Mitsubishi Electric QSCPU v2 Programming Manual

QSCPU Programming Manual (Safety FB)

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SAFETY PRECAUTIONS (Always read these instructions before using this equipment. )

Before using this product, please read this manual and the relevant manuals introduced in this manual carefully and pay full attention to safety to handle the product correctly. The instructions given in this manual are concerned with this product. For the safety instructions of the programmable controller system, please read the CPU module user's manual. In this manual, the safety instructions are ranked as:" ! WARNING" and " ! CAUTION".

WARNING Indicates that incorrect handling may cause hazardous conditions, resulting in death or severe injury.

CAUTION Indicates that incorrect handling may cause hazardous conditions, resulting in minor or moderate injury or property damage.

Note that the ! CAUTION level may lead to a serious consequence according to the circumstances. Always follow the instructions of both levels because they are important to personal safety. Please save this manual to make it accessible when required and always forward it to the end user.

[Design Instructions] WARNING

When data/program change, or status control is performed from a programmable controller to

a running safety programmable controller, create an interlock circuit outside the sequence program and safety programmable controller to ensure that the whole system always operates safely. For the operations to a safety programmable controller, pay full attention to safety by reading the relevant manuals carefully, and establishing the operating procedure. Furthermore, for the online operations performed from a programmable controller to a safety CPU module, the corrective actions of the whole system should be predetermined in case that a communication error occurs due to a cable connection fault, etc.

When a safety remote I/O module has detected a CC-Link Safety error, it turns off all the

outputs. Note that the outputs in a ladder program are not automatically turned off. If a CC-Link Safety or CC-Link IE Field Network error has been detected, create a ladder program that turns off the outputs in the program. If the CC-Link Safety or CC-Link IE Field Network is restored with the outputs on, it may suddenly operate and result in an accident.

To inhibit restart without manual operation after safety function was performed and outputs

were turned OFF, create an interlock program which uses a reset button for restart. (See Section 2.5 General Functions (2) Reset selection.)

In order to make a safety program, you shall do a risk assessment of your machines and

systems, and shall design them according to your risk assessment. The wiring, the program and how to use safety FB are depending on required safety level. Safety programmable controller and Safety Function Blocks are certified confirming to IEC 61508 SIL3 and EN954-1/ISO13849-1 Category 4.

!

!

!

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WARNING Please note that you are responsible for implementing all additional requirements resulting

from applicable directives and legislation in order to meet the above safety integrity requirements. (See Applicable Safety Standards of each FB in Chap.4.) With regard to the use of the safety programmable controller, the manufacturers and operators of machines and systems are responsible for adhering to all applicable directives and legislation.

In defining the safety integrity level or category for the overall safety function, you must take

into consideration all components involved in the execution of this safety function (sensors, actuators, wiring, etc.). You must always validate the overall safety function that is the all of path input to output at completion of your design.

[Startup/Maintenance Instructions] CAUTION

The online operations performed from a programmable controller to a running safety

programmable controller (Program change when a safety CPU is RUN, device test, and operating status change between RUN and STOP) have to be executed after the manual has been carefully read and the safety has been ensured. Following the operating procedure predetermined at designing, the operation has to be performed by an instructed person. When changing a program while a safety CPU is RUN (Write during RUN), it may cause a program breakdown in some operating conditions. Fully understand the precautions described in the GX Developer's manual before use.

!

!

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REVISIONS *:The manual number is given on the bottom left of the back cover.

Print Date *Manual Number Revision Oct., 2007 SH(NA)-080744ENG-A First edition Jan., 2008 SH(NA)-080744ENG-B

Addition Section 4.9, 4.10, 4.11, 4.12 Change Section 4.9 4.13 Section 4.10 4.14 Partial correction Section 2.1, 3.1

Apr., 2009 SH(NA)-080744ENG-C Revised overall for the safety FB version, Version 2 May, 2011 SH(NA)-080744ENG-D

Partial correction SAFETY PRECAUTIONS, MANUALS, HOW TO SEE THE MANUALG, GENERIC TERMS AND ABBREVIATIONS IN THIS MANUAL, Section 2.4, 2.5, 4.1, 4.2, 4.3, 4.4, 4.5, 4.6, 4.7, 4.8, 4.9, 4.10, 4.11, 4.12, 4.13, 4.14, 4.15, 4.16, APPENDIX 2

Japanese Manual Version SH-080743-D

This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.

