Mitsubishi Electric 700 Series Bedienungsanleitung

CONTENTS

1. GENERAL DESCRIPTION ............................................ 1

2. INSTALLATION AND WIRING...................................... 2

3. EXAMPLE OF SAFETY SYSTEM CONFIGURATION .... 5

4. TEST AND CHECKING FAILURE ................................. 9

5. SAFETY PARAMETERS OF FR-D700 ......................... 10

INVERTER

FR-D700-E16

Safety Stop Function Instruction Manual

Compliance with the EU Machinery Directive – Functional Safety

WARNING

Any misuse of safety function could lead to personal injury or death, property damage, or economic loss.

To ensure that the system complies fully with requirement of safety, make a system-level risk

assessment. Mitsubishi Electric Co. cannot assume responsibility for any system to comply with safety

standards.

To avoid an electric shock hazard, verify that the voltage on the bus capacitors has discharged before

performing any work on the drive. Measure the DC bus voltage at the P(+) and N(-) terminals or test

points (refer to your drive’s User Manual for locations and discharging time). The voltage must be zero.

The safety stop function do not isolate electrically between drive and motor. To avoid an electric shock

hazard, disconnect/isolate power to the drive and verify to ensure that the voltage is zero before

performing any work on the motor (refer to your drive’s User Manual for discharging time).

CAUTION

The information of this manual is merely a guide for proper installation.

Mitsubishi Electric Co. cannot assume responsibility for the compliance or the noncompliance to any

code, national, local or otherwise for the proper installation of this equipment.

A hazard of personal injury and/or equipment damage exists if codes are ignored during installation.

1. General description

Features

Mitsubishi Electric FR-D700 safety stop function prevents a drive from supplying rotational energy to

motors. (In this Instruction Manual, the STO (safe torque off) function specified in IEC 61800-5-2 is

referred to as the safety stop function.)

Dual safety channels ‘S1’ and ‘S2’ cut off the gate-drive power for IGBT to turn off.

+24V

A(SAFE2)

+24V

Input power

IGBTs

Gate

Driver

Gate

Driver

CPU

Internal

Safety

Circuit

Safety relay module

FR-D700

Fig.1 FR-D700 safety stop function diagram

WARNING

The safety stop function doesn’t isolate electrically between drive and motor. To avoid an electric shock

hazard, disconnect power to the drive and verify that the voltage is zero before performing any work on

the motor (refer to your drive’s User Manual for discharging time).

Standards

Mitsubishi Electric FR-D700 safety stop function meets the following standards and categories.

ISO13849-1:2015 Category 3/PLd

IEC62061:2021 / IEC61800-5-2:2016 / IEC61508:2010 SIL2

IEC61800-5-2:2016 Stop category 0

WARNING

The misuse of safety function leads to personal injury or death, property damage, or economic loss. To

ensure that the system complies fully with requirement of safety, make a system-level risk assessment.

Mitsubishi Electric Co. cannot assume responsibility for any system to comply with safety standards.

2. Installation and wiring

CAUTION

The following information is merely a guide for proper installation.

Mitsubishi Electric Co. cannot assume responsibility for the compliance or the noncompliance to any

code, national, local or otherwise for the proper installation of this equipment.

A hazard of personal injury and/or equipment damage exists if codes are ignored during installation.

Ensure the safety relay unit and the FR-D700 unit is mounted closely in enclosure meeting IP54 and all

interconnection wiring is short and protected against open and short circuit faults.

Refer EN/ISO13849-2.

Installation

Mitsubishi Electric FR-D700 safety stop function should be used under following condition and

environment.

Table.1 The condition and environment for using safety stop function

Item Condition

Temperature

range

Operation -10°C to +50°C (non-freezing)

Storage -20°C to +65°C

Ambient humidity 90%RH maximum (non-condensing)

Vibration 5.9m/s2or less

Altitude maximum 1000m

Atmosphere Indoors (without corrosive gas, flammable gas, oil mist, dust and dirt etc.)

