment Terminal name Signal name Signal description Remarks DC24V +24 V power supply (input) Frame ground Front view Side view Fig. 3-8 DSI connector on the unit Tab.
  • Page 38 3 SIGNALS AND WIRING Fig. 3-9 DSO connector (when connected to the safety extension unit) Tab. 3-7 DSO pin assignment Terminal Signal Terminal Signal Signal description Signal description name name name name Safety relay output DSO_1A COMA- +24 V output 1A Safety relay output DSO_1B COMB-...

  • Page 39: Input Signal Connection Example

    3 SIGNALS AND WIRING 3.4 Input Signal Connection Example Fig. 3-9 shows a signal connection example. Devices to be connected depend on the user's system configuration. Fig. 3-10 Input signal connection example Input Signal Connection Example 3-29...
  • Page 40 3 SIGNALS AND WIRING Fig. 3-11 Output signal connection example 3-30 Input Signal Connection Example...

  • Page 41: Measures To Prevent Static Electricity And Noise

    3 SIGNALS AND WIRING 3.5 Measures to Prevent Static Electricity and Noise Use a shielded wire to avoid effects of noise. Perform wiring through the shortest path so that the cable length can become shorter. In case of malfunction, etc. due to noise or static electricity, ground the unit using the grounding terminals.

  • Page 42: Safety Monitoring Functions

    4 SAFETY MONITORING FUNCTIONS 4. SAFETY MONITORING FUNCTIONS 4.1 Safety Monitoring Functions Overview The functions available on the robot safety option are shown below: Tab. 4-1 Safety Monitoring Functions Overview Function Functional description See: Safety logic edit Input This allows defining conditions for the safety monitoring 4.4 Safety Logic function to work.

  • Page 43: Startup And Basic Configuration

    4 SAFETY MONITORING FUNCTIONS 4.2 Startup and Basic Configuration The safety monitoring function is disabled in the factory default setting. To use the safety monitoring function, it needs enabling and parameters for each monitoring function needs configuring. Changing the parameters for the safety monitoring functions requires RT ToolBox3, RT ToolBox3 mini, or RT ToolBox3 Pro separately.

  • Page 44: Password Setting

    4 SAFETY MONITORING FUNCTIONS (2) Parameter setting procedure Set the parameters in the following steps. Connect RT ToolBox3 to the controller and put it in the online state. Connecting RT ToolBox3 Display the editing screen for the safety monitoring function parameters, and Parameter configuration set each parameter.
  • Page 45 4 SAFETY MONITORING FUNCTIONS Press the [Change Password] button on the bottom of the editing screen for parameters related to the safety monitoring function to display [Register/Change Password]. Change the password by entering a new and the current passwords. Fig. 4-3 Register/Change Password screen Use 8 to 32 single-byte characters for the password.

  • Page 46: Enabling/Disabling Functions

    4 SAFETY MONITORING FUNCTIONS Enabling/disabling functions 4.2.4 To use the safety monitoring function, it needs to be enabled from the Basic Configuration screen for the safety monitoring function. The Basic Configuration screen for the safety monitoring function parameters is displayed by selecting [Online]→[Parameter]→[Safety Parameter]→[Safety option]→[Basic Configuration] in Workspace.

  • Page 47: Recovery Mode

    4 SAFETY MONITORING FUNCTIONS Recovery mode 4.2.5 The recovery mode is a function to temporarily cancel the stop state activated by the SLP safety monitoring. To use this mode, a signal to indicate that the recovery mode is enabled must be assigned to the dedicated output. In The Output Number for Recovery Mode in the Basic Configuration screen, configure the output number.

  • Page 48: Parameter Crc Output Number

    4 SAFETY MONITORING FUNCTIONS During the recovery mode, the SLP function generates no errors even if the robot Caution intrudes into the restricted area. Take care not to let the robot interfere with peripheral devices. Also, during the recovery mode, the safety monitoring functions are stopped temporarily.
  • Page 49 4 SAFETY MONITORING FUNCTIONS (3) Dedicated output signals A CRC of the parameter file is output to the dedicated output signals configured in the Basic Configuration screen. The output signal width is fixed to 16 bits. Example) • Parameter CRC output number: The start number = 16, the end number = 31 •...

  • Page 50: Defining 3D Models

    4 SAFETY MONITORING FUNCTIONS 4.3 Defining 3D Models This chapter talks about defining shape models for the robot and the robot tools used for the safety monitoring. The shape models defined in this chapter are used for judgment in the safely-limited speed function, safely-limited position function, and Area Input.
  • Page 51 4 SAFETY MONITORING FUNCTIONS (3) Properties [Safe monitoring] in Properties enables viewing the relevant settings. (a) Arm model Selecting [AREA Input] -> [Arm model] in Properties and setting Display to True displays a shape model of the robot used for the safety monitoring function in the 3D Monitor screen. Fig.
  • Page 52 4 SAFETY MONITORING FUNCTIONS (c) Safety monitoring plane Selecting [Display monitoring plane] in Properties and setting the items of 1 through 8 to True displays the selected safety monitoring planes 1 to 8 in the 3D Monitor screen. Fig. 4-12: Safety monitoring plane (d) Safety monitoring area Selecting [Display monitoring area] in Properties and setting the items of 1 through 8 to True displays the selected safety monitoring areas 1 to 8 in the 3D Monitor screen.