2007 MITSUBISHI ELECTRIC CORPORATION

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INTRODUCTION

Thank you for choosing the Mitsubishi MELSEC-QS Series of Safety Programmable Controllers. Before using the equipment, please read this manual carefully to develop full familiarity with the functions and performance of the QS series programmable controller you have purchased, so as to ensure correct use. A copy of this manual should be forwarded to the end User.

CONTENTS SAFETY PRECAUTIONS....................................................................................................................A- 1 REVISIONS .........................................................................................................................................A- 3 INTRODUCTION.................................................................................................................................A- 4 CONTENTS.........................................................................................................................................A- 4 MANUALS ...........................................................................................................................................A- 6 HOW TO SEE THE MANUAL .............................................................................................................A- 7 GENERIC TERMS AND ABBREVIATIONS IN THIS MANUAL........................................................A- 10 TERMS IN THIS MANUAL ................................................................................................................A- 11 1 OVERVIEW 1- 1 to 1- 2 1.1 Features ........................................................................................................................................ 1- 1 1.2 Feature of Version 2 ...................................................................................................................... 1- 2 2 GENERAL SPECIFICATION 2- 1 to 2- 11 2.1 List of Safety FB ............................................................................................................................ 2- 1 2.2 Function Specifications.................................................................................................................. 2- 3 2.3 Performance Specifications........................................................................................................... 2- 5 2.4 Common Specifications................................................................................................................. 2- 6 2.5 General Functions ......................................................................................................................... 2- 8 2.6 Generic State Diagram.................................................................................................................. 2- 9 2.7 Import Safety FB to your Project ................................................................................................. 2- 10 3 RESTRICTIONS AND CAUTIONS 3- 1 to 3- 4 3.1 Restrictions.................................................................................................................................... 3- 1 3.2 Precautions for System Design ..................................................................................................... 3- 2 3.3 Precautions for Management ........................................................................................................ 3- 3 4 SAFETY FB SPECIFICATIONS 4- 1 to 4-106 4.1 F+2HAND2, S+2HAND2 ............................................................................................................... 4- 1 4.2 F+2HAND3, S+2HAND3 ............................................................................................................... 4- 6 4.3 F+EDM, S+EDM.......................................................................................................................... 4- 11 4.4 F+ENBLSW, S+ENBLSW ........................................................................................................... 4- 17 4.5 F+ESPE, S+ESPE....................................................................................................................... 4- 23 4.6 F+ESTOP, S+ESTOP ................................................................................................................. 4- 28 4.7 F+GLOCK, S+GLOCK................................................................................................................. 4- 33 4.8 F+GMON, S+GMON ................................................................................................................... 4- 39 4.9 F+MODSEL, S+MODSEL ........................................................................................................... 4- 45 4.10 F+MUTE2, S+MUTE2 ............................................................................................................... 4- 51 4.11 F+MUTEP, S+MUTEP............................................................................................................... 4- 59 4.12 F+MUTES, S+MUTES............................................................................................................... 4- 73 4.13 F+OUTC, S+OUTC ................................................................................................................... 4- 83 4.14 F+TSSEN, S+TSSEN................................................................................................................ 4- 88 4.15 F+EQUI...................................................................................................................................... 4- 97 4.16 F+ANTI ..................................................................................................................................... 4-102

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APPENDIX App- 1 to App- 5 Appendix 1 Safety FB (S+ ) Specifications.................................................................................App- 1 Appendix 2 Safety Data...................................................................................................................App- 3 Appendix 3 Comparison between Safety FB Specifications ...........................................................App- 4 Appendix 4 Operation Using Combination ......................................................................................App- 5

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MANUALS

Introductory Manual

Read the following manual before designing and constructing a safety system.

Manual Name Manual No. (Model Code)

Safety Application Guide

Explains the overview and construction method of the safety system, laying and wiring examples, application programs and others. (Sold separately)

SH-080613ENG (13JR90)

Related Manuals

The manuals related to this product are listed below. Please place an order as needed.

