Factory Automation

MELSERVO-J5 Series Servo Amplifier Safety Sub-Functions

Safety Sub-Functions

Specifications of servo amplifiers (Note 1)

Item Specifications
MR-J5-G(4)(-N1)
MR-J5-B(4)(-RJ)
MR-J5W_-B
MR-J5-A(4)(-RJ)
MR-J5-G(4)-RJ(N1)
MR-J5W_-G(-N1)
MR-J5D_-G4(-N1)
MR-J5-G4-HS(N1)
Safety
performance
Standards EN ISO 13849-1:2015 Category 3
PL e, IEC 61508 SIL 3,
EN IEC 62061 maximum SIL 3, EN
61800-5-2
EN ISO 13849-1:2015 Category 4 PL e, IEC 61508 SIL 3,
EN IEC 62061 maximum SIL 3, EN 61800-5-2
Mean time to dangerous failure
(MTTFd)
MTTFd ≥ 100 [years] (314a) MTTFd ≥ 100 [years] (750a) MTTFd ≥ 100 [years] (300a)
Diagnostic coverage (DC) DC = Medium, 97.6 % DC = Medium, 96.5 %
Probability of dangerous Failure
per Hour (PFH)
PFH = 6.4 × 10-9 [1/h] PFH = 3 × 10-9 [1/h] PFH = 7.7 × 10-9 [1/h]
Mission time (TM) (Note 2) TM = 20 [years]
  • Notes:
  • 1. Supported safety sub-functions and their safety levels vary by the combinations of the servo amplifier or the drive unit and the servo motor, and the firmware version of the servo amplifier. Refer to "List of supported safety sub-functions".
  • 2. The performance of special proof tests within the mission time of the product is regarded as not necessary, however, the diagnostic interval is suggested as at least one test per three months for Category 3 PL e, SIL 3 on IEC 61800-5-2:2016.

Function specifications

Item Specifications
MR-J5-G(4)(-RJ(N1))
MR-J5W_-G(-N1)
MR-J5D_-G4(-N1)
MR-J5-B(4)(-RJ)
MR-J5W_-B
MR-J5-A(4)(-RJ)
MR-J5-G4-HS(N1)
Safety sub-functions STO Shut-off response time
(STO input off → energy shut off)
8 ms or less (using input device)
60 ms or less (using CC-Link IE TSN/EtherCAT®) (Note 3, 4, 7)
SS1 Deceleration delay time 0 ms to 60000 ms (functional safety parameter setting)
SS2 Deceleration delay time 0 ms to 60000 ms (functional safety parameter setting)
SOS Observation position 0 rev to 1000 rev (functional safety parameter setting)
SBC Shut-off response time 8 ms or less (using input device)
60 ms or less (using CC-Link IE TSN/EtherCAT®) (Note 3, 4, 7)
SLS1/2/3/4 Observation speed 0 r/min (mm/s) to 10000 r/min (mm/s) (functional safety parameter setting) (Note 5)
SSM Observation speed 0 r/min (mm/s) to 10000 r/min (mm/s) (functional safety parameter setting)
SDI Direction monitor delay time 0 ms to 60000 ms (functional safety parameter setting)
SLI Observation position 0 rev to 1000 rev (functional safety parameter setting)
SLT Observation torque -1000.0 % to 1000.0 % (functional safety parameter setting)
Input/output function Input
device
Number of inputs (double wiring) 1 point 3 points
Permissible time for mismatched double inputs 0 ms to 60000 ms (functional safety parameter setting)
Noise elimination filter 1.000 ms to 32.000 ms (functional safety parameter setting)
Test pulse off time (Note 6) 1 ms or less
Test pulse interval (Note 6) 250 ms to 1000 ms
Output
device
Number of outputs (double wiring) 1 point 3 points
Test pulse off time 0.500 ms to 2.000 ms (functional safety parameter setting)
Test pulse interval 1 s or less
External
wiring
diagnostic
output
Number of outputs (double wiring) - 1 point
Test pulse off time - 1.000 ms to 2.000 ms (functional safety parameter setting)
Test pulse interval - 1 s or less
Safety communication
function
Response time 250 ms (Note 2)
Transmission interval monitor time 16.0 ms to 1000.0 ms (functional safety parameter setting) (using CC-Link IE TSN) (Note 7)
FSoE Watchdog Time 16.0 ms to 65534.0 ms (object setting) (using EtherCAT®) (Note 7)
Safety communication delay time 60 ms or less (using CC-Link IE TSN/EtherCAT®) (Note 4, 7)
  • Notes:
  • 1. Supported safety sub-functions and their safety levels vary by the combinations of the servo amplifier or the drive unit and the servo motor, and the firmware version of the servo amplifier. Refer to "List of supported safety sub-functions".
  • 2. This value is applicable when the transmission interval monitor time is 64.0 ms or less, or FSoE Watchdog Time is 60 ms or less.
  • 3. This value is applicable when the transmission interval monitor time is 32.0 ms or less, or FSoE Watchdog Time is 30 ms or less.
  • 4. Set the communication cycle as follows:
    • MR-J5-G(4)-RJ, MR-J5-G4-HS, MR-J5D1-G4: 125 μs or more
    • MR-J5-G(4)-RJN1, MR-J5-G4-HSN1, MR-J5D1-G4-N1: 250 μs or more
    • MR-J5W_-G(-N1), MR-J5D2-G4(-N1), MR-J5D3-G4(-N1): 500 μs or more
  • 5. The observation speed can be set separately.
  • 6. The test pulse is a signal for the external circuit to perform self-diagnosis by turning off the signals to the servo amplifier or the drive unit instantaneously at regular intervals.
  • 7. The listed value is applicable when the safety sub-functions through the network connection are executed.