  • Page 53: Arm Model

    4 SAFETY MONITORING FUNCTIONS Arm model 4.3.2 The shape of the robot arm has been modeled with sphere models and cylinder models and the robot model is used for judging the speed and area of the robot. The model can be used as it is in the initial condition. However, when cables, solenoid valves, or etc. are attached to the robot arm, resize the model as necessary.

  • Page 54: Tool Model

    4 SAFETY MONITORING FUNCTIONS Tool model 4.3.3 The shape of a robot tool is defined with up to four sphere models. Resize the model as necessary. (1) Changing monitoring models To change monitoring models, open the Robot Model screen from Workspace by selecting [Online] -> [Parameter] ->...
  • Page 55 4 SAFETY MONITORING FUNCTIONS (2) Enabling or disabling monitoring models Entering a value larger than 0 in Radius enables the tool model position monitoring. The [Enable] and [Disable] buttons for each position configures the speed monitoring. Fig. 4-15: Tool model After configuring the parameters, check that the settings are correct with 3D Monitor.

  • Page 56: Safety Logic Edit

    4 SAFETY MONITORING FUNCTIONS 4.4 Safety Logic Edit Safety input settings 4.4.1 The safety logic edit function enables configuring conditions to start the safety monitoring function. Associating input states of DSI Input, Area Input, Logic Input, and Mode Input with safety monitoring functions to start enables switching safety monitoring items according to the input states.
  • Page 57 4 SAFETY MONITORING FUNCTIONS The matrix in the Safety Input screen has rows representing safety inputs (DSI, AREA, LOGIC, MODE). The columns represent safety monitoring start commands for each safety function (SS1, SS2, SLS1, SLS2, SLS3, SLSM, SLP1, SLP2, SLP3, SLPM). Checking intersections of the rows and columns defines safety functions started when the individual safety inputs are enabled.
  • Page 58 4 SAFETY MONITORING FUNCTIONS (1) DSI Input (a) Overview The DSI input is enabled or disabled depending on the states of redundant signals input to the DSI connector of the safety extension unit. Input of up to eight points is supported.Tab. 4-3 shows the relation of the DSI Input to DSInA and DSInB.
  • Page 59 4 SAFETY MONITORING FUNCTIONS (c) DSI filter configuration The DSI signal filtering can prevent wrong detection caused by chattering in the DSInA or DSInB signals or by test pulses from input devices. Enter a filter time in [DSI Filter Time] in the Safety Input screen. Parameter Description Default...
  • Page 60 4 SAFETY MONITORING FUNCTIONS (2) Area Input (a) Overview AREA Input is a state that is enabled (or disabled) when the robot intrudes into or moves outside an area that is specified beforehand. Configuration of up to three areas is supported. The relation of the positions of the arm model and tool model, which are defined in Chapter 4.3 , to an area specified in this sub-section is monitored in real time, which switches AREA Input between the enabled and disabled states.
  • Page 61 4 SAFETY MONITORING FUNCTIONS (c) Configuring Area Input monitoring conditions Areas for area signals is configured in the Area Input screen. Selecting [Online] -> [Parameter] -> [Safety Parameter] -> [Safety option] -> [Safety Logic] -> [Area Input] from Workspace displays the Area Input screen. Fig.
  • Page 62 4 SAFETY MONITORING FUNCTIONS Diagonal point 2 （X2,Y2,Z2） Diagonal point 1 （X1,Y1,Z1） Fig. 4-26: Area Input area Definition (d) How to view the Area Input state State variable M_SfIArea enables obtaining the Area Input state. The Operation Check screen for the safety input also enables viewing it. 4-52 Safety Logic Edit...
  • Page 63 4 SAFETY MONITORING FUNCTIONS (3) Logic Input (a) Overview Logic Input is a state enabled based on a combination of DSIn inputs (n = 1 to 8) and AREAm inputs (m = 1 to 3). It enables the AND condition of DSI and AREA to start the safety functions. From Workspace, select [Online] ->...
  • Page 64 4 SAFETY MONITORING FUNCTIONS (4) Mode Input Mode Input is input that works based on the mode selector switch state (MANUAL or AUTO) of the robot controller. It enables switching automatically the safety monitoring functions based on the mode selector switch state. Configure the safety monitoring functions to always enable in the AUTO mode or MANUAL mode regardless of DSI Input, Area Input, or Logic Input.