Over voltage category II or less

Pollution degree II or less

Mounting wall mounting / vertical orientation

WARNING

To avoid an electric shock hazard, insert the magnetic contactor (MC) between power source and drive.

Open the contact of MC and keep away from drive for discharging time (refer to your drive’s User

Manual for information) before performing any work on the drive. And verify that the voltage on the bus

capacitors has discharged before Measure the DC bus voltage at the P(+) and N(-) terminals or test

points (refer to your drive’s User Manual for locations). The voltage must be zero.

CAUTION

In order to meet safety stop, an approved safety relay unit to ISO13849-1/EN954-1 safety category 3 or better shall

be used in conjunction with FR-D700 as shown in example1, 2.

In addition, all other components with in the safety stop loop shall be ‘safety approved’ types.

To avoid systematic faults, a test even for faulty demands of the safety function has to be performed in order to

check the correct function of the monitor signal. This test shall be carried out at system installation, any software

changes, parameterization changes, and/or at least once per year.

Refer to ‘4. Test and checking failure’.

Wiring

The safety related terminals are described in Table.2 and Table.3

Table.2 The safety related terminals

Terminal

Symbol Description Rating

For input of safety stop channel1.

S1-SC is

Open: In safety stop mode.

Short: Non safety stop mode.

Input resistance: 4.7kΩ

Current: 4 to 6mA

(In case of shorted to SC)

Voltage: 21 to 26V

(In case of open from SC)

For input of safety stop channel2.

S2-SC is

Open: In safety stop mode.

Short: Non safety stop mode.

(SAFE)

As output for safety stop condition.

SO terminal type is ‘Open collector output’.

SO-SC is

OFF (Open): Drive enabled, or drive shutoff (with

internal circuit fault)

ON (Close): Drive shutoff (no internal circuit fault)

Important: SO terminal should be used for monitoring safety stop

condition only. SO terminal cannot be used for safety function.

Load: 24VDC/0.1A max.

Voltage drop: 3.4V max.

(In case of ‘ON’ state)

SC Common terminal for S1, S2, SO terminals.

*SC is connected terminal SD internally.

RUN

(SAFE2)

As output for failure detection and alarm. RUN terminal type is ‘Open

collector output’.

RUN-SE is

OFF (Open): Detect failure or Alarm.

ON (Close): No failure detected.

Attention: To use RUN terminal for monitor output of failure

detection, Pr. 190 should be set "81" (Safety monitor

2).

Note: This terminal can be used for alarm or to prevent restart only,

no other safety function.

Load: 24VDC/0.1A max.

Voltage drop: 3.4V max.

(In case of ‘ON’ state)

SE Common terminal for safety RUN terminal.

A,C

(SAFE2)

As output for failure detection. A, C terminal type is ‘Relay output’.

A-C is

OFF (Open): Detect failure or Alarm.

ON (Close): No failure detected.

Attention: To use A, C terminal for monitor output of failure

detection, Pr. 192 should be set "81" (Safety monitor

2).

Note: This terminal can be used for alarm or to prevent restart only,

no other safety function.

Load: 30VDC/0.3A max.

SD Signal ground

Table.3 Truth table of Safety related signals

Input power

Input signal Internal safety

circuit *1

Output signal

Inverter operation state

S1-SC S2-SC SO-SC (SAFE) RUN-SE or A-C

(SAFE2) *2 *3

OFF - - - OFF (Open) OFF (Open) Output shutoff (Safe state)

Short Short No failure OFF (Open) ON (Close) Drive enable

Failure OFF (Open) OFF (Open) Output shutoff (Safe state)

Open Open No failure ON (Close) ON (Close) Output shutoff (Safe state)

Failure OFF (Open) OFF (Open) Output shutoff (Safe state)

Short Open N/A OFF (Open) OFF (Open) Output shutoff (Safe state)

Open Short N/A OFF (Open) OFF (Open) Output shutoff (Safe state)

"N/A " denotes a condition where circuit fault does not apply.