List of supported safety sub-functions (Note 10)

Supported safety sub-functions and their safety levels vary by the combinations of the servo amplifier or the drive unit and the servo motor. Refer to the table below.

Servo amplifier
model (Note 11)
Connection
method
(connector)
Servo motor type
(Note 16)
Safety sub-function (IEC/EN 61800-5-2)
STO SS1 SS2
(Note 3, 6)
SOS
(Note 3, 6)
SBC SLS
(Note 3, 6)
SSM
(Note 3, 6)
SDI
(Note 3, 6)
SLI
(Note 3, 6)
SLT
(Note 6)
SS1-t SS1-r
(Note 3, 6)
SS2-t,
SS2-r
MR-J5-G(4)(-N1)
MR-J5-B(4)(-RJ)
MR-J5W_-B
MR-J5-A(4)(-RJ)
DI/O
connection
(CN8)
Servo motor with
functional safety
Rotary servo motor
Linear servo motor
Direct drive motor
Cat. 3
PL e,
SIL 3
-
(Note 8)
- - - - - - - - -
MR-J5-G(4)-RJ(N1)
(Note 14)
MR-J5-G4-HS(N1)
MR-J5W_-G(-N1)
(Note 4, 9, 14)
MR-J5D1-G4(-N1)
(Note 14)
MR-J5D2-G4(-N1)
(Note 9, 14)
MR-J5D3-G4(-N1)
(Note 9, 14)
DI/O
connection
(Note 2)
(CN8/CN3)
Servo motor with
functional safety
Cat. 4
PL e,
SIL 3
Cat. 4
PL e,
SIL 3
Cat. 4
PL e,
SIL 3
Cat. 4
PL e,
SIL 3
Cat. 4
PL e,
SIL 3
Cat. 4
PL e,
SIL 3
Cat. 4
PL e,
SIL 3
Cat. 4
PL e,
SIL 3
Cat. 4
PL e,
SIL 3
Cat. 4
PL e,
SIL 3
Cat. 3
PL d,
SIL 2
Rotary servo motor
Linear servo motor
Direct drive motor
Cat. 4
PL e,
SIL 3
Cat. 4
PL e,
SIL 3
Cat. 3
PL d,
SIL 2
- - Cat. 4
PL e,
SIL 3
Cat. 3
PL d,
SIL 2
Cat. 3
PL d,
SIL 2
Cat. 3
PL d,
SIL 2
- Cat. 3
PL d,
SIL 2
Network connection
(Note 1, 5, 7, 12, 13, 15)
(CN1A/CN1B)
Servo motor with
functional safety
Cat. 4
PL e,
SIL 3
Cat. 4
PL e,
SIL 3
Cat. 4
PL e,
SIL 3
Cat. 4
PL e,
SIL 3
Cat. 4
PL e,
SIL 3
Cat. 4
PL e,
SIL 3
Cat. 4
PL e,
SIL 3
Cat. 4
PL e,
SIL 3
Cat. 4
PL e,
SIL 3
Cat. 4
PL e,
SIL 3
Cat. 3
PL d,
SIL 2
Rotary servo motor
Linear servo motor
Direct drive motor
Cat. 4
PL e,
SIL 3
Cat. 4
PL e,
SIL 3
Cat. 3
PL d,
SIL 2
- - Cat. 4
PL e,
SIL 3
Cat. 3
PL d,
SIL 2
Cat. 3
PL d,
SIL 2
Cat. 3
PL d,
SIL 2
- Cat. 3
PL d,
SIL 2
  • Notes:
  • 1. Combine the servo amplifier with an R_SFCPU safety CPU with firmware version of 20 or later.
  • 2. The listed safety levels are applicable when one of the following executes safety sub-function control with a diagnosis using test pulses.
  • ● MR-J5-G4-HS(N1)
  • ● Safety CPU or safety controller that meets Category 4 PL e, SIL 3