  • Page 65: Safety Output Configuration

    4 SAFETY MONITORING FUNCTIONS Safety output configuration 4.4.2 This enables assigning the Enable and Disable states of the safety monitoring states (STO, SOS, SS1, SS2, SLS*, SLP*) and Area states to DSO1 to DSO4 of the safety extension unit. The configuration is used for displaying safety monitoring states or connecting other safety devices. Fig.
  • Page 66 4 SAFETY MONITORING FUNCTIONS Example 2) The following configuration is for outputting DSO1 when SLS1 is enabled and AREA1 disabled. Fig. 4-31: Example of safety output configuration Output settings for safety monitoring states SS1 and SS2 are supported by RT ToolBox3 Caution Ver.

  • Page 67: Checking Operation Of The Safety Inputs And Outputs

    4 SAFETY MONITORING FUNCTIONS Checking operation of the safety inputs and outputs 4.4.3 After configuring the safety inputs and outputs, be sure to check that they operate as intended. (1) How to check operation of the safety inputs From Workspace, select [Online] -> [Parameter] -> [Safety Parameter] -> [Safety option] -> [Safety Logic] -> [Safety Input (Safety IO)] to open the Safety Input screen.

  • Page 68: Safety Monitoring Functions

    4 SAFETY MONITORING FUNCTIONS 4.5 Safety Monitoring Functions This chapter provides the functional overview and configuration method of the safety monitoring function. Safe torque off (STO) 4.5.1 (1) Overview This function electrically shuts off the motor driving energy according to input signals from external devices. (This function corresponds to stop category 0 of IEC 60204-1.) (2) Operation sequence (a) STO start conditions...

  • Page 69: Safe Operating Stop (Sos)

    4 SAFETY MONITORING FUNCTIONS Safe operating stop (SOS) 4.5.2 (1) Overview This is a function to keep shifts of the robot from the stop position within a specified value. This function provides the motors with driving energy necessary to keep the stop state. Change in the position or speed during the SOS monitoring causes error H2282 (SOS position error, SOS speed error).
  • Page 70 4 SAFETY MONITORING FUNCTIONS (d) When the robot moves during the SOS monitoring When one of the following items exceeds the allowable range during the SOS monitoring, the SS1 function stops the robot. Joint position command (ii) Joint position FB (iii) Joint speed command (iv)
  • Page 71 4 SAFETY MONITORING FUNCTIONS (3) Configuring monitoring conditions Parameters related to the SOS function can be configured in the SOS screen, which can be opened by going to Workspace and selecting [Online] -> [Parameter] -> [Safety Parameter] -> [Safety option] -> [SOS].

  • Page 72: Safe Stop 1 (Ss1)

    4 SAFETY MONITORING FUNCTIONS Safe stop 1 (SS1) 4.5.3 (1) Overview The SS1 command input starts deceleration and, after the motors of all the axes are decreased to a speed at or below specified speeds or a specified time elapses, motor driving power is turned off (STO is started). (This function corresponds to stop category 1 of IEC 60204-1.) Failure in deceleration within a specified maximum delay causes error H2280 (SS1 deceleration timeout).
  • Page 73 4 SAFETY MONITORING FUNCTIONS (b) When deceleration fails with SS1 enabled Elapsed time from when the SS1 command is enabled is measured. If the motors fail to stop by the time the SS1 deceleration monitoring time elapses, error H2280 occurs. The operation sequence is shown below: Speed 速度...
  • Page 74 4 SAFETY MONITORING FUNCTIONS (3) Configuring monitoring conditions (a) Safe stop speed In Workspace, open the SOS screen by selecting [Online] -> [Parameter] -> [Safety Parameter] -> [Safety option] -> [SOS]. Then, in the Stop Speed items, enter speeds at which the motors are judged to have stopped. These settings are shared by the SS1, SS2, and SOS functions.
  • Page 75 4 SAFETY MONITORING FUNCTIONS (c) Time performance The time from signal input to STO shuts off when deceleration fales with SS1 enabled is as follow. T1: The time from signal input to SS1 activation including: T1-1: SS1 reaction time: 7.1ms T1-2: Input signal filter DSI: DSI Filter Time (refer to (c) DSI filter configuration.) External emergency stop input: 7.1ms...

  • Page 76: Safe Stop 2 (Ss2)

    4 SAFETY MONITORING FUNCTIONS Safe stop 2 (SS2) 4.5.4 (1) Overview The SS2 command input starts deceleration and, after the motors of all the axes are decreased to a speed at or below the safe stop speed, SOS is started. (This function corresponds to stop category 2 of IEC 60204-1.) Failure in deceleration within a specified maximum delay causes error H2281 (SS2 deceleration timeout).
  • Page 77 4 SAFETY MONITORING FUNCTIONS (b) When the motors fail to decelerate within monitoring time with SS2 enabled Time is measured after the SS2 command is enabled. If the motors fail to stop by the time the SS2 deceleration monitoring time elapses, error H2281 occurs and STO shuts off the driving power. operation sequence is shown below: Speed 速度...
  • Page 78 4 SAFETY MONITORING FUNCTIONS (3) Configuring monitoring conditions (a) Safe stop speed From Online, open the SOS screen by selecting [Parameter] -> [Safety Parameter] -> [Safety option] -> [SOS]. Then, in the Stop Speed items, enter speeds at which the motors are judged to have stopped. These settings are shared by the SS1, SS2, and SOS functions.

