hit counter script
Mitsubishi Electric MELSEC iQ-R Series Safety Function Block Reference
  1. Manuals
  2. Brands
  3. Mitsubishi Electric Manuals
  4. Controller
  5. MELSEC iQ-R Series
  6. Safety function block reference

Mitsubishi Electric MELSEC iQ-R Series Safety Function Block Reference

Hide thumbs Also See for MELSEC iQ-R Series:
Table of Contents

Advertisement

Quick Links

Download this manual See also: Programming Manual, Reference Manual
MELSEC iQ-R Safety Function Block Reference

Advertisement

Table of Contents
loading

Related Manuals for Mitsubishi Electric MELSEC iQ-R Series

Summary of Contents for Mitsubishi Electric MELSEC iQ-R Series

  • Page 1 MELSEC iQ-R Safety Function Block Reference...

  • Page 3: Safety Precautions

    (Read these precautions before using this product.) Before using MELSEC iQ-R series programmable controllers, please read the manuals for the product and the relevant manuals introduced in those manuals carefully, and pay full attention to safety to handle the product correctly.
  • Page 4 MEMO...

  • Page 5: Table Of Contents

    CONTENTS SAFETY PRECAUTIONS ..............1 CONDITIONS OF USE FOR THE PRODUCT .

  • Page 6: Relevant Manuals

    System configuration, parameter settings, and online e-Manual [SH-081215ENG] operations of GX Works3 e-Manual refers to the Mitsubishi Electric FA electronic book manuals that can be browsed using a dedicated tool. e-Manual has the following features: • Required information can be cross-searched in multiple manuals.

  • Page 7: Terms

    Generic term for the signals that are output from the safety programmable controller for realizing the safety functions. Safety programmable controller Generic term for the MELSEC iQ-R series modules that perform safety control (such as a Safety CPU, safety function module, CC-Link IE Field Network remote I/O module (with safety functions)) Safety related system System executing the safety functions to be required.

  • Page 8: Chapter 1 Overview

    Safety FBs are the manufacturer offer function blocks that received the certification of ISO13849-1:2015 PLe, IEC62061:2012 SIL3, and IEC61508:2010 SIL3. The safety FBs can be used with the MELSEC iQ-R series safety CPUs. Improving the productivity and the maintainability of a safety program The major functions used in programming safety applications are provided as the safety FB library.
  • Page 9 MEMO 1 OVERVIEW...

  • Page 10: Chapter 2 General Specifications

    GENERAL SPECIFICATIONS List of Safety FBs The following lists the safety FBs provided. Name Function Description Reference Two-hand switch Type  M+SF_2HAND2_R_01A This FB provides the two-hand control functionality. Page 15 M+SF_2HAND2_R Two-hand switch Type  M+SF_2HAND3_R_01A This FB provides the two-hand control functionality (Fixed Page 19 M+SF_2HAND3_R specified time difference is 500ms).

  • Page 11: Common Specifications

    Common Specifications This section describes the common specifications to each safety FB. The following table lists the general input/output specifications of the safety FBs. Variables other than i_bS_In and o_bS_Out are all used under the same names, data types, default values, specifications, and functions for the safety FB use. For details on each name, data type, default value, specification, and function of the safety input-output variables other than those described in the figure below, see the description of individual safety FB.
  • Page 12 ■ Output labels Name Data type Default value Description and variable value o_bReady Status of whether the safety FB is activated or not. OFF: The safety FB is not activated. ON: The safety FB is activated. For details on the function, see the following. Page 11 Whether safety FBs are active or not ...

  • Page 13: General Functions

    General Functions Whether safety FBs are active or not Input signal, i_bActivate, sets whether to activate a safety FB or not. In addition, whether the safety FB is active or not can be checked with output signal, o_bReady. If i_bActivate is OFF, all values of the output signals are set to the default values. Inputting the signal of the safety refresh communication status for CC-Link IE Field Network inactivates the safety FB when an error occurs in the safety station and then prevents unnecessary signals from outputting.

  • Page 14: Generic State Diagram

    Generic State Diagram The safety FB state transitions according to the state diagram described in the safety FB specifications. However, a program operation is suspended while the operation status of the CPU module is in STOP or PAUSE. Consequently, the state transition does not occur.

  • Page 15: Chapter 3 Precautions

    PRECAUTIONS Precautions for System Design Validation for the overall system Please note that you must carry out a validation every time you make a safety-related modification to your overall system. Check the following; • The safety devices are connected to the correct safety sensors and actuators in your safety application. •...
  • Page 16 MEMO 3 PRECAUTIONS 3.2 Precautions for Management...

  • Page 17: Chapter 4 Safety Fb Specifications

    SAFETY FB SPECIFICATIONS M+SF_2HAND2_R Overview Item Description Two-hand switch Type  Function name This FB provides the two-hand control functionality (see ISO13851, Type ). Functional overview Symbol M+SF_2HAND2_R B: i_bActivate o_bReady: B B: i_bS_Button1 o_bS_TwoHand_Out: B B: i_bS_Button2 o_bError: B o_wDiagCode: W Labels ■...
  • Page 18 State diagram State transition of M+SF_2HAND2_R i_bActivate=OFF Idle 0000H i_bActivate=ON o_bReady=OFF o_bReady=ON Init B1=ON OR 8001H B2=ON Error B1=OFF AND C001H B1 B1=OFF AND B2=OFF C002H B2 B2=OFF C003H B1&B2 Buttons B1=OFF AND Released B1=OFF AND 8004H B2=OFF B2=OFF B1=OFF AND B2=ON B2=OFF B1=OFF AND...
  • Page 19 Typical timing diagram ■ For M+SF_2HAND2_R i_bActivate i_bS_Button1 i_bS_Button2 o_bReady o_bS_TwoHand_Out o_bError o_wDiagCode 0000H C003H 8004H 8005H 8019H 8004H 8006H 8000H 8008H 8009H 8007H 8004H 8006H 8000H Error behavior In the event of an error, the output signals behave as listed below. Output signal Status o_bReady...
  • Page 20 o_wDiagCode State name Description, output setting Action (Hexadecimal) 8005H Button 1 Actuated Only Button 1 is actuated. Release i_bS_Button1, or actuate • o_bReady: ON i_bS_Button2. • o_bS_TwoHand_Out: OFF • o_bError: OFF 8006H Button 2 Actuated Only Button 2 is actuated. Release i_bS_Button2, or actuate •...

