Mitsubishi MELSEC-WS series User Manual Download Page 135

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Chapter 14

132

Annex

14.4.3 Troubleshooting flowchart (for safety I/O module)

This section describes how to identify errors and measures to eliminate the errors.

(1) Troubleshooting flowchart

The following shows the error description according to the types of
events.

Figure 52:
Troubleshooting flowchart
for safety I/O module

Summary of Contents for MELSEC-WS series

Page 1: ...Safety Controller User s Manual WS0 CPU0 WS0 CPU1 WS0 CPU3 WS0 XTDI WS0 XTIO WS0 4RO ...

Page 2: ......

Page 3: ... the product shall be for one 1 year after the date of delivery or for eighteen 18 months after manufacturing whichever is less The onerous repair term after discontinuation of production shall be for four 4 years Mitsubishi shall mainly replace the product that needs a repair It may take some time to respond to the problem or repair the product depending on the condition and timing Specifications...

Page 4: ...hen a load current exceeding the rated current or an overcurrent caused by a load short circuit flows for a long time it may cause smoke and fire To prevent this configure an external safety circuit such as a fuse For safety relays configure an external circuit using a device such as a fuse or breaker to protect a short circuit current When changing data and operating status and modifying program ...

Page 5: ...EC Provision and Use of Work Equipment Directive 89 655 EC Low Voltage Directive 2006 95 EC The work safety regulations safety rules Manufacturers and owners of the machine on which a MELSEC WS safety controller is used are responsible for obtaining and observing all applicable safety regulations and rules The notices in particular the test notices of this manual e g on use mounting installation o...

Page 6: ...tic compatibility EMC the DIN mounting rail has to be connected to functional earth FE Ensure that the earthling contact is positioned correctly The earthling spring contact of the module must contact the DIN mounting rail securely to allow electrical conductivity Shut off the external power supply all phases used in the system before mounting or removing the module Failure to do so may result in ...

Page 7: ...crew within the specified torque range Undertightening can cause short circuit fire or malfunction Overtightening can damage the screw and or module resulting in drop short circuit or malfunction Prevent foreign matter such as dust or wire chips from entering the module Such foreign matter can cause a fire failure or malfunction Mitsubishi MELSEC WS safety controllers must be installed in control ...

Page 8: ...sults in a loss of the safety functions so that the risk of serious injury exists Do not connect any loads that exceed the rated values of the safety outputs Wire the MELSEC WS safety controller so that 24 V DC signals cannot unintentionally contact safety outputs Connect the GND wires of the power supply to earth so that the devices do not switch on when the safety output line is applied to frame...

Page 9: ...hut off the external power supply all phases used for the MELSEC WS safety controller before mounting or removing the module Failure to do so may cause the module to fail or malfunction After the first use of the product do not mount remove the module from to the DIN mounting rail and the terminal block to from the module more than 50 times IEC 61131 2 compliant respectively Exceeding the limit of...

Page 10: ...ble for damages that could have been prevented by compliance with any applicable safety standard regulation or law 2 MELCO prohibits the use of Products with or in any application involving and MELCO shall not be liable for a default a liability for defect warranty a quality assurance negligence or other tort and a product liability in these applications 1 power plants 2 trains railway systems air...

Page 11: ...ugust 2014 SH NA 080855ENG G A new module WS0 CPU3 module was added A new function was added to WS0 XTIO and WS0 XTDI modules Description on Flexi Line system was added August 2016 SH NA 080855ENG H Description on the corporate logo was changed November 2018 SH NA 080855ENG I Correction of errors in writing Japanese manual version SH 080852 I This manual confers no industrial property rights or an...

Page 12: ...posal 22 2 5 2 Material separation 22 3 Product description 23 3 1 System properties 23 3 2 System configuration 24 3 3 Version compatibility and features 25 3 4 Memory plug 27 3 5 CPU module WS0 CPU0 27 3 5 1 Description 27 3 5 2 Display elements and terminal description 28 3 6 CPU module WS0 CPU1 30 3 6 1 Description 30 3 6 2 Display elements and terminal description 31 3 7 CPU module WS0 CPU3 3...

