iQ Platform-compatible PAC Safety CPU module, Safety ...€¦ · SS1-t Safe stop 1, time controlled - - SS1-r*2 Safe stop 1, ramp monitored ... In this FB, sequential muting with

MELSEC iQ-R Series Broadcast

iQ Platform-compatible PACSafety CPU module,Safety Remote I/O module

Story

Integrated general and safety control

The MELSEC iQ-R Series is equipped with a safety CPU that

is compliant with international safety standards,

ISO 13849-1 PL e and IEC 61508 SIL 3. The safety CPU can

be installed directly on the MELSEC iQ-R Series base rack and

can execute both safety and non-safety programs, enabling

easy integration into existing or new control systems.

Consolidated network topology

The safety CPU enables control of safety and non-safety

communications across the same CC-Link IE TSN or

CC-Link IE Field Network line. Wiring and space can be

reduced as having multiple network cables are no longer

required resulting in lower integration costs.

Highlights

• Complies with international safety standards

• Execute both safety and non-safety programs

• Integrated network communications

• Common engineering platform

• High-scalability safety remote I/Os available

• Integrated drives safety

Programming using GX Works3

The safety CPU can be programmed using GX Works3

enabling machine makers to realize lower cost safety solutions

as only one programming software is required for the

MELSEC iQ-R Series, while utilizing its intuitive user interface

and maintenance features.

Integrated drives safety

CC-Link IE TSN integrates the MR-J5-G-RJ AC servo and

the FR-E800-SCE inverter. Utilization of safety sub-functions

ensures a highly scalable system configuration reducing overall

costs.

MELSEC iQ-R Series

Safety CPU

• Certified by TÜV®

• Smaller, less wiring

• Simpler system design

• Support multiple

languages

General remote I/O

Safety remote I/O Safety remote I/O

Servo amplifier

The safety CPU is compliant with ISO 13849-1 PL e

and IEC 61508 SIL 3 and is certified by

TÜV Rheinland®/TÜV SÜD®.

The network is based on Ethernet technology and

enables commercial cables and hubs to be used. Safety

communication also takes advantage of highly flexible

features offered by CC-Link IE TSN.

Safety CPU can be installed directly on the

MELSEC iQ-R base rack realizing easy integration into

an existing or new control system. Also, compact remote

I/Os are available ideal for systems with limited space.

Both the MR-J5-G-RJ AC servo and FR-E800-SCE

inverter support safety communications as standard,

realizing advanced safety control through its support of

safety sub-functions.

Safety

Integrated safety control offering a

total system solutionThe safety CPU module enables control of both general and safety programs in the same

module and is easily programmed utilizing the intuitive features of GX Works3.

Both general control data and safety control data can be mixed on CC-Link IE TSN, realizing

a system integrating general control and safety control.

Compliant with international safety standards

Safety communication on the same network

General and safety control in one CPU

AC servo and inverter supporting safety communication

Quality

Less wiring

Space-saving

Drives safety integration

2

MELSEC iQ-R Series

Safety CPU

• Certified by TÜV®

• Smaller, less wiring

• Simpler system design

• Support multiple

languages

General remote I/O

Safety remote I/O Safety remote I/O

Servo amplifier

One Software, Many Possibilities

In GX Works3, operation and safety programs are included in the same project folder, eliminating the need to manage

multiple project folders. Various useful features of GX Works3 are also available for safety programs similar to other

control programs. GX Works3 is highly adaptable to projects in different countries through its multiple language features.

Module configuration

Easily parameterize each module

directly from the configuration editor

Control program

Manage program files for safety

and general control

Safety FB

Utilize safety function blocks when high-repeatability

is required

Module list

Simply drag & drop

modules directly into the

module configuration.

Ladder editor

Ladder rungs can be created with keyboard operations only

Safety devices easily recognized as appended with "SA\"

Navigation window

Easily access project components

Organize program file list

CC-Link IE TSN configuration window

Set safety remote I/O parameters

Common engineering platform

Design efficiency

3

Mitsubishi Electric PAC MELSEC iQ-R "Safety" Movie

■ Safety CPU R08SFCPU‐SET R16SFCPU‐SET R32SFCPU‐SET R120SFCPU‐SET

The safety CPU enables safety devices such as safety light curtains, emergency switches, and

door switches to be connected via the CC-Link IE TSN or CC-Link IE Field Network without

requiring a separate dedicated network line.