  • Page 21: M+Sf_2Hand3_R

    M+SF_2HAND3_R Overview Item Description Function name Two-hand switch Type  This FB provides the two-hand control functionality (see ISO13851, Type . Fixed specified time difference is 500ms). Functional overview Symbol M+SF_2HAND3_R B: i_bActivate o_bReady: B B: i_bS_Button1 o_bS_TwoHand_Out: B B: i_bS_Button2 o_bError: B o_wDiagCode: W Labels...
  • Page 22 State diagram State transition of M+SF_2HAND3_R Idle i_bActivate=OFF 0000H o_bReady=OFF i_bActivate=ON o_bReady=ON Init B1=ON OR 8001H B2=ON B1=OFF AND B2=OFF Error 1 B1=OFF AND C001H B1 B2=OFF C002H B2 C003H B1&B2 B2=ON Buttons Released B1=OFF AND B1=OFF AND 8004H B2=OFF B2=OFF B1=OFF AND Error 2...
  • Page 23 Typical timing diagram ■ For M+SF_2HAND3_R i_bActivate i_bS_Button1 i_bS_Button2 o_bReady o_bS_TwoHand_Out o_bError Internal Timer (500ms) 0000H C003H 8004H 8005H C005H 8004H 8000H 8007H 8008H 8004H 8005H 8000H 8008H o_wDiagCode A program operation is suspended while the operation status of the CPU module is in STOP or PAUSE. Consequently, measurement of the InternalTimer elapsed time is stopped.
  • Page 24 List of status codes (no error) o_wDiagCode State name Description, output setting Action (Hexadecimal) 0000H Idle The FB is not active. (Initial state) Initialize the FB by setting i_bActivate to • o_bReady: OFF • o_bS_TwoHand_Out: OFF • o_bError: OFF 8000H Buttons Actuated The both buttons actuated correctly.

  • Page 25: M+Sf_Edm_R

    M+SF_EDM_R Overview Item Description Function name External device monitor Functional overview This FB monitors connected actuators such as safety contactors and safety relays (contactors and relays with force-guided contacts) and controls outputs. Symbol M+SF_EDM_R B: i_bActivate o_bReady: B B: i_bS_OutControl o_bS_EDM_Out: B o_bError: B (10)
  • Page 26 ■ Output labels Variable name Data type Default value Description o_bReady Status of whether the safety FB is activated or not. For details, see the following. Page 11 General Functions o_bS_EDM_Out Bit* Controls the actuator. The result is monitored by feedback signals i_bS_EDM1 and i_bS_EDM2.
  • Page 27 State diagram State transition of M+SF_EDM_R i_bActivate=OFF Idle 0000H o_bReady=OFF i_bActivate=ON o_bReady=ON 0>i_dMonitoringTime OR i_bReset=ON AND i_dMonitoringTime > 60000 (R_TRIG at i_bReset)=OFF AND Parameter i_bS_StartReset=OFF Error C005H Reset Init Error 1 8001H 0=< i_dMonitoringTime=< 60000 C001H AND (R_TRIG at i_bReset)=ON i_bReset=OFF (i_bReset=ON AND (R_TRIG at i_bReset)=OFF AND...
  • Page 28 *2 The following table lists the condition details on the transition from C010H, C020H, C030H to C011H, C021H, or C031H. State transition Condition of transition C010H → C011H (i_bReset=ON AND (R_TRIG at i_bReset)=OFF AND i_bS_EDM1=ON AND i_bS_EDM2=ON) OR R_TRIG at i_bReset=ON AND R_TRIG at i_bS_EDM1=ON C020H →...
  • Page 29 List of error codes o_wDiagCode State name Description, output setting Action (Hexadecimal) C001H Reset Error 1 Static i_bReset signal in state 8001H. Set i_bReset to OFF. C005H Parameter Error The value of i_dMonitoringTime is out of range. Set the value of i_dMonitoringTime within the range.
  • Page 30 List of status codes (no error) o_wDiagCode State name Description, output setting Action (Hexadecimal) 0000H Idle The FB is not active. (Initial state) Initialize the FB by setting i_bActivate to • o_bReady: OFF • o_bS_EDM_Out: OFF • o_bError: OFF 8001H Init The FB activation startup inhibit is active.

  • Page 31: M+Sf_Enblsw_R

    M+SF_ENBLSW_R Overview Item Description Function name Enable switch Functional overview This FB evaluates the signals of an enable switch with three positions. Symbol M+SF_ENBLSW_R B: i_bActivate o_bReady: B o_bS_EnableSw_Out: B B: i_bS_SafetyActive o_bError: B B: i_bS_EnableSwCh1 o_wDiagCode: W (10) B: i_bS_EnableSwCh2 B: i_bS_AutoReset B: i_bReset Labels...
  • Page 32 FB details This FB supports the function that enables manual operations by selecting the operating mode (i_bS_SafetyActive is set to ON) and using enable switches with three positions. The operating mode must be selected outside this FB. The status of enable switch contacts (The contact E1+E2 must be connected to i_bS_EnableSwCh1.
  • Page 33 State diagram State transition of M+SF_ENBLSW_R Idle i_bActivate=OFF 0000H o_bReady=OFF i_bActivate=ON o_bReady=ON Basic Operation Mode 8004H i_bS_SafetyActive=ON Safe Operation Operation Enable switch Mode Error 1 Enable switch Not in position1 8005H C010H in position1 Enable switch Enable switch i_bReset= Not in position1 in position1 R_TRIG at i_bReset=ON Operation...
  • Page 34 Typical timing diagram ■ For M+SF_ENBLSW_R (i_bS_AutoReset=OFF) i_bActivate i_bS_SafetyActive i_bS_EnableSwCh1 i_bS_EnableSwCh2 i_bReset i_bS_AutoReset o_bReady o_bS_EnableSw_Out o_bError 0000H 8004H 8006H 8000H 8006H 8004H C010H C001H C020H 8006H 8000H 8007H o_wDiagCode ■ For M+SF_ENBLSW_R (i_bS_AutoReset=ON) i_bActivate i_bS_SafetyActive i_bS_EnableSwCh1 i_bS_EnableSwCh2 i_bReset i_bS_AutoReset o_bReady o_bS_EnableSw_Out o_bError o_wDiagCode...
  • Page 35 List of error codes o_wDiagCode State name Description, output setting Action (Hexadecimal) C001H Reset Error 1 Static i_bReset signal detected in state C020H. Set i_bReset to OFF. Check the wiring and devices related to C002H Reset Error 2 Static i_bReset signal detected in state C040H. i_bReset signal.