  • Page 79: Safely-Limited Speed Function (Sls)

    4 SAFETY MONITORING FUNCTIONS Safely-limited speed function (SLS) 4.5.5 (1) Overview This is a function to monitor the robot and the robot tool speeds so that they are under specified speed limits. When they are above a speed limit, the SS1 function stops the robot. Configuration of up to four different types (SLS1, SLS2, SLS3, SLSM) of speed monitoring conditions are supported.
  • Page 80 4 SAFETY MONITORING FUNCTIONS (b) When a specified speed limit is exceeded during the SLS_ monitoring Detection of a speed command or speed feedback exceeding the monitoring speed during the SLS_ monitoring causes error 230* (Abnormal SLS joint speed) or error 231* (Abnormal SLS orthogonal speed). The operation sequence is shown in the figure below: Speed 速度...
  • Page 81 4 SAFETY MONITORING FUNCTIONS (d) Operation with the servos on or off When the servos are off, the SLS monitoring is disabled. The SLS monitoring is enabled 200 ms after the servos are turned on. 200ms Servo-on/off サーボON/OFF Enabled 有効 SLS指令...
  • Page 82 4 SAFETY MONITORING FUNCTIONS (3) Configuring monitoring conditions (a) Speed monitoring position Positions subject to robot speed monitoring are defined with an arm model and tool models. For configuration of an arm model and tool models, see 4.3 Defining 3D Models4.2.5 . Positions subject to monitoring on an arm model are A1, A2, and the origin of the mechanical interface coordinates in the figure below.
  • Page 83 4 SAFETY MONITORING FUNCTIONS (b) Monitoring speed limits There are two modes available for configuration of the SLS monitoring speeds: Simple Mode and Detail Mode. Detail Mode enables detailed configuration of allowable speeds. Besides synthesized speeds, it allows monitoring of speeds of X, Y, Z components and joint angular speeds. Tab.
  • Page 84 4 SAFETY MONITORING FUNCTIONS Fig. 4-52: Detail mode of monitoring speed limits (c) Restricting the movement speed The speed monitoring restricts the speed of movements made based on the interpolation command with Speed Limit OVRD specified beforehand. However, if a speed to which Speed Limit OVRD is applied exceeds the monitoring speed, error H230* (Abnormal SLS joint speed) or error H231* (Abnormal SLS orthogonal speed) occurs and the SS1 function stops the robot.
  • Page 85 4 SAFETY MONITORING FUNCTIONS Restriction on the commanded speed by Speed Limit OVRD is effective for the speed of Caution movements made by the interpolation command. The restriction is not effective for the correction speed generated by the compliance control, force sense control, or tracking function.
  • Page 86 4 SAFETY MONITORING FUNCTIONS (4) Operation check The following shows how to check that the monitoring speed is configured correctly. (a) How to check the SLS monitoring state From Workspace, open the Operation Check screen by selecting [Online] -> [Parameter] -> [Safety Parameter] ->...

  • Page 87: Safely-Limited Position Function (Slp)

    4 SAFETY MONITORING FUNCTIONS Safely-limited position function (SLP) 4.5.6 (1) Overview This function defines safeguarded spaces around the robot that restrict intrusion of the robot into them and monitors the robot arm and tools so that they do not enter the spaces. If the robot gets close to a safeguarded space during operation, the robot stops.
  • Page 88 4 SAFETY MONITORING FUNCTIONS (b) Description of position monitoring The enabled SLP monitoring function monitors an arm model and tool models according to predefined monitoring settings so that the models do not go into the restricted area applied at the time. (c) Stop position prediction function This function predicts whether the robot enters safeguarded spaces while it is run by the interpolation command or jog operation.
  • Page 89 4 SAFETY MONITORING FUNCTIONS SLP 監視 monitoring Robot position ロボット位置 領域 area Predicted position 予測位置 Actual position 実際位置 Enabled 有効 SLP_指令 SLP_ command Disabled 無効 Enabled 有効 SLP_監視 SLP_ monitoring Disabled 無効 SLP_ｴﾗｰ Error エラー SLP_ error No error エラー無し SLP prior stop Enabled SLP事前停止...
  • Page 90 4 SAFETY MONITORING FUNCTIONS Safeguarded When the space Initial state margin is set SPPFMG Fig. 4-58: SLP prior stop when the margin is set SPPFMG parameter is available with software version of each device shown in the following table. Table 4-11: Software version that supports SPPFMG parameter Device Compatible version Controller...
  • Page 91 4 SAFETY MONITORING FUNCTIONS (d) When intrusion into an SLP restricted area is detected Intrusion of one of the following items into an SLP restricted area causes error H220* (SLP robot position error) and SS1 stops the robot. (i) Position command (Whole arm and tools) (ii) Position FB (Whole arm and tools) STO/SS1 SLP 監視...
  • Page 92 4 SAFETY MONITORING FUNCTIONS (3) Configuring monitoring conditions (a) Arm model and tool model Monitoring targets can be configured as a sphere model or cylinder model fixed to the robot or hand. Change in an arm model can only be made to the size. For tool models, free configuration of up to four sphere models is supported.
  • Page 93 4 SAFETY MONITORING FUNCTIONS Monitoring Position ④ This enables selecting a monitoring position of the robot subject to position monitoring. Selecting [Whole Arm and Tool] enables the position monitoring that uses an arm model and tool models defined in 4.3 Defining 3D Models. Selecting [Tool Only] enables the position monitoring that only monitors tool models.
  • Page 94 4 SAFETY MONITORING FUNCTIONS (c) Safety monitoring area This enables configuring safety monitoring areas. Definition of up to eight areas is supported. Fig. 4-64: Safety monitoring area ① Area Setting Definition of up to eight areas is supported. Select a monitoring area (Area 1 to Area 8) to be changed or edited from the pull-down menu.
  • Page 95 4 SAFETY MONITORING FUNCTIONS (4) Operation check Be sure to check that the monitoring conditions for the SLP function are configured correctly. The following describes how to check that. How to check monitoring plane switching ① Open the Operation Check screen by selecting [Online] -> [Parameter] -> [Safety Parameter] -> [Safety option] ->...