Manual Name Manual No. (Model Code)

GX Developer Version 8 Operating Manual

Explains the online functions of GX Developer, such as the programming, printout, monitoring, and debugging methods. (Sold separately)

SH-080373E (13JU41)

GX Developer Version 8 Operating Manual (Startup)

Explains the system configuration, installation, and starting methods of GX Developer. (Sold separately)

SH-080372E (13JU40)

QSCPU User's Manual (Function Explanation, Program Fundamentals)

Explains the functions, programming methods, devices and others that are necessary to create programs with the QSCPU. (Sold separately)

SH-080627ENG (13JR93)

QSCPU Programming Manual (Common Instructions)

Explains how to use the sequence instructions, basic instructions, and QSCPU dedicated instructions. (Sold separately)

SH-080628ENG (13JW01)

CC-Link Safety System Master Module User's Manual

Explains the specifications, procedures and settings before operation, parameter settings, and troubleshooting of the QS0J61BT12-type CC-Link Safety system master module. (Sold separately)

SH-080600ENG (13JR88)

CC-Link Safety System Remote I/O Module User's Manual

Explains the specifications, procedures and settings before operation, parameter settings, and troubleshooting of the CC-Link Safety system remote I/O modules. (Sold separately)

SH-080612ENG (13JR89)

MELSEC-QS CC-Link IE Field Network Master/Local Module User's Manual

Explains the specifications, procedures and settings before operation, parameter settings, and troubleshooting of the CC-Link IE Field Network master/local module (with safety functions). (Sold separately)

SH-080969ENG (13JZ53)

REMARK

Printed materials are separately available for single item purchase. Order the manual by quoting the manual number on the table above (Model Code).

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HOW TO SEE THE MANUALG

The following shows the description pages for a safety FB in Chap.4.

This block is the overview of safety FB. In this document, the bit type data which is as safety data is called bit*. You must connect bit* data to safety data in/out the safety CPU. OVERVIEW This table describes each input/output parameter. Each table shows FB specific variables. See 2.4 Common Specifications about the description of common variables of safety FBs. WARNING It is the important topic to use the safety FB. FUNCTION DESCRIPTION How to use the FB and its functions are described.

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STATE DIAGRAM The safety FB changes its state according to the combination of input variables. See 2.6 Generic State Diagram for how to see the state diagram.

TYPICAL TIMING DIAGRAM This shows typical timing diagram of this FB. This diagram is only a sample case, it doesnt show all of the combination of signals. ERROR BEHAVIOR Actions of outputs at an error, and how to reset the error are described. ERROR CODES/ STATE CODE When an error has occurred, DiagCode shows the error code, and when there is no error, it shows the status code of the inside. See each state diagram for more detail.

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APPLICATION EXAMPLE It shows the easy example which uses Safety FB, and explains connection with the data of the variable of FB. APPLICABLE SAFETY STANDARDS It shows the major standards related to this FB. User application must be adapted to these standards.

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GENERIC TERMS AND ABBREVIATIONS IN THIS MANUAL

Unless otherwise specified, this manual uses the following generic terms and abbreviations. When a clear indication of target model name is required, the module name is indicated.

Generic term/abbreviation Description

GX Developer Generic product name for models SWnD5C-GPPW, SWnD5C-GPPW-A, SWnD5C-GPPW-V, and SWnD5C-GPPW-VA.

Safety remote I/O station Remote station which handles only the information in bit units. Compatible with the safety-related system.

Safety master module Other name for the QS0J61BT12 type CC-link Safety system master module.

Safety remote I/O module Other name for the QS0J65BTB2-12DT type CC-Link Safety system remote I/O module.

Safety CPU module Abbreviation for the QS001CPU type safety CPU module.

Safety Programmable Controller

Generic term for safety CPU module, safety power supply module, safety main base unit, CC-Link safety master module, CC-Link safety remote I/O module, and CC-Link IE Field Network master/local module (with safety functions).

Standard Programmable Controller

General name of each module for MELSEC-Q series, MELSEC-L series, MELSEC-QnA series, MELSEC-A series and MELSEC-FX series. (Used for distinction from safety programmable controller.)

Safety input Generic term for the signals that are input to the safety programmable controller for realizing the safety functions.

Safety output Generic term for the signals that are output from the safety programmable controller for realizing the safety functions.

Safety application Generic term for the applications that are operated using the safety programmable controller for realizing the safety functions.

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TERMS IN THIS MANUAL

Terminology Description

Safety component Equipment such as the safety compatible sensor and actuator. Safety related system System executing a safety functions to be required. Safety functions Functions to be realized for protecting a human from machinery hazards. Safety measure Measure for reducing the risk.

Safe category Safety level standardized in EN954-1. The safety level is classified into 5 levels of B and 1 to 4.

SIL Safety level which is standardized in IEC 61508. The safety level is classified into 4 levels of SIL1 to SIL4.

Risk Degree of hazards, which is the combination of the occurrence probability and degree of an injury and a health problem.

Risk assessment To clarify hazards in machinery and assess the degree of the hazards.

Link ID Unique network identifier which is given to each network of the CC-Link Safety system.