  • Page 36: M+Sf_Espe_R

    M+SF_ESPE_R Overview Item Description Function name Light curtain (ESPE) Functional overview This FB is a safety-related FB for monitoring electro-sensitive protective equipment (ESPE). This FB can be used for emergency switch off functionality (stop category 0). Symbol M+SF_ESPE_R B: i_bActivate o_bReady: B B: i_bS_ESPE_In o_bS_ESPE_Out: B...
  • Page 37 FB details This FB is a safety-related FB for monitoring ESPE. The function is identical to S+ESTOP. o_bS_ESPE_Out output signal is set to OFF as soon as i_bS_ESPE_In input is set to OFF. o_bS_ESPE_Out output signal is set to ON only if i_bS_ESPE_In input is set to ON and a reset occurs.
  • Page 38 Typical timing diagram ■ For M+SF_ESPE_R (i_bS_StartReset=OFF, i_bS_AutoReset=OFF) i_bActivate i_bS_ESPE_In i_bReset o_bReady o_bS_ESPE_Out o_bError 0000H 8002H 8003H 8000H 8000H 8004H 8005H 8000H 8000H 0000H o_wDiagCode Error behavior In the event of an error, the output signals behave as listed below. Output signal Status o_bReady...
  • Page 39 List of status codes (no error) o_wDiagCode State name Description, output setting Action (Hexadecimal) 0000H Idle The FB is not active. (Initial state) Initialize the FB by setting i_bActivate to All outputs are set to OFF. Set o_wDiagCode to 0. •...

  • Page 40: M+Sf_Estop_R

    M+SF_ESTOP_R Overview Item Description Function name Emergency stop Functional overview 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). Symbol M+SF_ESTOP_R B: i_bActivate o_bReady: B B: i_bS_EStopIn o_bS_EStop_Out: B o_bError: B...
  • Page 41 FB details o_bS_EStop_Out output signal is set to OFF as soon as i_bS_EStopIn input is set to OFF. o_bS_EStop_Out output signal is set to ON only if i_bS_EStopIn input is set to ON and a reset occurs. If the automatic reset is selected for i_bS_StartReset and i_bS_AutoReset, reset is not required.
  • Page 42 Typical timing diagram ■ For M+SF_ESTOP_R (i_bS_StartReset=OFF, i_bS_AutoReset=OFF) i_bActivate i_bS_EStopIn i_bReset o_bReady o_bS_EStop_Out o_bError 0000H 8002H 8003H 8000H 8000H 8004H 8005H 8000H 8000H 0000H o_wDiagCode ■ For M+SF_ESTOP_R (i_bS_StartReset=ON, i_bS_AutoReset=OFF) i_bActivate i_bS_EStopIn i_bReset o_bReady o_bS_EStop_Out o_bError 0000H 8000H 8004H 8005H 8000H 8000H 8004H...
  • Page 43 List of error codes o_wDiagCode State name Description, output setting Action (Hexadecimal) C001H Reset Error 1 i_bReset is ON while waiting for i_bS_EStopIn=ON. Set i_bReset to OFF. Check the devices and wiring related to i_bReset. C002H Reset Error 2 i_bReset is ON while waiting for i_bS_EStopIn=ON. List of status codes (no error) o_wDiagCode State name...

  • Page 44: M+Sf_Glock_R

    M+SF_GLOCK_R Overview Item Description Function name Guard lock and interlocking Functional overview This FB controls an entrance to a hazardous area via an interlocking guard with guard locking ("four state interlocking"). Symbol M+SF_GLOCK_R B: i_bActivate o_bReady: B B: i_bS_GuardMon o_bS_GuardLocked: B (10) o_bS_UnlockGuard: B (11)
  • Page 45 ■ Output labels Variable name Data type Default value Description o_bReady Status of whether the safety FB is activated or not. For details, see the following. Page 11 General Functions (10) o_bS_GuardLocked Bit* Interface to hazardous area which must be stopped. OFF: No safe state.
  • Page 46 FB details This FB controls the guard lock and monitors the position of the guard and the lock. This FB can be used with a mechanical locked switch. The operator requests to get access to the hazardous area. The guard can only be unlocked when the hazardous area is in a safe state.
  • Page 47 State diagram State transition of M+SF_GLOCK_R Idle i_bActivate=OFF 0000H o_bReady=OFF i_bActivate=ON i_bReset=ON AND o_bReady=ON (R_TRIG at i_bReset)=OFF AND i_bS_StartReset=OFF Init Reset Error 1 8001H i_bReset=OFF C001H i_bS_SafetyActive=OFF i_bS_GuardMon=OFF i_bReset Reset Error 2 =OFF C002H Guard Open and Unlocked i_bS_GuardLock=OFF OR 8012H i_bS_GuardMon=OFF i_bReset=ON AND...
  • Page 48 Typical timing diagram ■ For M+SF_GLOCK_R i_bActivate i_bS_GuardMon i_bS_SafetyActive i_bS_GuardLock i_bUnlockRequest i_bS_StartReset i_bS_AutoReset i_bReset o_bReady o_bS_GuardLocked o_bS_UnlockGuard o_bError o_wDiagCode 0000H 8001H 8000H 8000H 8000H 8013H 8012H 8013H 8011H 8003H 8000H 8000H 8014H 8014H 8003H C003H 8003H 8000H Error behavior In the event of an error, the output signals behave as listed below. Output signal Status o_bReady...
  • Page 49 List of status codes (no error) o_wDiagCode State name Description, output setting Action (Hexadecimal) 0000H Idle The FB is not active. (initial state) Initialize the FB by setting i_bActivate to • o_bReady: OFF • o_bS_GuardLocked: OFF • o_bS_UnlockGuard: OFF • o_bError: OFF 8000H Guard Closed and Guard is locked.

