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3 DESIGN
POINT
1) (Note-1) : The following is the Motion SFC program example.
< Example> For control axis 1 and axis 2
[F 1]
SET PYm
[G 1]
M2408 M2428
Servo error detection
[F 2]
RST PYm
END
4) (Note-4) : It recommends using one leakage breaker for one servo amplifier. When electric power is
supplied to multiple servo amplifiers for one leakage breaker, select the wire connected to the
servo amplifier according to the capacity of the leakage breaker.
2) (Note-2) : It is also possible to use a full wave rectified power supply as the power supply for the
electromagnetic brake.
PYm ON with initial
(ON : normal)
Servo error detection
of the axis 1, axis 2.
OFF : abnormal (error)
3) (Note-3) : It is also possible to use forced stop signal of the servo amplifier.
7) Refer to Section 2.4.9 (4) for the connection of SSCNET cable and terminal connector .
6) (Note-6) : Select the brake unit of inverter according to the necessity.
5) (Note-5) : Only the point has described the vector inverter FR-V5 0- .
Refer to the "FR-V5 0- INSTRUCTION MANUAL(BASIC)" for details.
8) Please contact your nearest Mitsubishi sales representative, when you construct a double circuit by
external safety circuit.
9) Sample system circuit design is not based on JIS B9705-1/ISO 13849-1/EN954-1 (Safety of
machinery - Safety related parts of control systems), ansi/RIA R15.06 (American National Standard
for industrial Robots and Robot systems - Safety requirements revision), and JIS B8433 (Manipulating
industrial robots - Safety).
IM
U
V
W
U
V
W
R
S
T
R1
S1
FR-V520-
Ground
CP6
(Note-6)
Circuit example when using FR-V520-
(Note-5)
MC
Ra6
SM
U
V
W
U
V
W
L1
L2
L3
L11
L21
MR-J2-B /
MR-J2S-B
COM
MBR
EM1
SG
24VDC
Ra6
Ground
CP5
(Note-3)
Electro-
magnetic
brake
(Note-2)
Circuit example when using MR-J2-B/MR-J2S-B
(Note-3)
MR-H-BN
Ra5
24VDC
U
V
W
R
S
T
R1
S1
COM
MBR
EM1
EM2
Ra5
Ground
SM
U
V
W
Electro-
magnetic
brake
(Note-2)
CP4
Circuit example when using MR-H-BN
(Note-4)
(Note-4)
(Note-4)
(Note-4)
(Note-4)
(Note-4)
Out of control panel
Short-circuit connector for
teaching unit
A31TUD3TM(A31TU-D3 /
A31TU-DN not use)
DISABLE
EMG.STOP
ENABLE
Teaching unit
(A31TU-D3 use)
A31TUD3TM
A31TU
DATA
MONITOR
TEST
STOP
OVERRIDE
STEP -
STEP +
RETURN
8
ITEM
#
9
CLEAR
5
DELETE
E
6
INDIRECT
F
3
C
2
B
0
MDI
-
7
INSTRUCT ION
;
4
WRITE
D
1
STOR E
A
.
SHIF T
AXIS
NO.
FUNCTION
PROGRAM
JOG -
ERROR
RESET
SP
CAN
JOG +
GO