Mitsubishi Electric FR-D700 Series Stücklistenhandbuch

INVERTER

FR-D700

Safety stop function instruction manual

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

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 directive.

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.

WARNING

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.

WARNING

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

If you are using a FR-D740-EC with serial number shown below, safety function does not work according

to safety standard. In such case please contact your sales person.

D740-012 to 080–EC : Axxxxx, Bxxxxx, Cxxxxx, Dxxxxx, Exxxx and Fxxxxx

D740-120 to 160–EC : Axxxxx, Bxxxxx, Cxxxxx and Dxxxxx

Check the SERIAL number indicated on the inverter rating plate or package.

Rating plate example

Symbol Year Month Control number

SERIAL (Serial No.)

The SERIAL consists of 1 version symbol, 2 numeric characters

or 1 numeric character and 1 alphabet letter indicating year and

month, and 6 numeric characters indicating control number.

Last digit of the production year is indicated as the Year, and the

Month is indicated by 1 to 9, X (October), Y (November), and Z

(December).

1. General description

Features

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

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

Safety relay module

+24V

SC CPU

Gate

Driver

Gate

Driver

IGBTs

Input power

FR-D700

Internal

Safety

Circuit

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).

Directives

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

ISO13849-1:2008 Category 3/PLd (applies to the FR-D700 manufactured in January 2012 or later)

IEC62061:2005 / IEC61800-5-2:2007 / IEC61508 SIL2

IEC60204-1:2006 / IEC61800-5-2:2007 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 directive.

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.

CAUTION

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 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

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

range Storage -20°C to +65°C

Ambient humidity 90%RH maximum (non-condensing)

Vibration 5.9m/s2or less

Altitude maximum 1000m above sea level

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

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.

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

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.

For input of safety stop channel2.

S2-SC is

Open: In safety stop mode.

Short: Non safety stop mode.

Input resistance:4.7kΩ

Current : 4 to 6 mA

(In case of shorted to SC)

Voltage : 21 to 26 V

(In case of open from SC)

(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, The parameter No.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, The parameter No.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 S1-SC S2-SC Internal safety

circuit fault *1 SO (SAFE) RUN or A-C

(SAFE2) *2 *3 Drive state

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

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

Short Short Detected OFF(Open) OFF(Open) Drive shutoff (Safe state)

No failure ON(Close) ON(Close) Drive shutoff (Safe state)

Open Open Detected OFF(Open) OFF(Open) Drive shutoff (Safe state)

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

Open Short N/A OFF(Open) OFF(Open) Drive 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, the parameter No.190 should be set 81 (Safety monitor 2).

*3 To use A,C terminal for monitor output of failure detection, the parameter No.192 should be set 81 (Safety monitor 2).

Wire and ferrule specification

Table.4 wire and ferrule specification

Wire size (mm2) Ferrule with insulation collar * Crimping tool *

0.3 / 0.5 AI 0,5-10WH

0.75 AI 0,75-10GY

1 AI 1-10RD

1.25 / 1.5 AI1,5-10BK

0.75 (combined 2 wire) AI TWIN 2 X 0,75-10GY

CRIMPFOX 6

*Ferrules and tools are distributed by Phoenix Contact.

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 X1

COM0 COM1

24G

Internal

Safety

Circuit

XS0 XS1 Z10Z00 Z20

Z11Z01 Z21

DC24V

QS90SR2SN-Q

MITSUBISHI MELSEC Safety relay module

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

U V W

IGBTs

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

detection through A-C output.

For safety stop, configure the wiring as shown in Fig.3 above.

Note: the above wiring is configured to prevent restart in case of a fault.

The parameter No.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.

After the power-up, to reset the safety stop mode, press the START switch, and also press the STF switch,

then start the motor rotation.

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

switch is pressed.

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.

START

+24V

X0 X1

COM0 COM1

24G

Internal

Safety

Circuit

XS0 XS1 Z10Z00 Z20

Z11Z01 Z21

DC24V

QS90SR2SN-Q

MITSUBISHI MELSEC Safety relay module

FR-D700

A(SAFE2)

CPU

U V W

Gate

Driver

Gate

Driver

IGBTs

FR-D700

CPU

Gate

Driver

Gate

Driver

IGBTs

U V W

+24V

(SAFE2)

+24V

R/L1 S/L2 T/L3

Emergency

stop button

Fig.4 Example when using multiple FR-D740-EC inverters manufactured in August

2010 or later 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/NC/NF series together with the FR-D700 series. If connected

together, the safety stop function does not work properly.

• Example when using multiple FR-D700 inverters manufactured in December 2010 or before

START

Emergency stop button

+24V

X0 X1

COM0 COM1

24G

Internal

Safety

Circuit

XS0 XS1 Z10Z00 Z20

Z11Z01 Z21

DC24V

QS90SR2SN-Q

MITSUBISHI MELSEC Safety relay module

FR-D700

CPU

U V W

Gate

Driver

Gate

Driver

IGBTs

FR-D700

CPU

Gate

Driver

Gate

Driver

IGBTs

U V W

+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

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

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

terminal rating of a safety relay unit.

NOTE

• Do not connect the FR-E700-SC/NC/NF series together with the FR-D700 series. If connected

together, the safety stop function does not work properly.

Example 2

FR-D700

START

+24V

CPU

X0 X1

COM0 COM1

24G

Internal

Safety

Circuit

XS0 XS1 Z10Z00 Z20

Z11Z01 Z21

DC24V

RUN (SAFE2)

QS90SR2SN-Q

MITSUBISHI MELSEC Safety relay module

Gate

Driver

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

U V W

IGBTs

Emergency

stop button

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

detection through RUN output.

For safety stop, configure the wiring as shown in Fig.6 above.

Note: the above wiring is configured to prevent restart in case of a fault.

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

positive, XS1 is negative.

The parameter No.190 (RUN terminal function selection) must be set to ‘81’. This setting makes the RUN

output to turn off in case of failure.

After the power-up, to reset the safety stop mode, press the START switch, and also press the STF switch,

then start the motor rotation.

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)

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.

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