Target failure measure Target value of reliability for each SIL level standardized in IEC 61508. There are PFD and PFH depending on the operation frequency of the safety functions.

NC Abbreviation for normal close contact which is normally closed, but opened when a switch or other function is operated.

NO Abbreviation for normal open contact which is normally opened, but closed when a switch or other function is operated.

Close contact Same as NC. Open contact Same as NO. Safety project A project for Safety CPU module built by GX Developer.

1 Restrictions and Cautions

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MELSEC-QS

1 OVERVIEW

1.1 Features

Safety FB (function block) is the maker (Mitsubishi) offer FB that acquired the certification of EN954-1/ISO13849-1 Category 4 and IEC 61508 SIL3.

The feature of Safety FB is shown below.

(1) Improving the productivity and the maintenance ability of a safety program The major functions used in programming safety applications are provided as the safety FB. Safety program is able to become simple by using the safety FB, and the productivity and maintenance ability of the safety program can improved. Moreover, the debug and the verification of the safety program are able to be more efficient.

(2) The high safe level application using the safety certified FB

Since the safety FB received the safety certification; a user can build a safety application which is compliance to EN954-1/ISO13849-1 Category 4 and IEC 61508 SIL3. User can develop an advanced safety application using the safety FB. And it becomes easy to get the safety certification of users safety application from an inspector.

(3) Reliability of the safety program

Since a user cannot read the inside logic of the safety FB, a user cannot customize or modify the safety FB. Since there is no variation of the safety FB by any intentional or mistaken operation, the reliability of a safety feature can improve. And a user cannot set or change the name of safety FB, a user can know that the FB is certified safety FB by only its name.

(4) Enough functions to support FB errors

When the safety FB detects an internal error (out of range of parameters, invalid static Reset, etc.), it outputs Error. Simultaneously, the FB notifies the error code. When there is no error, the FB notifies its status value. It is useful to debug and understand its behavior.

(5) Combination with a ladder

A user can make a program with the safety FB in a ladder. By the combination of a popular ladder and the certified safety functions, a user can make a safe and flexible application program.

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MELSEC-QS

1.2 Feature of Version 2

The safety FB has two types, namely Version 2 (F+ ) and Version 1 (S+ ). Version 2 has been easier to use by improving functions such as speeding up the processing time and increasing the maximum number of safety FBs. For the safety FB version compatible with the GX Developer version used and the comparison between F+ and S+ specifications, see Section 2.2 and Appendix 3, respectively.

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MELSEC-QS

2. GENERAL SPECIFICATION

2.1. List of Safety FB

The following is the list provides safety function blocks.

Table 2.1 List of Safety FB FB Name Function Descriptions Section

F+2HAND2

S+2HAND2 Two hand switch Type II This FB provides the two-hand control functionality (see EN 574,

Section 4 Type II). 4.1

F+2HAND3 S+2HAND3

Two hand switch Type III This FB provides the two-hand control functionality (see EN 574, Section 4 Type III. Fixed specified time difference is 500 ms). 4.2

F+EDM S+EDM

External device monitor External device monitoring - The FB controls a safety output and monitors controlled actuators, e.g. subsequent contactors 4.3

F+ENBLSW S+ENBLSW

Enable switch This FB evaluates the signals of an enable switch with three positions. 4.4

F+ESPE

S+ESPE Light Curtain (ESPE) This FB is a safety-related FB for monitoring electro-sensitive

protective equipment (ESPE). 4.5

F+ESTOP

S+ESTOP Emergency Stop

This FB is a safety-related FB for monitoring an emergency stop button. This FB can be used for emergency switch off functionality (stop category 0).

4.6

F+GLOCK

S+GLOCK Guard Lock and Interlocking

This FB controls an entrance to a hazardous area via an interlocking guard with guard locking (four state interlocking) 4.7

F+GMON

S+GMON Guard Monitoring

This FB monitors the relevant safety guard. There are two independent input parameters for two switches at the safety guard coupled with a time difference (MonitoringTime) for closing the guard.

4.8

F+MODSEL S+MODSEL

Mode Selector This FB selects the system operation mode, such as manual, automatic, semi-automatic, etc. 4.9

F+MUTE2

S+MUTE2 Muting with 2 sensors

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

4.10

F+MUTEP S+MUTEP

Parallel muting In this FB, parallel muting with four muting sensors is specified. 4.11

F+MUTES

S+MUTES Sequential muting In this FB, sequential muting with four muting sensors is

specified. 4.12

F+OUTC

S+OUTC Output Control Control of a safety output with a signal from the functional

application and a safety signal with optional startup inhibits. 4.13

F+TSSEN

S+TSSEN Testable safety sensor

This FB detects, for example, the loss of the sensing unit detection capability, the response time exceeding that specified, and static ON signal in single-channel sensor systems. It can be used for external testable safety sensors

4.14

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2 Restrictions and Cautions

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MELSEC-QS

Table 2.1 List of Safety FB (continued) FB Name Function Descriptions Section

F+EQUI Dual input (NC+NC or NO+NO)

This FB 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.