*1 At an internal safety circuit fault, E.SAF or E.CPU is displayed on the operation panel. SA is displayed on the operation panel

while S1 and S2 signals are both open and the safety function operates (without internal safety circuit fault).

*2 To use RUN terminal for monitor output of failure detection, Pr. 190 should be set "81" (Safety monitor 2).

*3 To use A, C terminal for monitor output of failure detection, Pr. 192 should be set "81" (Safety monitor 2).

Wire and ferrule specification

Table.4 wire and ferrule specification

Wire size (mm2) Ferrule with insulation sleeve * Crimping tool name *

0.3 AI 0,34-10TQ

CRIMPFOX 6

0.5 AI 0,5-10WH

0.75 AI 0,75-10GY

1 AI 1-10RD

1.25, 1.5 AI 1,5-10BK

0.75 (for two cables) AI-TWIN 2 X 0,75-10GY

*Ferrules and tools are distributed by Phoenix Contact Co., Ltd.

Jumper cable

The jumper cable between S1, S2 and SC terminal has been installed in the factory as shown in Fig.2.

Fig.2. Short wire

Before connecting safety input wire to S1, S2 and SC terminal, remove this jumper cable.

AMAM

3. Example of safety system configuration

Example 1

FR-D700

START

+24V

A(SAFE2)

CPU

X0 X1COM0 COM1

24G

Internal

Safety

Circuit

XS0 XS1 Z10Z00 Z20

Z11Z01 Z21

DC24V

MITSUBISHI ELECTRIC

MELSEC Safety relay module

QS90SR2SN-Q

Gate

Driver

Gate

Driver

STF

PC*

STOP

STF

+24V

R/L1

* If the control logic is SINK logic, the common

terminal is terminal SD.

Emergency

stop button

S/L2 T/L3

IGBTs

Fig.3 Safety system example 1 – STOP asynchronous with emergency stop button and fault

detection through A-C output.

NOTE

CAUTION

To prevent restart in case of recovering from input power loss of drive, 3-wired connection for

STF/STOP control is recommended. In case of 2-wire connection and using latching type switch to short

between STF and SD/PC for starting, ensure the compliance with safety requirement for the restarting

when the drive recover from input power loss.

• P

. 192 (A, B, C terminal function selection) must be set to "81". This setting makes the A-C output to

open in case of failure.

• The above wiring is configured to prevent restart in case of a fault.

• When starting up the system’s operation, press the START switch to reset the safety stop function

first, then turn ON the STF switch to run the motor.

• In the above configuration, after reset of emergency stop button, drive will be in safe-state until

START switch is pressed.

START

Internal

Safety

Circuit K2

DC24V

FR-D700

A(SAFE2)

CPU

IGBTs

FR-D700

CPU

Gate

Driver

Gate

Driver

IGBTs

+24V

(SAFE2)

+24V

R/L1 S/L2 T/L3

Emergency

stop button

Gate

Driver

Gate

Driver

MITSUBISHI ELECTRIC

MELSEC Safety relay module

QS90SR2SN-Q

+24V X0 X1COM0 COM1

24G

XS0 XS1 Z10Z00 Z20

Z11Z01 Z21

Fig.4 Example when using multiple FR-D700 inverters for the safety stop function

NOTE

• For Europe model:

When using the safety stop function, do not connect the FR-D700 series manufactured in July 2010

or before together with the one manufactured in August 2010 or later. If connected together, the

safety stop function may not work properly.

When the FR-D700 series manufactured in July 2010 or before must be used together, connect an

electronic component (diode) to the inverter output shutoff signals (terminal S1 and S2).

• For Japan model:

When using the safety stop function, do not connect the FR-D700 series manufactured in December

2010 or before together with the one manufactured in January 2011 or later. If connected together,

the safety stop function may not work properly.