• Safety CPU can execute both safety and general programs

• With the CC-Link IE TSN or CC-Link IE Field Network master/local module, general and

safety communications can be integrated

• Safety control programming and various setting operations are done using GX Works3

Specifications LD : Ladder diagram ST : Structured text FBD : Function block diagram

Item R08SFCPU-SET*2 R16SFCPU-SET*2 R32SFCPU-SET*2 R120SFCPU-SET*2

Category Category 4 (EN ISO 13849-1)

Safety Integrity Level (SIL) SIL 3 (IEC 61508)

Performance Level (PL) PL e (EN/ISO 13849-1)

Control method Stored program cyclic operation

I/O control mode Refresh mode (Direct access I/O is available by specifying direct access I/O (DX, DY))

Programming language LD ST *3 FBD *3

Extended programming language Function block (FB), label programming (system/local/global)

Program execution type Initial*3, scan*3, fixed scan, interrupt*3, standby type*3

Number of I/O points [X/Y] 4096 4096 4096 4096

Memory capacity

Program capacity (step)80K

(40K for safety programs)160K

(40K for safety programs)320K

(40K for safety programs)1200K

(40K for safety programs)

Program memory (KB) 320 640 1280 4800

Device/label memory*4 (KB) 1178 1710 2306 3370

Data memory (MB) 5 10 20 40

SLMP communication ● ● ● ●

*2. Product package includes a safety CPU (R□SFCPU) and safety function module (R6SFM).

*3. Not supported for safety control program.

*4. An extended SRAM cassette expands the device/label memory area.

System-wide safety control with drives safety integrationThe safety CPU can be installed directly on the MELSEC iQ-R Series base rack, and is easily integrated into an existing or new

control system. Safety devices are connectable using the CC-Link IE TSN with safety communication integrated into the network

protocol over a widely-available industrial Ethernet topology. The safety CPU is compliant with ISO 13849-1 PL e and

IEC 61508 SIL 3 and is certified by TÜV Rheinland®. CC-Link IE TSN integrates the MR-J5-G-RJ AC servo and the

FR-E800-SCE inverter.

MELSEC iQ-R Series

Diagnostic s/w

TCP/IP device

GOT(HMI)Inverter*1

General remote I/O

Safety remote I/O

Safety remote I/O

Servo amplifier

➊ ➋

❺

❺ ➌❺➌ ➍

❺

Warning lightSafety light curtain

Emergency stop switch

MELSEC iQ-F Series

Safety control

General remote I/O

*1. A device supporting 100 Mbps should be connected following the device supporting 1 Gbps (class B).

Safety CPU Safety function module

R□SFCPU-SET

Communication ➊ TCP/IP ➋ Transient

➌ I/O control ➍ Motion control ❺ Safety control

4

■ MELSERVO-J5 Series AC Servo

The MR-J5-G-RJ supports CC-Link IE TSN safety communication function as standard.

Safety sub-functions are used by combining the safety CPU (R□SFCPU-SET) with

the motion module (RD78G/ RD78GH) or CC-Link IE TSN master/local module

(RJ71GN11-T2). Safety sub-functions of the servo amplifier can be enabled using

safety signals from the safety remote I/O module via CC-Link IE TSN without directly

connecting to a servo amplifier, reducing overall system wiring.

• CC-Link IE TSN (1 Gbps) and safety control embedded as standard

• Servo motor (HK-KT_WS/HK-ST_WS) supports functional safety (SIL 3)

• 10 safety sub-functions available compliant to IEC 61800-5-2 (SIL 2 or SIL 3)

Safety level combinations*1

Servo amplifier MR-J5-G-RJ

Servo motorServo motor (with functional safety)

(HK-KT_WS/HK-ST_WS)

Rotary servo motor (HK Series)

Linear servo motor (LM Series)

Direct drive motor (TM Series)

Functional safety category (IEC/EN 61800-5-2) Cat. 4 PL e, SIL 3 Cat. 3 PL d, SIL 2 Cat. 4 PL e, SIL 3 Cat. 3 PL d, SIL 2

STO Safe torque off ● - ● -

SS1-t Safe stop 1, time controlled ● - ● -

SS1-r*2 Safe stop 1, ramp monitored ● - - ●

SS2-t*2 Safe stop 2, time controlled ● - - -

SS2-r*2 Safe stop 2, ramp monitored ● - - -

SOS*2 Safe operating stop ● - - -

SBC Safe brake control ● - ● -

SLS*2 Safely-limited speed ● - - ●

SSM*2 Safe speed monitor ● - - ●

SDI*2 Safe direction ● - - ●

SLI*2 Safely-limited increment ● - - -

SLT Safely-limited torque - ● - ●

*1. For details on safety level combination examples, please refer to the "SERVO AMPLIFIERS&MOTORS MELSERVO-J5(L(NA)03058)".

*2. A fully closed loop system does not support SS1-r, SS2, SOS, SLS, SSM, SDI, and SLI.

■ FREQROL-E800 Series Inverter

The FR-E800-SCE is embedded with safety functions as standard eliminating the

need for acquiring separate safety and general communication equipment. In addition,

construction of a simpler safety system can be realized as wiring is kept to a minimum.