  • Page 50: M+Sf_Gmon_R

    M+SF_GMON_R Overview Item Description Function name Guard monitoring Functional overview 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 (i_dMonitoringTime) for closing the guard. Symbol M+SF_GMON_R B :i_bActivate...
  • Page 51 WARNING • Use safety data for connecting the variable whose data type is "Bit*" to input-output circuits. • A safety program is executed as a fixed scan execution type program. • A safety program is executed at a fixed cycle according to a set safety cycle time. The safety FB that monitors the time must meet the following requirements. ⋅...
  • Page 52 State diagram State transition of M+SF_GMON_R i_bActivate=OFF Idle 0000H o_bReady=OFF i_bActivate=ON o_bReady=ON 0>i_dDiscrepancyTime OR i_dDiscrepancyTime > 60000 Init Parameter 0 =<i_dDiscrepancyTime =< 60000 Error 8001H AND (R_TRIG at i_bReset)=ON C005H i_bS_GuardSwitch1=OFF i_bS_GuardSwitch2=OFF Open Guard Request 8002H i_bS_GuardSwitch1=OFF i_bS_GuardSwitch2=OFF i_bS_GuardSwitch1=ON i_bS_GuardSwitch2=OFF Guard Opened 8012H...
  • Page 53 Typical timing diagram ■ For M+SF_GMON_R i_bActivate i_bS_GuardSwitch1 i_bS_GuardSwitch2 i_bS_StartReset i_bS_AutoReset i_bReset i_dDiscrepancyTime o_bReady o_bS_GuardMon o_bError 0000H 8003H 8003H 8000H 8002H 8012H 8014H 8003H 8000H 8002H 8012H 8012H 8003H C001H 8012H o_wDiagCode A program operation is suspended while the operation status of the CPU module is in STOP or PAUSE. Consequently, measurement of the i_dDiscrepancyTime elapsed time is stopped.
  • Page 54 List of error codes o_wDiagCode State name Description, output setting Action (Hexadecimal) C001H Reset Error Static i_bReset detected in state 8003H. Set i_bReset to OFF. Check the devices and wiring of i_bReset. C005H Parameter Error i_dDiscrepancyTime is out of range. Set i_dDiscrepancyTime within the range.
  • Page 55 WARNING Please do the above actions when the FB detects an error or is in an unexpected state. However, when the situation is still not corrected, please check the following. • A failure in safety devices and emergency stop devices •...

  • Page 56: M+Sf_Modsel_R

    M+SF_MODSEL_R Overview Item Description Function name Mode selector Functional overview This FB selects the system operation mode, such as manual, automatic, and semi-automatic. Symbol M+SF_MODSEL_R B: i_bActivate o_bReady: B (15) B: i_bS_Mode0 o_bS_Mode0Sel: B (16) o_bS_Mode1Sel: B B: i_bS_Mode1 (17) o_bS_Mode2Sel: B B: i_bS_Mode2 (18)
  • Page 57 Variable name Data type Default value Description (14) i_bReset Reset input. For details, see the following. Page 11 General Functions ■ Output labels Variable name Data type Default value Description (15) o_bReady Status of whether the safety FB is activated or not. For details, see the following.
  • Page 58 State diagram State transition of M+SF_MODSEL_R i_bActivate=OFF Idle 0000H o_bReady=OFF i_bActivate=ON o_bReady=ON i_dModeMonitorTime<0 OR i_dModeMonitorTime>60000 Parameter Error C005H i_bS_SetMode S_SetMode =OFF Error 0=<i_dModeMonitorTime=<60000 C100H AND R_TRIG at i_bReset=ON Error 2 i_bS_SetMode=ON AND i_bReset=OFF Error (R_TRIG at Mode Reset R_TRIG at Open i_bS_SetMode =OFF) Changed...
  • Page 59 Typical timing diagram ■ For M+SF_MODSEL_R (i_bAutoSetMode=OFF) Valid change in Mode input with acknowledgment i_bActivate i_bS_Mode2 i_bS_Mode3 i_bS_Unlock i_bS_SetMode i_bAutoSetMode i_bReset o_bReady o_bS_Mode2Sel o_bS_Mode3Sel o_bS_AnyModeSel o_bError i_dModeMonitorTime o_wDiagCode 8004H 8000H 8005H 8000H 8004H A program operation is suspended while the operation status of the CPU module is in STOP or PAUSE. Consequently, measurement of the i_dModeMonitorTime elapsed time is stopped.
  • Page 60 Error behavior In the event of an error, the output signals behave as listed below. Output signal Status o_bReady o_bS_Mode0Sel to o_bS_Mode7Sel o_bS_AnyModeSel o_bError For the corrective actions, see the following. Page 58 List of error codes List of error codes o_wDiagCode State name Description, output setting...
  • Page 61 List of status codes (no error) o_wDiagCode State name Description, output setting Action (Hexadecimal) 0000H Idle The FB is not active. (initial state) Initialize the FB by setting i_bActivate to ON. • o_bReady: OFF • o_bS_Mode0Sel to o_bS_Mode7Sel: OFF • o_bS_AnyModeSel: OFF •...