  • Page 96: Safety Diagnosis Function

    4 SAFETY MONITORING FUNCTIONS 4.6 Safety Diagnosis Function Test pulse diagnosis (EMG) 4.6.1 This function enables diagnosis of external wiring by pulse signals output from the emergency stop ports (EXTEMG11, EXTEMG21). Changing parameter TPOEMG allows EXTEMG11 and EXTEMG21 to output off- pulses regularly.

  • Page 97: Safety Diagnosis Function

    4 SAFETY MONITORING FUNCTIONS RT ToolBox3 Ver.1.62Q or later supports the safety diagnosis function. The settings can be configured using the following steps. Safety diagnosis function 4.6.2 You can select the pulse output function of test pulse signal output from emergency stop (EXTEMG11, EXTEMG21).

  • Page 98: State Variable

    5 STATE VARIABLE 5. STATE VARIABLE States variable for the safety monitoring function are shown below: 5.1 List of State Variables Tab. 5-1: List of state variables State variable Overview M_DSI Refers to the DSI Input state. Refers to the Logic Input state. M_SｆILogic Refers to the Area Input state.
  • Page 99 5 STATE VARIABLE M_SfILogic [Function] Regarding functional safety input Logic, this returns the current value. (n = 1 to 3) Logic Input state Enabled:1 Logic Input state Disabled:0 [Format] Example) = M_SfILogic( ) [Terminology] This specifies where to store the LOGICn input state. ...
  • Page 100 5 STATE VARIABLE M_SfSts [Function] This refers to the running state of the safety monitoring functions. (1: Enabled, 0: Disabled) [Format] Example) = M_SfSts( ) [Terminology] This refers to the running state of a safety monitoring function corresponding to the function number.
  • Page 101 5 STATE VARIABLE M_DSO [Function] Regarding DSO for functional safety, this refers to the current value. DSO Output enabled: 1 DSO Output disabled: 0 [Format] Example) = M_DSO( ) [Terminology] This specifies where to store the DSO state. ...
  • Page 102 5 STATE VARIABLE M_SlpPreStp [Function] The variable returns the present SLP pre-stop status. [Format] Example) =M_SlpPreStp [Terminology] The current SLP pre-stop status is returned. Not in pre-stop status: 0 During pre-stop: 1 to 8 (number of the applicable position monitoring plane) 101 to 108 (100 + number of the applicable position monitoring area) [Reference Program] M_Outb(100) = M_SlpPreStp 'The variable outputs the present SLP pre-stop status from the output signal...

  • Page 103: Troubleshooting

    6 TROUBLESHOOTING 6. TROUBLESHOOTING 6.1 Error List for the Safety Monitoring Functions Errors related to the safety monitoring functions are listed below. For details about the errors not listed, refer to "Instruction manual/ Troubleshooting" coming with the robot. (Errors whose error number is suffixed with * requires resetting the power supply.) Tab.
  • Page 104 If the error occurs even when the Safety extension unit is connected, check that the Safety extension unit is powered on. Or check whether pseudo-input mode has been enabled. If none of these solutions rectify the problem, the Safety extension unit may be faulty. Contact Mitsubishi Electric. Error message Extended safety unit's No. error...
  • Page 105 6 TROUBLESHOOTING Error number Error causes and solutions Error message SLS (XYZ Speed Error) Cause Speed monitor detected the speed over. The speed monitoring function detected a speed exceeding the predetermined speed. Check the following. 1) Robot movement and monitoring speed setting 2) Deceleration monitoring period (if it is too short) (A deceleration monitoring period is the waiting time from when the SLS command is enabled until when monitoring starts.)