4.15

F+ANTI Dual input (NO+NC) This FB converts two antivalent 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.

4.16

2 Restrictions and Cautions

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MELSEC-QS

2.2 Function Specifications

(1) Software A safety FB library is included in GX Developer.

The software and its version required for the programming with the safety FB library are listed below.

Table 2.2 Software Required for Safety FB Program

Product Name Compatible Version GX Developer Version 8.58L or later

(2) Safety FB version A safety FB has 30 types, 16 types of the safety FBs start with F+ and 14 types of those that start with S+, respectively. The safety FBs included in GX Developer vary as listed below depending on GX Developer versions.

Table 2.3 Safety FB Versions and its Compatible GX Developer Versions

Safety FB No. Name Version

GX Developer

1 F+2HAND2 2 F+2HAND3 3 F+EDM 4 F+ENBLSW 5 F+ESPE 6 F+ESTOP 7 F+GLOCK 8 F+GMON 9 F+MODSEL 10 F+MUTE2 11 F+MUTEP 12 F+MUTES 13 F+OUTC 14 F+TSSEN 15 F+EQUI 16 F+ANTI

Version 2 Version 8.82L or later

17 S+2HAND2 18 S+2HAND3 19 S+EDM 20 S+ENBLSW 21 S+ESPE 22 S+ESTOP 23 S+GLOCK 24 S+GMON

Version 8.58L or later

25 S+MODSEL 26 S+MUTE2 27 S+MUTEP 28 S+MUTES

Version 8.62Q or later

29 S+OUTC 30 S+TSSEN

Version 1

Version 8.58L or later

POINT The safety FBs to be used in GX Developer required to be copied from a safety FB library into a project. For the operating procedure of the copy, see GX Developer Version8 Operating Manual (Safety Programmable Controller) SW8D5C-GPPW-E.

2 Restrictions and Cautions

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MELSEC-QS

(3) Number of safety FB (F+ ) steps and available safety FBs The number of compiled safety FB steps and maximum number of safety FBs are listed below.

Table 2.4 Number of Safety FB (F+ ) Steps and Maximum Number of Safety FBs*3

No. FB Name Number of Compiled Steps*1

Maximum Number of

Safety FBs*2

No. FB Name

Number of Compiled Steps*1

Maximum Number of

Safety FBs*2 1 F+2HAND2 35 392 9 F+MODSEL 79 124 2 F+2HAND3 35 392 10 F+MUTE2 60 193 3 F+EDM 51 260 11 F+MUTEP 76 160 4 F+ENBLSW 43 297 12 F+MUTES 68 190 5 F+ESPE 40 325 13 F+OUTC 46 275 6 F+ESTOP 40 325 14 F+TSSEN 58 201 7 F+GLOCK 50 238 15 F+EQUI 38 332 8 F+GMON 46 260 16 F+ANTI 38 332

*1:The number of steps is the number of compiled safety FB and input-output circuit steps in connecting the safety FB input-output variables with the input-output circuits. In addition, the number of safety FB steps listed in Table 2.4 is different from those in the case of connecting more than one contact or coil with the input-output variable, no input-output circuits.

1)

1)

2)

3)

4)

Input Circuit Output Circuit 1) Connecting one contact with the bit device input variables 2) Connecting one coil with the bit device output variables 3) Connecting a constant with the word device input variable 4) Connecting one word with the word device output variable

Figure 2.1 Example of F+EDM Circuit (51 steps in the above circuit)

*2:The maximum number of safety FBs is the number that only same safety FBs can be used and up to 14K steps of the safety FB can be used. (The reserved area for online change is 500.)

*3:For the safety FB (S+ ), see Appendix 1.

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MELSEC-QS

2.3 Performance Specifications

The processing time of the safety FB (F+ ) is listed below. Table 2.5 shows the processing time of the safety FB (F+ ) whose status code is 8000*1.

