MELSERVO-J5 Series Servo Amplifier
Safety Sub-Functions
Specifications of servo amplifiers (Note 1)
●MR-J5-G(4)(-N1)/MR-J5-B(4)/MR-J5-B(4)-RJ/MR-J5W_-B/MR-J5-A(4)/MR-J5-A(4)-RJ
| Safety performance |
Satisfied standards | EN ISO 13849-1:2015 Category 3 PL e, IEC 61508 SIL 3,
EN 62061 SIL CL 3, EN 61800-5-2 |
|---|---|---|
| Mean time to dangerous failure (MTTFd) | MTTFd ≥ 100 [years] (314a) | |
| Diagnostic coverage (DC) | DC = Medium, 97.6 % | |
| Probability of dangerous Failure per Hour (PFH) | PFH = 6.4 × 10-9 [1/h] | |
| Mission time (TM) (Note 3) | TM = 20 [years] |
●MR-J5-G(4)-RJ(N1)/MR-J5W_-G(-N1)/MR-J5D_-G4(-N1)
| Safety performance |
Satisfied standards (Note 2) | EN ISO 13849-1:2015 Category 4 PL e, IEC 61508 SIL 3, EN 62061 SIL CL 3, EN 61800-5-2 |
|---|---|---|
| Mean time to dangerous failure (MTTFd) | MTTFd ≥ 100 [years] (750a) | |
| Diagnostic coverage (DC) | DC = Medium, 96.5 % | |
| Probability of dangerous Failure per Hour (PFH) | PFH = 3 × 10-9 [1/h] | |
| Mission time (TM) (Note 3) | TM = 20 [years] |
- Notes:
-
- 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".
- When DI/O connection (CN8) is used, a diagnosis using test pulses is required to meet Category 4 PL e, SIL 3.
- The performance of special proof tests within the mission time of the product is regarded as not necessary, however, the diagnostic interval is suggested as at least one test per three months for Category 3 PL e, SIL 3 on IEC 61800-5-2:2016.
Function specifications (Note 1)
| Safety sub-functions (Note 2) |
STO | Shut-off response time (STO input off → energy shut off) |
8 ms or less (using input device) 60 ms or less (using the network) (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 the network) (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 | 1 point × 2 systems |
| 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 Hz to 25 Hz | ||
| Output device | Number of outputs | 1 point × 2 systems | |
| Test pulse off time (Note 6) | 0.500 ms to 2.000 ms (functional safety parameter setting) | ||
| Test pulse interval (Note 6) | 1 s or less | ||
| Safety communication function |
Response time | 250 ms (Note 8) | |
| Transmission interval monitor time | 16.0 ms to 1000.0 ms (functional safety parameter setting) (using the network) (Note 7) |
||
| Safety communication delay time | 60 ms or less (using the network) (Note 3, 7) | ||
- Notes:
-
- 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".
- When DI/O connection (CN8) is used, a diagnosis using test pulses is required to meet Category 4 PL e, SIL 3.
- This value is applicable when the transmission interval monitor time is 32.0 ms or less.
- Set the communication cycle as follows:
● 125 μs or more for MR-J5-G(4)-RJ and MR-J5D1-G4
● 500 μs or more for MR-J5D2-G4 and MR-J5D3-G4 - The observation speed can be set separately.
- 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.
- The listed value is applicable when the safety sub-functions through the network connection are executed.
- This value is applicable when the transmission interval monitor time is 64.0 ms or less.
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 14) |
Safety sub-function (IEC/EN 61800-5-2) | ||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| STO | SS1 | SS2 (Note 3) |
SOS (Note 3) |
SBC | SLS (Note 3) |
SSM (Note 3) |
SDI (Note 3) |
SLI (Note 3) |
SLT | ||||
| SS1-t | SS1-r (Note 3) |
SS2-t, SS2-r |
|||||||||||
|
MR-J5-G(4) MR-J5-B(4)(-RJ) MR-J5W2-B MR-J5W3-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 |
DI/O connection (Note 2, 6) (CN8) |
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) (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 |
||
| MR-J5W2-G (Note 4, 9) MR-J5W3-G (Note 4, 9) |
DI/O connection (Note 2, 6) (CN8) |
Servo motor with functional safety Rotary servo motor Linear servo motor Direct drive motor |
Cat. 4 PL e, SIL 3 |
Cat. 4 PL e, SIL 3 |
- | - | - | Cat. 4 PL e, SIL 3 |
- | - | - | - | - |
| MR-J5-G(4)-N1 | 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)-RJN1 MR-J5D1-G4-N1 MR-J5D2-G4-N1 (Note 9) MR-J5D3-G4-N1 (Note 9) MR-J5W2-G-N1 (Note 9) MR-J5W3-G-N1 (Note 9) |
DI/O connection (Note 2, 6) (CN8) |
Servo motor with functional safety Rotary servo motor Linear servo motor Direct drive motor |
Cat. 4 PL e, SIL 3 |
Cat. 4 PL e, SIL 3 |
- | - | - | Cat. 4 PL e, SIL 3 |
- | - | - | - | - |
- Notes:
-
- Combine the servo amplifier with an R_SFCPU safety CPU with firmware version of 20 or later.
- The listed safety levels are applicable when a safety CPU or a safety controller that meets Category 4 PL e, SIL 3 executes safety sub-function control. When a forced stop switch, a safety switch, or an enable switch is directly connected to the servo amplifier, the safety level is Category 3 PL d, SIL 2.
- A fully closed loop system does not support SS1-r, SS2, SOS, SLS, SSM, SDI, and SLI.
- The safety sub-functions are supported by MR-J5W_-G manufactured in November 2019 or later.
- Set the communication cycle as follows:
● 125 μs or more for MR-J5-G(4)-RJ and MR-J5D1-G4
● 500 μs or more for MR-J5D2-G4 and MR-J5D3-G4 - When DI/O connection (CN8) is used, a diagnosis using test pulses is required to meet Category 4 PL e, SIL 3.
- The safety sub-functions through the network connection are not available when the servo amplifier uses CC-Link IE Field Network Basic.
- The servo amplifiers support SS1-t when combined with MR-J3-D05. Refer to "MELSERVO-J5 catalog" for details.
- The STO function can be set for each axis.
- For 200 V class servo amplifiers, the firmware version B2 or later is required.
- The functional safety unit (MR-D30) cannot be connected.
- The safety sub-functions through the network connection are not available when the servo amplifier uses CC-Link IE TSN Class A.
- The safety sub-functions through the network connection are not available when the servo amplifier uses driver communication function.
- Refer to the following for the possible combinations of servo motors and servo amplifiers.