• CC-Link IE TSN (100 Mbps) and safety control embedded as standard

• Efficient protocol enables real-time collection of shop floor data

• Enables mixing of real-time control communication and TCP/IP communication

FR-E800-SCE*3

Functional safety category (ISO 13849-1, IEC 61508)

SIL 3, PL e, Cat.3

STO Safe torque off, free-run stop ●

SS1 Safe stop 1, ramp monitored ●

SLS Safely-limited speed ●

SBC Safe brake control ●

SSM Safe speed monitor ●

*3. For product specifications, please refer to the "Inverter FR-E800 (L(NA)061311ENG)".

5

• Supports safety communication function of CC-Link IE Field Network

• Supports safety communication function of CC-Link IE TSN

• Embedded fast logic function enables control of safety logic from within the remote module.

High-speed control (response speed: 5.8 ms)*1 without being affected by the safety CPU or

network overhead.

*1. Supported by NZ2GNSS2-16DTE only. Response speed differs according to parameter settings.

■ Block type safety remote modules

Performance specifications

ModelInput type

DC inputInput points

Rated input

voltage/current

Output type

Transistor

output

Output points

Rated load

voltage/

Max. load

current

Wiring typeExternal

interface

Extension

module

compatibility

NZ2GFSS2-8DNegative common

Single wiring: 8 points

Double wiring: 4 points

24 V DC (7 mA)

- - - 2-wireSpring-clamp terminal block

●

NZ2GFSS2-32DNegative common

Single wiring: 32 points

Double wiring: 16 points

24 V DC (6 mA)

- - - 2-wireSpring-clamp terminal block

●

NZ2GFSS2-8TE - - -Source +

source type

Single wiring: 8 points

Double wiring: 4 points

24 V DC (0.5 A)

2-wireSpring-clamp terminal block

●

NZ2GFSS2-16DTENegative common

Single wiring: 8 points

Double wiring: 4 points

24 V DC (7 mA)

Source + source type

Single wiring: 8 points

Double wiring: 4 points

24 V DC (0.5 A)

2-wireSpring-clamp terminal block

●

Extension safety output module

NZ2EXSS2-8TE*2 - - -Source +

source type

Single wiring: 8 points

Double wiring: 4 points

24 V DC (0.5 A)

2-wireSpring-clamp terminal block

-

Waterproof/dustproof type (IP67) safety I/O module*3

NZ2GFS12A2-14DTNegative common

Single wiring: 12 points

Double wiring: 6 points

24 V DC (6 mA)

Source + sink type

Single wiring: not possible

Double wiring: 2 points

24 V DC (2.0 A)

2-wireWaterproof connector

-

NZ2GFS12A2-16DTENegative common

Single wiring: 12 points

Double wiring: 6 points

24 V DC (6 mA)

Source + source type

Single wiring: 4 points

Double wiring: 2 points

24 V DC (1.0 A)

2-wireWaterproof connector

-

*2. Use in combination with NZ2GFSS2-32D.

*3. General specifications and product guarantee conditions for co-branded products may vary from those of MELSEC products.

ModelInput type

DC inputInput points

Rated input

voltage/current

Output type

Transistor outputOutput points

Rated load voltage/

Max. load currentWiring type

External

interface

NZ2GNSS2-8DNegative common

Single wiring: 8 points

Double wiring: 4 points

24 V DC (7.3 mA)

- - - 2-wireSpring-clamp terminal block

NZ2GNSS2-8TE - - -Source + source

type

Single wiring: 8 points

Double wiring: 4 points

24 V DC (0.5 A) 2-wireSpring-clamp terminal block

NZ2GNSS2-16DTENegative common

Single wiring: 8 points

Double wiring: 4 points

24 V DC (7.3 mA)

Source + source type

Single wiring: 8 points

Double wiring: 4 points

24 V DC (0.5 A) 2-wireSpring-clamp terminal block

• Block type remote module that supports safety communication function

• Single or double wiring can be selected per input point and output point

• Compliant with international safety standards, ISO 13849-1 (Category 4, PL e) and IEC 61508 (SIL 3)

NZ2GFSS2-16DTE NZ2GFS12A2-14DT

NZ2GNSS2-16DTE

6

Common engineering platform realizes efficient engineering

" GX Works3

In GX Works3, general and safety programs are included in the same project folder. The software is highly adaptable to projects

in different countries through its multiple language features.

" Safety FB (Function blocks)

Frequently used functions (for creating safety programs) are provided as certified safety function blocks.

Safety FB listFB name Function Description

M+SF_2HAND2_R Two hand switch Type II Provides the two-hand control functionality.