Table 2.5 Safety FB (F+ ) Processing Time*2

No. FB Name Processing Time (s)

No. FB Name Processing

Time (s) 1 F+2HAND2 15 9 F+MODSEL 32 2 F+2HAND3 16 10 F+MUTE2 24 3 F+EDM 28 11 F+MUTEP 27 4 F+ENBLSW 17 12 F+MUTES 27 5 F+ESPE 16 13 F+OUTC 17 6 F+ESTOP 16 14 F+TSSEN 20 7 F+GLOCK 18 15 F+EQUI 16 8 F+GMON 17 16 F+ANTI 16

*1:The status code is the code that indicates the current status of safety FBs, and the 8000 indicates the status that the safety output is set to ON. For the details of the safety FB status code, see each safety FB in Chapter 4.

*2:For the safety FB (S+ ), see Appendix 1.

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MELSEC-QS

2.4 Common Specifications

The common specifications of the safety FBs are described in this section. The input-output specification of a general safety FB is shown in the figure below. Variables other than S_In and S_Out are all used under same names, data types, initial values, specifications, and functions for the safety FB use. For details of each safety FB name, data type, initial value, specification, and function of the safety input-output variables other than those described in the figure below, see Chapter 4.

F+FB bit Activate Ready bit

bit* S_In S_Out bit* bit* S_StartReset Error bit bit* S_AutoReset DiagCode word bit Reset

!

[WARNING] Use safety data(See Appendix2) for connecting the variable whose data type is bit* to input-output circuits. Wire the safety input-output devices and set parameters correctly, referring to the Safety Application Guide.

INPUT/OUTPUT

I/O Name Data Type Initial Value Descriptions and values

Activate bit OFF

Activation of the FB. Initial value is OFF. OFF : All output variables are set to the initial values. ON : The safety FB is active.

For details, see Section 2.5 (1).

S_In bit* OFF Safety input signals to this FB. For details of each safety FB name, data type, initial value, specification, and function, see Chapter 4.

S_StartReset bit* OFF

Selection of a reset method for the activated (first time) safety FB. OFF (= initial value): Manual reset when the safety FB is activated. ON : Automatic reset when the safety FB is activated.

For details of the function, see Section 2.5 (2).

S_AutoReset bit* OFF

Selection of a reset method for the input signal (S_In) reset to ON. OFF (= initial value): Manual reset when emergency stop button is

released. ON : Automatic reset when emergency stop button is released.

For details of the function, see Section 2.5 (2).

IN

Reset bit OFF

Reset input. This function is only active on a signal change from OFF to ON. This input can be used for different purposes: (1) Reset of the error occurred in the safety FB. (2) Manual reset in setting S_StartReset and S_AutoReset to OFF. (3) Additional FB-specific reset functions. (For details of each safety FB, see Chapter 4.) For details of the function, see Section 2.5 (3).

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MELSEC-QS

I/O Name Data Type Initial

Value Descriptions and values

Ready bit OFF

Status of whether the safety FB is activated or not. OFF : The safety FB is activated. ON : The safety FB is not activated.

For details of the function, see Section 2.5 (1).

S_Out - - Safety output signals from the safety FB. For details of each safety FB name, data type, initial value, specification, and function, see Chapter 4.

Error bit OFF

Error flag. OFF : Indicates that an error has not occurred and the safety FB is

in another state. ON : Indicates that an error has occurred, and the safety FB is in

an error state. The relevant error state is mirrored at the DiagCode output.

For details of the function, see Section 2.5 (4).

OUT

DiagCode word 0

Diagnostic code. FB has a status inside, and it changes its status by inputs. DiagCode shows the status value. When there is no error, it shows the FB specific status code, and when an error is occurred DiagCode shows its error code. See DiagCode of each description of FB. In this manual, this value shows by hex (16bits=0000). For details of the function, see Section 2.5 (4).

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MELSEC-QS

2.5 General Functions

(1) Whether safety FBs are active or not

The Activate input signal sets whether to activate a safety FB or not. In addition, whether the safety FB is active or not can be checked with the output signal Ready. If the signal Activate is OFF, all values of the output signals are set to the initial values. Inputting the signal of the safety refresh communication status for CC-Link Safety inactivates the safety FB when an error occurs in the safety station and then prevents unnecessary signals from outputting. For details of the program example, see the Safety Application Guide.

(2) Reset selection

A reset of safety FBs can be selected from S_StartReset (after safety FBs are activated) and S_AutoReset (after safety inputs are restored).

Manual reset This reset disables that safety FB output signals are set to ON immediately after safety FB input signals are set correctly. If S_StartReset is set to ON, the safety output will be set to ON.

Automatic reset The safety FB output signal is set to ON if safety FB input signals are set correctly.

