Mitsubishi Electric MELSERVO-J4 MR-J4 A Series - App. 7.5 Block diagram and timing chart

APPENDIX
App. - 12
(7) Perform all risk assessments and safety level certification to the machine or the system as a whole.
It is recommended that a Certification Body final safety certification of the system be used.
(8) To prevent accumulation of multiple malfunctions, perform a malfunction check at regular intervals as
deemed necessary by the applicable safety standard. Regardless of the system safety level, malfunction
checks should be performed at least once per year.
(9) If the upper and lower power module in the servo amplifier are shorted and damaged simultaneously, the
servo motor may make a half revolution at a maximum.
App. 7.5 Block diagram and timing chart
(1) Function block diagram
SDI1A- SDI2A- SDI1B- SDI2B- STO1A- STO2A- SDO1A- SDO2A-
SRESA+ SRESA- TOF1A TOF2A STO1A+ STO2A+ SDO1A+ SDO2A+TOFA
0V
+24V
DCDC
㔚Ḯ
቟ోࡠࠫ࠶ࠢ
TIMER1
TIMER2
A
ゲ࿁〝
SW1 SW2
B
ゲ࿁〝
(2) Operation sequence
A
ゲㆤᢿ
1 2
B
ゲㆤᢿ
1 2
ㅢ㔚
(
㐽
)
ㆤᢿ
(
㐿
)
⸃㒰
(
㐽
)
ㅢᏱ
(
㐿
)
ㅢᏱ
(
㐽
)
ㆤᢿ
(
㐿
)
A
ゲㆤᢿ⸃㒰
B
ゲㆤᢿ⸃㒰
A
ゲ
STO1 2
B
ゲ
STO1 2
10ms
એ ㆤᢿㆃᑧ
(SW1 SW2)(
ᵈ
)
STO
⁁ᘒ
೙ᓮน⢻⁁ᘒ
STO
⁁ᘒ
50ms
એ
SDI
SRES
STO
15ms
એ
㔚Ḯ
೙ᓮน⢻⁁ᘒ
Note. Refer to App. 7.10.
DCDC
power
Safety logic
A-axis circuit
B-axis circuit
Power supply
15 ms or longer
50 ms or longer
10 ms or shorter
A
-axis shutdown 1 and 2
Energizing (close)
B-axis shutdown 1 and 2
Shut-off (open)
A
-axis EMG start/reset
Release (close)
B-axis EMG start/reset
Normal (open)
A
-axis STO state 1 and 2
Normal (close)
B-axis STO state 1 and 2
Shut-off (open)
STO status
Control enabled
STO status
Control enabled
Shut off delay (SW1 and SW2) (Note)