  • Page 62: M+Sf_Mute2_R

    4.10 M+SF_MUTE2_R Overview Item Description Function name Muting with 2 sensors Functional overview Muting is the intended suppression of the safety function. In this FB, parallel muting with two muting sensors is specified. Symbol M+SF_MUTE2_R B: i_bActivate o_bReady: B (11) B: i_bS_AOPD_In o_bS_AOPD_Out: B (12)
  • Page 63 ■ Output labels Variable name Data type Default value Description (11) o_bReady Status of whether the safety FB is activated or not. For details, see the following. Page 11 General Functions (12) o_bS_AOPD_Out Bit* Safety output, indicates status of the muted guard. OFF: AOPD protection field interrupted and muting not active.
  • Page 64 State diagram State transition of M+SF_MUTE2_R i_bActivate=OFF Idle 0000H o_bReady=OFF i_bActivate=ON o_bReady=ON i_bReset=OFF Time parameter Reset error MS_11 => i_bS_MutingSw11 Init Error 1 MS_12 => i_bS_MutingSw12 8001H C001H T1 => i_bReset=ON AND R_TRIG at i_bReset=OFF AND i_bS_MutingLamp=ON T2 => i_bReset=ON AND R_TRIG at i_bReset=OFF AND MS_11=OFF AND Parameter i_bReset=ON AND MS_12=OFF...
  • Page 65 Muting conditions State transition Condition/action 8000H→8011H MS_11 is the first entry switch actuated: Start timer i_dDiscTimeEntry and i_dMaxMutingTime. i_bMutingEnable=ON AND MS_11=OFF→ON AND MS_12=OFF 8000H→8311H MS_12 is the first entry switch actuated: Start timer i_dDiscTimeEntry and i_dMaxMutingTime. i_bMutingEnable=ON AND MS_11=OFF AND MS_12=OFF→ON 8011H→8012H MS_12 is the second entry switch actuated: Stop timer i_dDiscTimeEntry.
  • Page 66 Typical timing diagram ■ For M+SF_MUTE2_R (i_bS_StartReset=OFF) i_bActivate i_bS_AOPD_In i_bS_MutingSw_11 i_bS_MutingSw_12 i_bS_MutingLamp i_dDiscTimeEntry i_dMaxMutingTime i_bMutingEnable i_bS_StartReset i_bReset o_bReady o_bS_AOPD_Out o_bS_MutingActive o_bError 0000H 8001H 8005H 8000H 8000H 8011H 8012H 8012H 8012H 8000H 8000H 8002H 8002H 8005H 8000H o_wDiagCode A program operation is suspended while the operation status of the CPU module is in STOP or PAUSE. Consequently, measurement of the i_dDiscTimeEntry and i_dMaxMutingTime elapsed time is stopped.
  • Page 67 List of error codes o_wDiagCode State name Description, output setting Action (Hexadecimal) C001H Reset Error 1 Static i_bReset condition detected after FB activation in Set i_bReset to OFF. state 8001H. Check the devices and wiring related to i_bReset. C003H Error Muting Lamp Error detected in muting lamp.
  • Page 68 List of status codes (no error) o_wDiagCode State name Description, output setting Action (Hexadecimal) 0000H Idle The FB is not active. (Initial state) Initialize the FB by setting i_bActivate to • o_bReady: OFF • o_bS_AOPD_Out: OFF • o_bS_MutingActive: OFF • o_bError: OFF 8000H AOPD Free Muting not active and no safety demand from AOPD.

  • Page 69: M+Sf_Mutep_R

    4.11 M+SF_MUTEP_R Overview Item Description Function name Parallel muting Functional overview Muting is the intended suppression of the safety function. In this FB, parallel muting with four muting sensors is specified. Symbol M+SF_MUTEP_R B: i_bActivate o_bReady: B (14) B: i_bS_AOPD_In o_bS_AOPD_Out: B (15) o_bS_MutingActive: B...
  • Page 70 Labels ■ Input labels Variable name Data type Default value Description i_bActivate Activation of the safety FB. For details, see the following. Page 11 General Functions i_bS_AOPD_In Bit* OSSD (safety output) signal from AOPD (Active opto-electronic protective devices). OFF: Protection field interrupted ON: Protection field not interrupted i_bMutingSw_11 Status of muting sensor 11.
  • Page 71 WARNING • Use safety data for connecting the variable whose data type is "Bit*" to input-output circuits. • Safe input must be connected to i_bMutingSw_11/12/21/22 depending on the safety requirements. Input appropriate signals depending on the safety requirements of the application. •...
  • Page 72 State diagram State transition of M+SF_MUTEP_R All MS => All of MutingSwitch(i_bMutingSw_11, i_bMutingSw_12, i_bMutingSw_21, i_bMutingSw_22) i_bActivate=OFF T1=>i_bReset=ON AND R_TRIG at i_bReset=OFF AND i_bS_AOPD_IN=ON Idle T2=>i_bReset=ON AND R_TRIG at i_bReset=OFF AND i_bS_MutingLamp=ON 0000H T3=>i_bReset=ON AND R_TRIG at i_bReset=OFF AND All MS=OFF o_bReady=OFF i_bActivate=ON o_bReady=ON...
  • Page 73 Muting conditions (forward direction) State transition Condition/action 8000H→8011H MS_11 is the first entry switch actuated: Start timers i_dMaxMutingTime and i_dDiscTime11_12. i_bMutingEnable=ON AND MS_11=OFF→ON AND MS_12=OFF AND MS_21=OFF AND MS_22=OFF 8000H→8311H MS_12 is the first entry switch actuated: Start timers i_dMaxMutingTime and i_dDiscTime11_12. i_bMutingEnable=ON AND MS_11=OFF AND MS_12=OFF→ON AND MS_21=OFF AND MS_22=OFF 8011H→8012H MS_12 is the second entry switch actuated:...
  • Page 74 Muting conditions (backward direction) State transition Condition/action 8000H→8122H MS_21 is the first entry switch actuated: Start timers i_dMaxMutingTime and i_dDiscTime21_22. i_bMutingEnable=ON AND MS_21=OFF→ON AND MS_22=OFF AND MS_11=OFF AND MS_12=OFF 8000H→8422H MS_22 is the first entry switch actuated: Start timers i_dMaxMutingTime and i_dDiscTime21_22. i_bMutingEnable=ON AND MS_21=OFF AND MS_22=OFF→ON AND MS_11=OFF AND MS_12=OFF 8122H→8121H MS_22 is the second entry switch actuated:...
  • Page 75 Wrong muting sequences Status Wrong muting sequences 8000H When muting sequence starts, i_bMutingEnable=OFF (MS_11=ON OR MS_12=ON) AND (MS_21=ON OR MS_22=ON) MS_11=OFF→ON AND MS_12=ON AND undetected MS_12=OFF→ON MS_12=OFF→ON AND MS_11=ON AND undetected MS_11=OFF→ON MS_21=OFF→ON AND MS_22=ON AND undetected MS_22=OFF→ON MS_22=OFF→ON AND MS_21=ON AND undetected MS_21=OFF→ON (MS_11=ON AND undetected MS_11=OFF→ON) AND (MS_12=ON AND undetected MS_12=OFF→ON) (MS_21=ON AND undetected MS_21=OFF→ON) AND (MS_22=ON AND undetected MS_22=OFF→ON) 8011H...
  • Page 76 Typical timing diagram ■ For M+SF_MUTEP_R (i_bS_StartReset=OFF, forward direction) i_bActivate i_bS_AOPD_In i_bMutingSw_11 i_bMutingSw_12 i_bMutingSw_21 i_bMutingSw_22 i_bS_MutingLamp i_dDiscTime11_12 i_dDiscTime21_22 i_dMaxMutingTime i_bMutingEnable i_bS_StartReset i_bReset o_bReady o_bS_AOPD_Out o_bS_MutingActive o_bError 8000H 8000H 8011H 8012H 8012H 8014H 8021H 8021H 8021H 8021H 8021H 8000H 8000H 8000H o_wDiagCode A program operation is suspended while the operation status of the CPU module is in STOP or PAUSE.
  • Page 77 List of error codes o_wDiagCode State name Description, output setting Action (Hexadecimal) C001H Reset Error 1 Static i_bReset condition detected after FB activation in state Set i_bReset to OFF. 8001H. Check the devices and wiring related to i_bReset. C003H Error Muting Lamp Error detected in muting lamp.
  • Page 78 o_wDiagCode State name Description, output setting Action (Hexadecimal) C010H Reset Error 2 Static i_bReset condition detected after FB activation in state Set i_bReset to OFF. 8002H. Check the devices and wiring related to i_bReset. C020H Reset Error 3 Static i_bReset condition detected after FB activation in state C003H.
  • Page 79 o_wDiagCode State name Description, output setting Action (Hexadecimal) 8012H Muting Forward Active 1 Muting forward sequence is active when both i_bMutingSw_11 Complete muting within and i_bMutingSw_12 have been actuated in the same cycle or in i_dMaxMutingTime. serial. Monitoring of i_dDiscTime11_12 is stopped. Monitoring of i_dMaxMutingTime is activated, when transition came directly from state 8000H.
  • Page 80 o_wDiagCode State name Description, output setting Action (Hexadecimal) 8112H Muting Backward Active 2 Muting backward sequence is still active. Both exit switches Complete muting within i_bMutingSw_11 and i_bMutingSw_12 are actuated and the i_dMaxMutingTime. monitoring of i_dDiscTime11_12 is stopped. • o_bReady: ON •...