When the FR-D700 series manufactured in December 2010 or before must be used together, connect

an electronic component (diode) to the inverter output shutoff signals (terminal S1 and S2).

Refer to page 7 for the specification of the diode.

• Do not connect the FR-E700-SC/NF/NC (source logic) or the FR-D700-SC (source logic) together with

the FR-D700 (sink logic). If connected together, the safety stop function does not work properly.

(Refer to page 8.)

• Example when using multiple FR-D700 inverters

START

Internal

Safety

Circuit K2

DC24V

FR-D700

CPU

Gate

Driver

Gate

Driver

IGBTs

FR-D700

CPU

IGBTs

+24V

A(SAFE2)

(SAFE2)

+24V

R/L1 S/L2 T/L3

* When connecting multiple inverters, use a diode on each safety input terminal to prevent a malfunction due to undesirable current.

Refer to the following for the specification of the diode.

Diode type : P-N junction type (Do not use a Schottky barrier diode.)

Electronic specification - Peak reverse voltage (Vrrm) : 50V or more, Peak forward voltage (Vf) : 1V or less (at 5mA),

Effective forward current (If) : 100mA or more

Gate

Driver

Gate

Driver

Emergency

stop button

MITSUBISHI ELECTRIC

MELSEC Safety relay module

QS90SR2SN-Q

+24V X0 X1COM0 COM1

24G

XS0 XS1 Z10Z00 Z20

Z11Z01 Z21

Fig.5 Example of multiple inverters connected to a safety relay unit

NOTE

• The number of inverters connected to a safety relay unit should be decided under considerations of

output terminal rating of a safety relay unit.

• Do not connect the FR-E700-SC/NF/NC (source logic) or the FR-D700-SC (source logic) together with

the FR-D700 (sink logic). If connected together, the safety stop function does not work properly.

(Refer to page 8.)

Example 2

FR-D700

START

CPU

Internal

Safety

Circuit K2

DC24

RUN (SAFE2)

Gate

Driver

STF

STOP

STF

STOP

PC*

+24V

* If the control logic is SINK logic, the common

terminal is terminal SD.

R/L1 S/L2 T/L3

IGBTs

Emergency

stop button

Gate

Driver

MITSUBISHI ELECTRIC

MELSEC Safety relay module

QS90SR2SN-Q

+24V X0 X1COM0 COM1

24G

XS0 XS1 Z10Z00 Z20

Z11Z01 Z21

Fig.6 Safety system example 2 – STOP synchronous with emergency stop button and fault

detection through RUN output.

NOTE

CAUTION

To prevent restart in case of recovering from input power loss of drive, 3-wired connection for

STF/STOP control is recommended. In case of 2-wire connection and using latching type switch to short

between STF and SD/PC for starting, ensure the compliance with safety requirement for the restarting

when the drive recover from input power loss.

Inverter connection

Do not connect the FR-E700-SC/NF/NC (source logic) or the FR-D700-SC (source logic) together with the

FR-D700 (sink logic). If connected together, the safety stop function does not work properly.

FR-E700-SC/NF/NC

(source logic)

FR-D700-SC

(source logic) FR-D700 (sink logic)

FR-E700-SC/NF/NC

(source logic) 

FR-D700-SC

(source logic) 

FR-D700 (sink logic) 

: Enabled, : Disabled

• XS0 should be connected to RUN terminal and XS1 should be connected to SE, because polarity of

XS0 is positive, XS1 is negative.

• Pr. 190 (RUN terminal function selection) must be set to "81". This setting makes the RUN output to

turn off in case of failure.

• The above wiring is configured to prevent restart in case of a fault.

• When starting up the system’s operation, press the START switch to reset the safety stop function

first, then turn ON the STF switch to run the motor.

• In the above Fig.6, wired example 2, in the event of reset of ‘safe-condition’ the motor rotation will

not occur until STF is pressed.

(for normal ‘non-safety’ STF/STOP function, please refer to your drive’s User Manual)

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