    When a forced stop switch, a safety switch, or an enable switch is directly connected to the servo amplifier and a diagnosis using test pulses is not executed, the safety level is Category 3 PL d, SIL 2.
  • 3. A fully closed loop system does not support SS1-r, SS2, SOS, SLS, SSM, SDI, and SLI.
  • 4. The safety sub-functions are supported by MR-J5W_-G manufactured in November 2019 or later.
  • 5. Set the communication cycle as follows:
  • ● MR-J5-G(4)-RJ, MR-J5-G4-HS, MR-J5D1-G4: 125 μs or more
  • ● MR-J5-G(4)-RJN1, MR-J5-G4-HSN1, MR-J5D1-G4-N1: 250 μs or more
  • ● MR-J5W_-G(-N1), MR-J5D2-G4(-N1), MR-J5D3-G4(-N1): 500 μs or more
  • 6. When used with CC-Link IE Field Network Basic, SS1-r, SS2, SOS, SLS, SSM, SDI, SLI, and SLT are available on servo amplifiers or drive units with firmware version D8 or later.
  • 7. The safety sub-functions through the network connection are not available when the servo amplifiers or drive units use CC-Link IE Field Network Basic.
  • 8. The servo amplifiers support SS1-t when combined with MR-J3-D05. Refer to "MELSERVO-J5 catalog" for details.
  • 9. The STO function can be set for each axis.
  • 10. For 200 V class servo amplifiers, the firmware version B2 or later is required.
  • 11. The functional safety unit (MR-D30) cannot be connected.
  • 12. When used with CC-Link IE TSN Class A, the safety sub-functions through the network connection are available on servo amplifiers or drive units with firmware version D4 or later.
  • 13. The safety sub-functions through the network connection are not available when the servo amplifier uses driver communication function.
  • 14. For MR-J5-G(4)-RJN1, MR-J5W_-G(-N1), and MR-J5D_-G4-N1, SS1-r, SS2, SOS, SLS, SSM, SDI, SLI, and SLT are available on servo amplifiers or drive units with firmware version D8 or later.
  • 15. For MR-J5-G(4)-RJN1, MR-J5W_-G(-N1), and MR-J5D_-G4-N1, the safety sub-functions through the network connection are available on servo amplifiers or drive units with firmware version D8 or later.
  • 16. Refer to the following for the possible combinations of servo motors and servo amplifiers.
  • - Combinations of Rotary Servo Motors and Servo Amplifiers
  • - Combinations of Linear Servo Motors and Servo Amplifiers
  • - Combinations of Direct Drive Motors and Servo Amplifiers

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