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MELSERVO-J5 Series Servo Amplifier

Safety Sub-Functions

Specifications of servo amplifiers (Note 1)

●MR-J5-G/MR-J5-G-N1/MR-J5-G4/MR-J5-G4-N1

●MR-J5-A/MR-J5-A-RJ/MR-J5-A4/MR-J5-A4-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-RJ/MR-J5-G-RJN1/MR-J5-G4-RJ/MR-J5-G4-RJN1

●MR-J5W_

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 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 CC-Link IE TSN) (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) (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 CC-Link IE TSN) (Note 4, 7)
Safety communication delay time 60 ms or less (using CC-Link IE TSN) (Note 3, 4, 7)
Notes:
  • Supported safety sub-functions and their safety levels vary by the combinations of the servo amplifier 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 to 125 μs or more when connecting to the network.
  • 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 instantaneously at regular intervals.
  • The safety-sub functions through the network connection are supported only by MR-J5-G-RJ/MR-J5-G4-RJ.
  • This value is applicable when the transmission interval monitor time is 64.0 ms or less.

List of supported safety sub-functions (servo amplifier firmware version: B2)

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

Servo amplifier
model
Connection
method
(connector)
Servo motor type
(Note 9)
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
MR-J5-G4
MR-J5-A(-RJ)
MR-J5-A4(-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-RJ
MR-J5-G4-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)
(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)
MR-J5W3-G
(Note 4)
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-N1
MR-J5-G4-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-RJN1
MR-J5-G4-RJN1
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-J5W2-G-N1
MR-J5W3-G-N1
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_ manufactured in November 2019 or later. The STO function can be set for each axis.
  • Set the communication cycle to 125 μs or more when connecting to the network.
  • 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 supported only by MR-J5-G-RJ/MR-J5-G4-RJ.
  • The servo amplifiers support SS1-t when combined with MR-J3-D05. Refer to "MELSERVO-J5 catalog".
  • Refer to the following for the possible combinations of servo motors and servo amplifiers.