  • Page 81: M+Sf_Mutes_R

    4.12 M+SF_MUTES_R Overview Item Description Function name Sequential muting Functional overview Muting is the intended suppression of the safety function (e.g., light barriers). In this FB, sequential muting with four muting sensors is specified. Symbol M+SF_MUTES_R B: i_bActivate o_bReady: B (12) B: i_bS_AOPD_In o_bS_AOPD_Out: B...
  • Page 82 ■ Output labels Variable name Data type Default value Description (12) o_bReady Status of whether the safety FB is activated or not. For details, see the following. Page 11 General Functions (13) o_bS_AOPD_Out Bit* Safety output, indicates status of the muted guard. OFF: AOPD protection field interrupted and muting not active.
  • Page 83 FB details Muting is the intended suppression of the safety function. This is required, e.g., when transporting a workpiece into the danger zone without causing the machine to stop. Muting is triggered by muting sensors. The use of two or four muting sensors and correct integration into the production sequence must ensure that no persons enter the danger zone while the light curtain is muted.
  • Page 84 State diagram State transition of M+SF_MUTES_R All MS => All of MutingSwitch(i_bMutingSw_11, i_bMutingSw_12, i_bMutingSw_21, i_bMutingSw_22) i_bActivate=OFF Idle T1=>i_bReset=ON AND R_TRIG at i_bReset=OFF AND i_bS_AOPD_IN=ON T2=>i_bReset=ON AND R_TRIG at i_bReset=OFF AND i_bS_MutingLamp=ON 0000H T3=>i_bReset=ON AND R_TRIG at i_bReset=OFF AND All MS=OFF o_bReady=OFF i_bActivate=ON o_bReady=ON...
  • Page 85 Muting conditions (forward direction) State transition Condition/action 8000H→8011H MS_11 is the first entry switch actuated: Start timer i_dMaxMutingTime. i_bMutingEnable=ON AND MS_11=OFF→ON AND MS_12=OFF AND MS_21=OFF AND MS_22=OFF 8011H→8012H MS_12 is the second entry switch actuated: i_bMutingEnable=ON AND MS_11=ON AND MS_12=OFF→ON AND MS_21=OFF AND MS_22=OFF 8012H→8000H MS_21 is the first exit switch released: Stop timer i_dMaxMutingTime.
  • Page 86 Typical timing diagram ■ For M+SF_MUTES_R (forward direction) i_bActivate i_bS_AOPD_In i_bMutingSw_11 i_bMutingSw_12 i_bMutingSw_21 i_bMutingSw_22 i_bS_MutingLamp i_dMaxMutingTime i_bMutingEnable i_bS_StartReset i_bReset o_bReady o_bS_AOPD_Out o_bS_MutingActive o_bError 8000H 8000H 8011H 8012H 8012H 8012H 8012H 8012H 8012H 8012H 8012H 8000H 8000H 8000H o_wDiagCode A program operation is suspended while the operation status of the CPU module is in STOP or PAUSE. Consequently, measurement of the i_dMaxMutingTime elapsed time is stopped.
  • Page 87 List of error codes o_wDiagCode State name Description, output setting Action (Hexadecimal) C001H Reset Error 1 Static i_bReset condition detected after FB activation. Set i_bReset to OFF. Check the devices and wiring related to i_bReset. C003H Error Muting Lamp Error detected in muting lamp. Set i_bReset to ON.
  • Page 88 List of status codes (no error) o_wDiagCode State name Description, output setting Action (Hexadecimal) 0000H Idle The FB is not active. (Initial state) Initialize the FB by setting i_bActivate to ON. • o_bReady: OFF • o_bS_AOPD_Out: OFF • o_bS_MutingActive: OFF •...