  • Page 106: Errors Whose Specification Is Changed By Safety Monitoring Functions

    6 TROUBLESHOOTING 6.2 Errors Whose Specification Is Changed by Safety Monitoring Functions The specification of the following errors changes when the safety monitoring function is enabled. (1) To reset the following errors while the safety monitoring function is enabled, reset the power supply. Tab.

  • Page 107: Safe Stopping Distance

    7 SAFE STOPPING DISTANCE 7. SAFE STOPPING DISTANCE The concept of the maximum stopping distance of the robot is described below. 7.1 How to Calculate a Stopping Distance Assuming that the power supply to the robot controller is shut off during operation or that an error triggers the SS1 function, the maximum stopping distance in the worst scenario can be approximated by the following formula.

  • Page 108: Maximum Stopping Time And Maximum Operating Angle

    7 SAFE STOPPING DISTANCE The maximum stopping time Stopping time [s] Stopping distance [deg] Axis Arm extension Load rate differs from robot to robot. Ovrd 100% Ovrd 100% (see chapter 7.2 ) L=100% M=100% 0.29 58.80 (Example) In case of the table L=100% M=100% 0.26...
  • Page 109 7 SAFE STOPPING DISTANCE (2) The degree of extension of the robot arm (a) RV-FR/RV-CR series Axis L=100% L=66% L=33% J3 axis J2 axis J1 axis L=100% L=66% L=33% J3 axis J2 axis J1 axis L=100% L=66% L=33% J3 axis J2 axis J1 axis L=100%...
  • Page 110 7 SAFE STOPPING DISTANCE (b) RH-FRH/RH-CRH series Axis L=100% L=66% L=33% J3 axis J2 axis J1 axis L=100% L=66% L=33% J3 axis J2 axis J1 axis L=100% Note) The robot in the figure is RH-6FRH. 7-100 Maximum Stopping Time and Maximum Operating Angle...
  • Page 111 7 SAFE STOPPING DISTANCE (3) Load dimension for J6 axis in RV series/J4 axis in RH series Axis of rotation Robot Flange Center Load (M kg) Robot model Load type Mass kg Size mm Distance mm RV-2FRB Load 1 RV-2FRLB Load 1 RV-4FR Load 1...
  • Page 112 7 SAFE STOPPING DISTANCE RV-2FRB Stopping time and stopping distance (emergency stop) Stopping time [s] Stopping distance [deg] Axis Arm extension Load rate Ovrd 33% Ovrd 66% Ovrd 100% Ovrd 33% Ovrd 66% Ovrd 100% M=100% 0.48 0.60 0.72 25.00 61.75 111.93 M=66%...
  • Page 113 7 SAFE STOPPING DISTANCE RV-2FRLB Stopping time and stopping distance (emergency stop) Stopping time [s] Stopping distance [deg] Axis Arm extension Load rate Ovrd 33% Ovrd 66% Ovrd 100% Ovrd 33% Ovrd 66% Ovrd 100% M=100% 0.77 0.85 0.93 27.50 60.48 100.20 M=66%...
  • Page 114 7 SAFE STOPPING DISTANCE RV-4FR Stopping time and stopping distance (emergency stop) Stopping time [s] Stopping distance [deg] Axis Arm extension Load rate Ovrd 33% Ovrd 66% Ovrd 100% Ovrd 33% Ovrd 66% Ovrd 100% M=100% 0.48 0.56 0.64 37.27 86.30 149.12 M=66%...
  • Page 115 7 SAFE STOPPING DISTANCE RV-4FRL Stopping time and stopping distance (emergency stop) Stopping time [s] Stopping distance [deg] Axis Arm extension Load rate Ovrd 33% Ovrd 66% Ovrd 100% Ovrd 33% Ovrd 66% Ovrd 100% M=100% 0.49 0.57 0.65 35.50 81.98 141.34 M=66%...
  • Page 116 7 SAFE STOPPING DISTANCE RV-7FR Stopping time and stopping distance (emergency stop) Stopping time [s] Stopping distance [deg] Axis Arm extension Load rate Ovrd 33% Ovrd 66% Ovrd 100% Ovrd 33% Ovrd 66% Ovrd 100% M=100% 0.48 0.56 0.64 29.84 69.09 119.36 M=66%...
  • Page 117 7 SAFE STOPPING DISTANCE RV-7FRL Stopping time and stopping distance (emergency stop) Stopping time [s] Stopping distance [deg] Axis Arm extension Load rate Ovrd 33% Ovrd 66% Ovrd 100% Ovrd 33% Ovrd 66% Ovrd 100% M=100% 0.45 0.53 0.61 22.34 52.20 90.84 M=66%...
  • Page 118 7 SAFE STOPPING DISTANCE RV-7FRLL Stopping time and stopping distance (emergency stop) Stopping time [s] Stopping distance [deg] Axis Arm extension Load rate Ovrd 33% Ovrd 66% Ovrd 100% Ovrd 33% Ovrd 66% Ovrd 100% M=100% 0.63 0.75 0.87 34.66 81.90 143.73 M=66%...