M+SF_2HAND3_R Two hand switch Type III Provides the two-hand control functionality. (Fixed specified time difference is 500 ms.)

M+SF_EDM_R External device monitor Controls a safety output and monitors controlled actuators, e.g. subsequent contractors.

M+SF_ENBLSW_R Enable switch Evaluates the signals of an enable switch with three positions.

M+SF_ESPE_R Light Curtain (ESPE) Safety-related FB for monitoring electro-sensitive protective equipment (ESPE).

M+SF_ESTOP_R Emergency StopSafety-related FB for monitoring an emergency stop switch. This FB can be used for emergency switch off functionality (stop category 0).

M+SF_GLOCK_RGuard Lock and Interlocking

Controls an entrance to a hazardous area via an interlocking guard with guard locking (“four state interlocking”).

M+SF_GMON_R Guard MonitoringMonitors the relevant safety guard. There are two independent input parameters for two switches at the safety guard coupled with a time difference (Monitoring Time) for closing the guard.

M+SF_MODSEL_R Mode Selector Selects the system operation mode, such as manual, automatic, and semi-automatic, etc.

M+SF_OUTC_R Output ControlControl of a safety output with a signal from the functional application and a safety signal with optional startup inhibits.

M+SF_MUTE2_R Muting with 2 sensorsMuting is the intended suppression of the safety function. (e.g., light barriers) In this FB, parallel muting with two muting sensors is specified.

M+SF_MUTE2-2_R Muting with 2 sensors 2Muting is the intended suppression of the safety function. (e.g., light barriers) In this FB, parallel muting with two muting sensors is specified. The effective time of the muting control can be set to be unlimited.

M+SF_MUTEP_R Parallel muting Parallel muting with four muting sensors is specified.

M+SF_MUTEP-2_R Parallel muting 2In this FB, parallel muting with four muting sensors is specified. The effective time of the muting control can be set to be unlimited.

M+SF_MUTES_R Sequential muting Sequential muting with four muting sensors is specified.

M+SF_MUTES-2_R Sequential muting 2In this FB, sequential muting with four muting sensors is specified. The effective time of the muting control can be set to be unlimited.

M+SF_TSSEN_R Testable safety sensorDetects, for example, the loss of the sensing unit detection capability, the response time exceeding that specified, and static ON signal in signal-channel sensors systems. It can be used for external testable safety sensors.

M+SF_EQUI_RDouble input (NC + NC or NO + NO)

Converts two equivalent bit inputs (both NO or NC) to one bit with discrepancy time monitoring. This FB output shows the result of the evaluation of both channels.

M+SF_ANTI_R Double input (NO + NC)Converts two antivalent*2 bit inputs (NO/NC pair) to one bit output with discrepancy time monitoring. This FB output shows the result of the evaluation of both channels.

*2. Antivalent: During normal operation two inputs are in opposite states at the same time (sometimes called “complementary” or “non-equivalent”).

*1. On the actual GX Works3 screen, FB version is shown.

General control program (non-safety)

Safety control program

General/safety shared labels A general/safety shared label is used to link device data between a safety and general program

Safety device Append “SA\” to the device name

Safety FB*1

Safety FBs are units of ladder blocks repeatedly used in a safety program

7

For safe use• To use the products listed in this publication properly, always read the relevant manuals before use.

• Company names and product names used in this document are trademarks or registered trademarks of their respective companies.

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Country/Region Sales office

Automotive assembly line

Ensures safety on a large-scale production line and distributed system such as an automotive assembly line with multiple welding

robots operating. In systems with multiple stations and safety controllers, critical safety data is shared over the network which allows an

emergency stop in one station to safely stop the stations before and after within the production line. The safety CPU is connected using

CC-Link IE TSN with safety communication integrated into the network protocol. Also, the motion module supports safety communication

with the AC servo via CC-Link IE TSN. General and safety devices, together with drives can be connected on the same network line (up

to 120 devices in total), realizing a reduced wiring and highly scalable system lowering overall system cost.

Supervisory control panel Process 1 Process 2 Process n

Overall production line control

Safety remote I/O

MELSEC iQ-R Series

Motion moduleSafety CPU

General remote I/O

Servo amplifier

Servo amplifier

Safety remote I/O

Servo amplifier

MELSEC iQ-R Series

Restart switch

Restart switch

Safety remote I/O

Process n

Process 1

Assembly line

Process 2

Inverter

General remote I/O

MELSEC iQ-R Series

Safety control Safety control Safety control

Emergency stop switch

Safety light curtain

Emergency stop switch

Restart switch

General remote I/O

General remote I/O

R003ENG-D 2008(IP)New publication, effective August 2020.

Specifications are subject to change without notice.

HEAD OFFICE: TOKYO BLDG., 2-7-3, MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN

www.MitsubishiElectric.com