  • Page 89: M+Sf_Outc_R

    4.13 M+SF_OUTC_R Overview Item Description Function name Output control Functional overview Control of a safety output with a signal from the standard application and a safety signal with optional startup inhibits. Symbol M+SF_OUTC_R B: i_bActivate o_bReady: B B: i_bS_SafeControl o_bS_OutControl: B B: i_bProcessControl o_bError: B (10)
  • Page 90 WARNING Use safety data for connecting the variable whose data type is "Bit*" to input-output circuits. FB details This FB is an output driver for a safety output. The safety output is controlled via M+SF_OUTC_R using a signal from the standard application (i_bProcessControl) and a signal from the safety application (i_bS_SafeControl).
  • Page 91 State diagram State transition of M+SF_OUTC_R Idle 0000H i_bActivate=OFF i_bActivate=ON o_bReady=OFF o_bReady=ON (R_TRIG at i_bReset)=ON i_bReset=ON AND AND (R_TRIG at i_bProcessControl)=ON R_TRIG at i_bReset=OFF Reset AND i_bStartReset=OFF Error 1 Init C001H Init Error 8001H i_bReset=OFF C111H i_bReset=OFF Reset Error 2 C002H i_bS_SafeControl=ON Lock...
  • Page 92 Typical timing diagram ■ For M+SF_OUTC_R (i_bS_StartReset=OFF and i_bS_AutoReset=OFF) i_bActivate i_bS_SafeControl i_bProcessControl i_bS_StartReset i_bS_AutoReset i_bReset i_bStaticControl o_bReady o_bS_OutControl o_bError 0000H 8001H 8010H 8000H 8010H 8000H 8002H 8003H 8000H 8002H C002H 8003H o_wDiagCode ■ For M+SF_OUTC_R (i_bS_StartReset=ON and i_bS_AutoReset=OFF) i_bActivate i_bS_SafeControl i_bProcessControl i_bS_StartReset i_bS_AutoReset...
  • Page 93 List of error codes o_wDiagCode State name Description, output setting Action (Hexadecimal) C001H Reset Error 1 Static i_bReset signal in state 8001H. Set i_bReset to OFF. Check the devices and wiring of i_bReset. C002H Reset Error 2 Static i_bReset signal in state 8003H. C010H Control Error Static signal at i_bProcessControl in state 8010H.
  • Page 94 Application example An application example of M+SF_OUTC_R is shown below. ■ Labels • Input labels Variable name Allocated device/label Description i_bActivate SA\M100 Activation of the safety FB i_bS_SafeControl SA\M1001 Safety status (status of the emergency stop button and ESPE) i_bProcessControl ProcessControl (standard/safety shared Functional restart input from standard programmable controller (via a standard label)

  • Page 95: M+Sf_Tssen_R

    4.14 M+SF_TSSEN_R Overview Item Description Function name Testable safety sensor Functional overview This FB can be used for external testable safety sensors (ESPE: electro-sensitive protective equipment, such as a light beam). Symbol M+SF_TSSEN_R B: i_bActivate o_bReady: B B: i_bS_OSSD_In o_bS_OSSD_Out: B (10) B: i_bStartTest o_bS_TestOut: B...
  • Page 96 ■ Output labels Variable name Data type Default value Description o_bReady Status of whether the safety FB is activated or not. For details, see the following. Page 11 General Functions (10) o_bS_OSSD_Out Bit* Safety output indicating the status of the ESPE. OFF: The sensor has a safety-related action request or test error.
  • Page 97 Automatic test sequence i_bStartTest=ON: o_bS_TestOut=OFF. Start monitoring time. o_bS_TestOut signal stops the light of sensors. (Monitoring of i_dTestTime started for the first time) i_bS_OSSD_In changes from ON to OFF. (Monitoring of i_dTestTime started for the second time) o_bS_TestOut changes from OFF to ON. Restart the light of sensors.
  • Page 98 State diagram State transition of M+SF_TSSEN_R Idle 0000H i_bActivate=OFF o_bReady=OFF i_bActivate=ON i_bReset=ON AND o_bReady=ON i_dTestTime < 0ms OR (R_TRIG at i_bReset)=OFF i_dTestTime > 150ms i_bReset=OFF Reset Parameter Reset Init Error 1 Error Error 6 8001H C001H C000H C006H R_TRIG at i_bReset=ON i_bReset=OFF i_bReset=ON AND AND 0<=i_dTestTime<=150ms...
  • Page 99 Typical timing diagram ■ For M+SF_TSSEN_R i_bActivate i_bS_OSSD_In i_bStartTest i_dTestTimer1 i_dTestTimer2 i_bNoExternalTest i_bS_StartReset i_bS_AutoReset i_bReset o_bReady o_bS_OSSD_Out o_bTestPossible o_bS_TestOut o_bTestExecuted o_bError 0000H 8001H 8010H 8020H 8030H 8000H 8012H 8013H 8012H 8013H 8000H 0000H o_wDiagCode A program operation is suspended while the operation status of the CPU module is in STOP or PAUSE. Consequently, measurement of the i_dTestTimer1 and i_dTestTimer2 elapsed time is stopped.
  • Page 100 List of error codes o_wDiagCode State name Description, output setting Action (Hexadecimal) C000H Parameter Error Invalid value at the i_dTestTime parameter. Set a proper value for i_dTestTime. Values between 0ms to 150ms are possible. C001H Reset Error 1 Static i_bReset condition detected after FB activation. Set i_bReset to OFF.
  • Page 101 o_wDiagCode State name Description, output setting Action (Hexadecimal) 8004H External Function Test The automatic sensor test was faulty. An external manual Generate a safety demand (e.g. across the sensor test is necessary. (i_bNoExternalTest is OFF.) beam of the sensor). A negative signal (i_bS_OSSD_In) edge at the sensor is required.
  • Page 102 o_wDiagCode State name Description, output setting Action (Hexadecimal) 8012 ESPE Interrupted 2 The FB has detected a safety demand from the sensor at Reset the safety demand for the connected the status 8000H or 8013H. safeguard by resetting the interruption of the The switch was automatically tested.
  • Page 103 Application example An application example of M+SF_TSSEN_R is shown below. ■ Labels • Input labels Variable name Allocated device/label Description i_bActivate SA\M100 Activation of the safety FB i_bS_OSSD_In SA\X1000 Light curtain output signal i_bStartTest StartTest (standard/safety shared label) Start test switch (standard control input) i_dTestTime Test time of safety sensor i_bNoExternalTest...