!

[WARNING] Automatic reset can only be activated if it is ensured that no hazard can occur when a safety FB is activated (with S_StartReset input) or a safety FB input is set (with S_AutoReset input). (Also, the manual reset switched from the automatic reset or the automatic reset switched from the manual reset can be activated.) Therefore, the use of automatic reset requires implementation of other system or application measures to ensure that unexpected (or unintended ) startup does not occur.

(3) Securing of input signal Reset

To prevent a machine startup in the event of switch failures (contact welding, damaged springs), the safety FB can only be activated when Reset input signal is set to ON. If Reset remains ON without detecting that it is set to ON, the safety FB detects an error. (For details of each safety FB error, see Chapter 4.)

(4) Safety FB status check

The current status of safety FBs can be checked with the DiagCode (hexadecimal number) output signal. If an error occurs in the safety FB, the Error output signal is set to ON and the error code is output to the DiagCode. If more than one error occurs, only the error code corresponding to the error detected at first is output. If an error does not occur in the safety FB, the Error output signal is OFF and the status code is output to the DiagCode. (For details of each safety FB error code and status code, see Chapter 4.)

! [WARNING] Take action against error messages and perform reset operations properly.

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MELSEC-QS

2.6 Generic State Diagram

The safety FB state transition is shown in each state diagram in Chapter 4. However, a sequence program operation is cancelled when a CPU module stops running. Consequently, the state transition is not made. The following figure shows how to read the state transition in the state diagram.

Idle 0000

Init 8001

0

Run 8000

1

Activate =ON

2

1

1

2

Error1 C0011

Start

0

0

0 Activate =OFF

Activate =OFF

Activate =OFF

Activate =OFF

S_In=ON AND (R_TRIG at Reset)=ON

S_In =OFF

Error

Error

Reset

Ready=OFF

Ready=ON

S_Out=OFF

S_Out=ON

0

Idle 0000

Example The state name is Idle, and the diagnosis code is 0000h.

(1) The state name and diagnosis code are indicated in the circle.

Safety FB state (1) Safety FBs are not active.

(2) Safety FB outputs are OFF.

Safety FB state (1) Safety FBs are active.

(2) Safety FB outputs are OFF.

Safety FB state (1) Safety FBs are active.

(2) Safety FB outputs are ON.

State transition from a non- active FB to an active FB

Basic states in each area and conditions of state transition

State transition from OFF to ON safety FB outputs

How to read the state transition

The arrows connecting between two circles indicate the direction of the state transition. Also, the conditions of the transitions are described by the arrows. In the states of more than one transition, the circled numbers indicate the priority transition when more than one condition is satisfied simultaneously . (0 is the highest priority.)

Run 8000

12

0Example The transition from the Run state to three states is shown. The priority of the transition between the Run state and three states is from 8000 to 0000, from 8000 to C001, and from 8000 to 8001.

(3) If the Activate input signal is set to OFF , transition from any states to the Idle state is shown.

Generic state diagram

(4) Meaning of transition state symbols AND, OR, XOR, and NOT: Logical operators R_TRIG at signal: The signal is changed from OFF to ON. F_TRIG at signal: The signal is changed from ON to OFF.

Figure 2.2 How to Read Generic State Diagram

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2.7 Import Safety FB to your Project

See GX Developer Version 8 Operating manual (Safety Programmable Controller), about how to import (copy) the safety FB to your project.

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3. RESTRICTIONS AND CAUTIONS

3.1 Restrictions

(1) Available safety FBs

The following table shows that available safety FBs vary depending on the QS001CPU version.

Table 3.1 Available Safety FBs

Safety FB Safety FB No. Name Version

Compatible QS001CPU No.

Name Version Compatible QS001CPU

1 F+2HAND2 17 S+2HAND2 2 F+2HAND3 18 S+2HAND3 3 F+EDM 19 S+EDM 4 F+ENBLSW 20 S+ENBLSW 5 F+ESPE 21 S+ESPE 6 F+ESTOP 22 S+ESTOP 7 F+GLOCK 23 S+GLOCK 8 F+GMON 24 S+GMON 9 F+MODSEL 25 S+MODSEL 10 F+MUTE2 26 S+MUTE2 11 F+MUTEP 27 S+MUTEP 12 F+MUTES 28 S+MUTES 13 F+OUTC 29 S+OUTC 14 F+TSSEN 30 S+TSSEN

Version 1 No restriction

15 F+EQUI 16 F+ANTI

Version 2

The serial number (first five digits) is

11042 or later.