  • Page 119 7 SAFE STOPPING DISTANCE RV-13FR Stopping time and stopping distance (emergency stop) Stopping time [s] Stopping distance [deg] Axis Arm extension Load rate Ovrd 33% Ovrd 66% Ovrd 100% Ovrd 33% Ovrd 66% Ovrd 100% M=100% 0.59 0.69 0.80 29.57 68.62 118.76 M=66%...
  • Page 120 7 SAFE STOPPING DISTANCE RV-13FRL Stopping time and stopping distance (emergency stop) Stopping time [s] Stopping distance [deg] Axis Arm extension Load rate Ovrd 33% Ovrd 66% Ovrd 100% Ovrd 33% Ovrd 66% Ovrd 100% M=100% 0.56 0.66 0.76 22.49 52.63 91.67 M=66%...
  • Page 121 7 SAFE STOPPING DISTANCE RV-20FR Stopping time and stopping distance (emergency stop) Stopping time [s] Stopping distance [deg] Axis Arm extension Load rate Ovrd 33% Ovrd 66% Ovrd 100% Ovrd 33% Ovrd 66% Ovrd 100% M=100% 0.75 0.87 0.99 14.04 32.41 55.87 M=66%...
  • Page 122 7 SAFE STOPPING DISTANCE RV-35FR Stopping time and stopping distance (emergency stop) Stopping time [s] Stopping distance [deg] Axis Arm extension Load rate Ovrd 33% Ovrd 66% Ovrd 100% Ovrd 33% Ovrd 66% Ovrd 100% M=100% 0.94 1.26 1.59 28.73 76.29 144.96 M=66%...
  • Page 123 7 SAFE STOPPING DISTANCE RV-50FR Stopping time and stopping distance (emergency stop) Stopping time [s] Stopping distance [deg] Axis Arm extension Load rate Ovrd 33% Ovrd 66% Ovrd 100% Ovrd 33% Ovrd 66% Ovrd 100% M=100% 1.00 1.31 1.64 30.27 79.36 149.61 M=66%...
  • Page 124 7 SAFE STOPPING DISTANCE RV-80FR Stopping time and stopping distance (emergency stop) Stopping time [s] Stopping distance [deg] Axis Arm extension Load rate Ovrd 33% Ovrd 66% Ovrd 100% Ovrd 33% Ovrd 66% Ovrd 100% M=100% 1.07 1.38 1.71 32.43 83.68 156.17 M=66%...
  • Page 125 7 SAFE STOPPING DISTANCE RV-8CRL Stopping time and stopping distance (emergency stop) Stopping time [s] Stopping distance [deg] Axis Arm extension Load rate Ovrd 33% Ovrd 66% Ovrd 100% Ovrd 33% Ovrd 66% Ovrd 100% M=100% 0.74 0.80 0.86 36.10 77.85 126.77 M=66%...
  • Page 126 7 SAFE STOPPING DISTANCE RH-3FRH Stopping time and stopping distance (emergency stop) Stopping distance Stopping time [s] J1/J2/J4 axis [deg] Axis Arm extension Load rate J3 axis [mm] Ovrd 33% Ovrd 66% Ovrd 100% Ovrd 33% Ovrd 66% Ovrd 100% M=100% 0.26 0.28...
  • Page 127 7 SAFE STOPPING DISTANCE RH-6FRH Stopping time and stopping distance (emergency stop) Stopping distance Stopping time [s] J1/J2/J4 axis [deg] Axis Arm extension Load rate J3 axis [mm] Ovrd 33% Ovrd 66% Ovrd 100% Ovrd 33% Ovrd 66% Ovrd 100% M=100% 0.37 0.45...
  • Page 128 7 SAFE STOPPING DISTANCE RH-12FRH Stopping time and stopping distance (emergency stop) Stopping distance Stopping time [s] J1/J2/J4 axis [deg] Axis Arm extension Load rate J3 axis [mm] Ovrd 33% Ovrd 66% Ovrd 100% Ovrd 33% Ovrd 66% Ovrd 100% M=100% 0.48 0.50...
  • Page 129 7 SAFE STOPPING DISTANCE RH-20FRH Stopping time and stopping distance (emergency stop) Stopping distance Stopping time [s] J1/J2/J4 axis [deg] Axis Arm extension Load rate J3 axis [mm] Ovrd 33% Ovrd 66% Ovrd 100% Ovrd 33% Ovrd 66% Ovrd 100% M=100% 0.63 0.65...
  • Page 130 7 SAFE STOPPING DISTANCE RH-3FRHR Stopping time and stopping distance (emergency stop) Stopping distance Stopping time [s] J1/J2/J4 axis [deg] Axis Arm extension Load rate J3 axis [mm] Ovrd 33% Ovrd 66% Ovrd 100% Ovrd 33% Ovrd 66% Ovrd 100% M=100% 0.42 0.46...
  • Page 131 7 SAFE STOPPING DISTANCE RH-1FRHR Stopping time and stopping distance (emergency stop) Stopping distance Stopping time [s] J1/J2/J4 axis [deg] Axis Arm extension Load rate J3 axis [mm] Ovrd 33% Ovrd 66% Ovrd 100% Ovrd 33% Ovrd 66% Ovrd 100% M=100% 0.22 0.26...
  • Page 132 7 SAFE STOPPING DISTANCE RH-3CRH Stopping time and stopping distance (emergency stop) Stopping distance Stopping time [s] J1/J2/J4 axis [deg] Axis Arm extension Load rate J3 axis [mm] Ovrd 33% Ovrd 66% Ovrd 100% Ovrd 33% Ovrd 66% Ovrd 100% M=100% 0.45 0.61...
  • Page 133 7 SAFE STOPPING DISTANCE RH-6CRH Stopping time and stopping distance (emergency stop) Stopping distance Stopping time [s] J1/J2/J4 axis [deg] Axis Arm extension Load rate J3 axis [mm] Ovrd 33% Ovrd 66% Ovrd 100% Ovrd 33% Ovrd 66% Ovrd 100% M=100% 0.47 0.50...