  • Page 104: M+Sf_Equi_R

    4.15 M+SF_EQUI_R Overview Item Description Function name Dual input (NC+NC or NO+NO]) Functional overview 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. Symbol M+SF_EQUI_R B: i_bActivate...
  • Page 105 FB details o_bS_EquivalentOut is set to ON or OFF as below depending on the status of i_bS_ChannelA and i_bS_ChannelB. i_bS_ChannelA status i_bS_ChannelB status o_bS_EquivalentOut output value If the status of numbers 2 and 3 listed in the table above continues beyond i_dDiscrepancyTime, the safety FB detects an error and the status becomes error.
  • Page 106 Typical timing diagram ■ For M+SF_EQUI_R i_bActivate i_bS_ChannelA i_bS_ChannelB i_dDiscrepancyTime o_bReady o_bS_EquivalentOut o_bError 0000H 8001H 8004H 8000H 8000H 8005H 8001H 8001H 8014H 8000H 8000H 8005H 8001H 8001H o_wDiagCode i_bActivate i_bS_ChannelA i_bS_ChannelB i_dDiscrepancyTime o_bReady o_bS_EquivalentOut o_bError 8001H 8004H 8004H C001H C001H C001H C001H C001H C001H 8001H 8001H 8000H 8005H 8001H o_wDiagCode A program operation is suspended while the operation status of the CPU module is in STOP or PAUSE.
  • Page 107 List of error codes o_wDiagCode State name Description, output setting Action (Hexadecimal) C001H Error 1 i_bS_ChannelA has been switched to ON. Switching Review the i_dDiscrepancyTime setting i_bS_ChannelB to ON has been waited for, but it has not been value. switched within the setting value of i_dDiscrepancyTime. Set both i_bS_ChannelA and i_bS_ChannelB to OFF.
  • Page 108 Application example An application example of M+SF_EQUI_R is shown below. ■ Labels • Input labels Variable name Allocated device/label Description i_bActivate SA\M100 Activation of the safety FB i_bS_ChannelA SA\X1000 Safety input signal A i_bS_ChannelB SA\X1001 Safety input signal B i_dDiscrepancyTime K100 Max.

  • Page 109: M+Sf_Anti_R

    4.16 M+SF_ANTI_R Overview Item Description Function name Dual input (NO+NC) Functional overview This FB converts two antivalent bit inputs (NO/NC pair) to one bit output with discrepancy time monitoring. The FB output shows the result of the evaluation of both channels. Symbol M+SF_ANTI_R B: i_bActivate...
  • Page 110 FB details o_bS_AntivalentOut is set to ON or OFF as below depending on the status of i_bS_ChannelNC and i_bS_ChannelNO. i_bS_ChannelNC status i_bS_ChannelNO status o_bS_AntivalentOut output value If the status of numbers 1 and 4 listed in the table above continues beyond i_dDiscrepancyTime, the safety FB detects an error and the status becomes error.
  • Page 111 Typical timing diagram ■ For M+SF_ANTI_R i_bActivate i_bS_ChannelNC i_bS_ChannelNO i_dDiscrepancyTime o_bReady o_bS_AntivalentOut o_bError o_wDiagCode 0000H 8001H 8004H 8000H 8000H 8005H 8001H 8001H 8014H 8000H 8000H 8005H 8001H 8001H i_bActivate i_bS_ChannelNC i_bS_ChannelNO i_dDiscrepancyTime o_bReady o_bS_AntivalentOut o_bError 8001H 8004H 8004H C001H C001H C001H C001H C001H C001H 8001H 8001H 8000H 8005H 8001H o_wDiagCode A program operation is suspended while the operation status of the CPU module is in STOP or PAUSE.
  • Page 112 List of error codes o_wDiagCode State name Description, output setting Action (Hexadecimal) C001H Error 1 i_bS_ChannelNC has been switched to ON. Switching Review the i_dDiscrepancyTime setting i_bS_ChannelNO to OFF has been waited for, but it has not value. been switched within the setting value of i_dDiscrepancyTime. Set i_bS_ChannelNC to OFF and i_bS_ChannelNO to ON.
  • Page 113 Application example An application example of M+SF_ANTI_R is shown below. ■ Labels • Input labels Variable name Allocated device/label Description i_bActivate SA\M100 Activation of the safety FB i_bS_ChannelNC SA\X1000 Safety input signal (NC contact) i_bS_ChannelNO SA\X1001 Safety input signal (NO contact) i_dDiscrepancyTime K100 Max.

  • Page 114: Appendices

    APPENDICES Appendix 1 Approximate Number of Steps This section lists the approximate number of steps of safety FBs. Name Approximate number of steps M+SF_2HAND2_R M+SF_2HAND3_R M+SF_EDM_R M+SF_ENBLSW_R M+SF_ESPE_R M+SF_ESTOP_R M+SF_GLOCK_R M+SF_GMON_R M+SF_MODSEL_R M+SF_MUTE2_R M+SF_MUTEP_R M+SF_MUTES_R M+SF_OUTC_R M+SF_TSSEN_R M+SF_EQUI_R M+SF_ANTI_R *1 The number of steps of a safety FB included in a program varies depending on the CPU module used, I/O definition, and GX Works3 option settings ("Optimize the Number of Steps.").
  • Page 115 MEMO APPX Appendix 1 Approximate Number of Steps...
  • Page 116 MEMO APPX Appendix 1 Approximate Number of Steps...

  • Page 117: Index

    INDEX ......6 Safety program ....5 Safety programmable controller .

  • Page 118: Instruction Index

    INSTRUCTION INDEX ..... . 15 M+SF_2HAND2_R ..... . 19 M+SF_2HAND3_R .

  • Page 119: Revisions

    Japanese manual number: BCN-P5999-0814-B This manual confers no industrial property 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.

  • Page 120: Warranty

    1. Limited Warranty and Product Support. a. Mitsubishi Electric Company ("MELCO") warrants that for a period of eighteen (18) months after date of delivery from the point of manufacture or one year from date of Customer's purchase, whichever is less, Mitsubishi MELSEC Safety programmable logic controllers (the "Products") will be free from defects in material and workmanship.
  • Page 121 g. The Product information and statements contained on MELCO's website and in catalogs, manuals, technical bulletins or other materials provided by MELCO are provided as a guide for Customer's use. They do not constitute warranties and are not incorporated in the contract of sale for the Products. h.

  • Page 122: Trademarks

    TRADEMARKS The company names, system names and product names mentioned in this manual are either registered trademarks or trademarks of their respective companies.   In some cases, trademark symbols such as ' ' or ' ' are not specified in this manual. BCN-P5999-0815-B...
  • Page 124 BCN-P5999-0815-B(1707) MODEL: R-SAFETY-FBR-E HEAD OFFICE : TOKYO BUILDING, 2-7-3 MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN NAGOYA WORKS : 1-14 , YADA-MINAMI 5-CHOME , HIGASHI-KU, NAGOYA , JAPAN When exported from Japan, this manual does not require application to the Ministry of Economy, Trade and Industry for service transaction permission. Specifications subject to change without notice.

Table of Contents