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3.2 Precautions for System Design

(1) Correct connection with the safety devices

The variable name which is began S_ must be connected with the safety information related with safety data from the safety remote I/O station. Dont connect them to non-safety information; an input from/output to the standard I/O or standard CPU. See Appendix.2 for the safety data.

(2) Validation for all of the system

Please note that you must carry out a validation every time you make a safety-related modification to your overall system. Check following;

The safe devices are connected to the correct safe sensors and actuators in your safety application.

The safe input and output devices have been parameterized correctly. The variables have been linked to the safe sensors and actuators correctly (single channel or dual-channel).

Line control (short-circuit and cable break monitoring) is implemented in your application if it is required in your application.

Variables of the safety FB are connected to proper data. (3) Error and DiagCode

The safety FB has an internal state, and it change to other state according to inputs. This internal state is output to DiagCode. When an error is detected in the FB, Error=ON, and DiagCode shows its error code. Use these values, if your application needs error information of the FB.

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3.3 Precautions for Management

(1) Precautions for project data management Be sure to read the Safety Application Guide for correct management/operation of project data. A system manager has to back up the project and save the backup data so that the data restoration is always possible.

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4. SAFETY FB SPECIFICATIONS

4.1 F+2HAND2, S+2HAND2

F+2HAND2, S+2HAND2 bit Activate Ready bit

bit* S_Button1 S_TwoHandOut bit* bit* S_Button2 Error bit

DiagCode word OVERVIEW

This function block provides the two-hand control functionality (see EN 574, Section 4 Type II).

INPUT/OUTPUT

I/O Name Data Type

Initial Value Description, Parameter Values

Activate bit OFF Activation of the safety FB. For details, see Section 2.5.

S_Button1 bit* OFF Input of button1 (for category 3 or 4: NC/NO antivalent contacts)

OFF : Button1 released. ON : Button1 actuated. IN

S_Button2 bit* OFF Input of button2 (for category 3 or 4 antivalent contacts)

OFF : Button2 released. ON : Button2 actuated.

Ready bit OFF Status of whether the safety FB is activated or not. For details, see Section 2.5.

S_TwoHandOut bit* OFF

Safety FB output signal. OFF : No correct two hand operation. ON : S_Button1 and S_Button2 inputs are ON and no error

occurred. Correct two hand operation.

Error bit OFF Error flag. For details, see Section 2.5.

OUT

DiagCode word 0 Diagnostic code. For details, see Section 2.5.

!

[WARNING] Use safety data (See Appendix 2.) for connecting the variable whose data type is bit* to input - output circuits. Wire the safety input - output devices and set parameters correctly, referring to the Safety Application Guide.

FUNCTION DESCRIPTION

This FB provides the two-hand control functionality according to EN 574, Section 4 Type II. If S_Button1 and S_Button2 are set to ON in correct sequence, then the S_TwoHandOut output will also be set to ON. The FB also controls the release of both buttons before setting the output S_TwoHandOut again to ON.

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STATE DIAGRAM

Idle 0000

Buttons Released

8004

Button 1 Actuated

8005

B1=ON

B1=OFF AND B2=OFF

Ready = OFF

Ready = ON

S_TwoHandOut = OFF

S_TwoHandOut = ON

Init 8001

Activate=ON

Error C001 B1 C002 B2

C003 B1&B2

B1=ON OR B2=ON

1

3

2

1

12

0

Activate=OFF

Buttons Actuated

8000

3

1

Locked Off 8009

Button 1 Released

8008

Button 2 Released

8007

2

B 1=

O N

A N

D

B 2=

O N

1

1

2

2

1 2

B 1=

O N

A N

D

B 2=

O F

F

B 1=OFF AND

B2=ON

3

B1=ON AND B2=OFF

3

3

Button 2 Actuated

8006

1

3

3

B2=ON

B 1=ON A

ND B 2=ON

B1 = S_Button1 B2 = S_Button2

2

2

Locked On 8019

1

1

1B1=OFF AND B2=OFF

B1=OFF AND B2=OFF

B1=OFF AND B2=OFF

B1=OFF AND B2=OFF

B1=OFF AND B2=OFF

B 1=O

FF AN D

B 2=O

FF B 1=

O F

F A

N D

B

2= O

F F

B 1=

O F

F A

N D

B 2=

O F

F

B 1=

O N

A N

D B

2= O

N

B 1=

O N

A N

D B

2= O

N

B1=ON AND B2=ON

B 1=O

FF A N

D B

2=O N

B1=OFF AND B2=ON

B1=ON