  • Page 134: Calculating Stopping Distance And Stopping Time

    7 SAFE STOPPING DISTANCE 7.3 Calculating stopping distance and stopping time This section explains how to calculate stopping distance and stopping time with RT ToolBox3. Calculating the stopping distance and time based on actual peripheral devices (such as hands) and the program that will be used will provide more accurate results.
  • Page 135 7 SAFE STOPPING DISTANCE ③ Log data. Operate the robot and start data logging. Next, input the stop signal. Finish data logging after the robot has stopped. A simple way to input the stop signal, is to input it from the emergency stop switch (EMS Switch) connected to the emergency stop input of the robot controller.
  • Page 136 7 SAFE STOPPING DISTANCE ④ Interpret the stopping distance and stopping time. The logged data will be saved as a file in the folder you have specified. The current date and time will be used as the file name (e.g. "LOGYYYYMMDD-hhmmss.csv"). The first three rows in the CSV file contain information such as column titles and units of measurement.

  • Page 137: Appendix

    8 APPENDIX 8. APPENDIX 8.1 Appendix 1: Selection Conditions for 24VDC Stabilized Power Supply Consider the following characteristics when selecting the stabilized power supply (prepared by machine manufacturer). Use a power supply that complies with CE Marking or that follows the safety standards given below. （1）...

  • Page 138: Appendix 2: How To Install The Safety Extension Unit

    8 APPENDIX 8.2 Appendix 2: How to Install the Safety Extension Unit As a metal plate to install the safety extension unit, install a metal plate of the following size or smaller. Where to install: Studs in the lower part of the door (four locations) Metal plate installation pitch and screw size: 188mm×90mm (M4 screws) Metal plate installation size: 200mm×116mm or less Installation height: 50mm or less...
  • Page 139 8 APPENDIX 2) Fix the metal plate to the installation position using the M4 screws (supplied by customer). Select a screw length so that 2.1mm or more and less than 7.0mm of the screws can be tightened in the studs on the controller.

  • Page 140: Appendix 3: How To Install The Stabilized Power Supply For The Safety Extension Unit

    8 APPENDIX 8.3 Appendix 3: How to Install the Stabilized Power Supply for the Safety Extension Unit To fix the stabilized power supply for the safety extension unit, install a metal plate of the following size or smaller. Where to install: Safety extension unit's left Metal plate installation pitch and screw size: 170mm×140mm (M4 screws) Metal plate installation size: 190mm×160mm or less Installation height: 51mm or less...
  • Page 141 8 APPENDIX 2) Ensure that the height of the selected stabilized power supply with the fixed metal plate (supplied by customer) is 51mm or less. Caution: If the height is more than 51mm, interference with other parts in the controller may occur. 3) Fix the metal plate to the installation position using the M4 screws (supplied by customer).
  • Page 142 EMC directive 8.4.2 The Mitsubishi Electric industrial robot follows the European EMC directive. EMC can be broadly classified into two categories: EMI and EMS. (1) Emission (EMI: Electromagnetic Interference)..The capacity not to generate the disturbance noise which has a bad influence outside.

  • Page 143: Component Parts For Emc Measures

    8 APPENDIX Component parts for EMC measures 8.4.4 （1） Ferrite core The ferrite core is mounted by the plastics case as one. It can attach by the one-touch, without cutting the cable. This has the effect in the common-mode noise. The measures against the noise are made not influential in the quality of the signal.
  • Page 144 8 APPENDIX （3） Surge Absorber Make sure that the surge does not directly enter the AC line of the general-purpose stabilized power supply (userprepared) supplying power to the control unit and DIO. Select a product equivalent to or higher than the following products for the surge absorber. Refer to the manufacturer catalog for detailed characteristics, outline and connection methods of the surge absorber.
  • Page 146 Sep. 2023 MEE Printed in Japan on recycled paper. Specifications are subject to change without notice.

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