Page 13: ... free contacts 53 4 2 Non contact safety sensors 54 4 2 1 Magnetic safety switches e g SICK RE 54 4 2 2 Inductive safety switches e g SICK IN4000 and IN4000 Direct 54 4 2 3 Transponder e g SICK T4000 Compact and T4000 Direct 55 4 3 Testable single beam photoelectric safety switches 55 4 3 1 Testable Type 2 single beam photoelectric safety switches 55 4 3 2 Testable Type 4 single beam photoelectric...

Page 14: ...ates 79 10 2 Error displays of the status LEDs error messages and rectification measures 81 10 3 Additional error displays of SICK EFI compatible devices 88 10 4 Mitsubishi support 88 10 5 Extended diagnostics 88 11 Maintenance 89 11 1 Regular inspection of the protective device by qualified safety personnel 89 11 2 Device replacement 90 12 Technical data 91 12 1 Response times of the MELSEC WS sa...

Page 15: ...nformity 113 14 2 Manufacturers checklist 115 14 3 Wiring examples 116 14 4 Troubleshooting 125 14 4 1 Basics of troubleshooting 125 14 4 2 Troubleshooting flowchart for CPU module 126 14 4 3 Troubleshooting flowchart for safety I O module 132 14 4 4 Troubleshooting flowchart for safety relay output module 139 14 5 Example for the calculation of the response time of Flexi Line 142 14 6 SICK contac...

Page 16: ...tion for the WS0 XTIO84202 MELSEC WS safety controller safety I O combined module WS0 XTDI The abbreviation for the WS0 XTDI80202 MELSEC WS safety controller safety input module WS0 4RO The abbreviation for the WS0 4RO4002 MELSEC WS safety controller safety relay output module WS0 GETH The abbreviation for the WS0 GETH00200 MELSEC WS safety controller Ethernet interface module WS0 GCC1 The abbrevi...

Page 17: ...rovide instructions for operating machines on which the safety controller is or will be integrated Information on this is to be found in the manuals of the machine The Safety Controller Setting and Monitoring Tool Operating Manual describes the software supported configuration and parameterization of the MELSEC WS safety controller In addition the manual contains the description of the diagnostics...

Page 18: ...are to be protected by a MELSEC WS safety controller It also addresses people who integrate the MELSEC WS safety controller into a machine commission it initially or who are in charge of servicing and maintaining the unit 1 3 Depth of information This manual contains information on the MELSEC WS safety controller in the following subjects mounting electrical installation hardware commissioning err...

Page 19: ...designed to give you some assistance in your decision making process with respect to a certain function or a technical measure Notes provide special information on the device LED symbols describe the state of a diagnostics LED Examples The LED is illuminated constantly The LED is flashing The LED is off Instructions for taking action are shown by an arrow Read carefully and follow the instructions...

Page 20: ...Chapter 1 17 About this document visible or invisible radiation a combination of several risks and hazards ...

Page 21: ...he work safety aspects of the power driven equipment and have access to the MELSEC WS manuals and have read and familiarized themselves with them and have access to the manuals for the protective devices e g light curtains connected to the safety controller and have read and familiarized themselves with them 2 2 Application areas for the device The MELSEC WS safety controller is a configurable con...

Page 22: ...g or installation Pay attention to the safety notes and protective measures of the user s manuals hardware and Safety Controller Setting and Monitoring Tool Operating Manual Make sure that on the implementation of safety related functional logic the regulations in the national and international standards are met in particular the control strategies and the measures for risk reduction that are stip...

Page 23: ...supplied by an isolating power source protected by an UL248 fuse rated max 100 V where V is the DC supply voltage with the maximum value of 42 4 V DC such that the limited voltage current requirements of UL508 are met Max WS0 XTIO Q1 Q4 total current Isum 3 2 A Network modules WS0 GETH and WS0 GCC1 are intended to be used with Class 2 Therefore the CPU module must be supplied in this case with a C...

Page 24: ...fety regulations safety rules Manufacturers and owners of the machine on which a MELSEC WS safety controller is used are responsible for obtaining and observing all applicable safety regulations and rules The notices in particular the test notices see Chapter 9 of this manual e g on use mounting installation or integration into the existing machine controller must be observed The tests must be car...

Page 25: ...ion may only be performed by qualified safety personnel Exercise care when disassembling the devices The danger of injury is present Before you can turn over the devices for environmental friendly recycling you must separate the different materials of the MELSEC WS module from one another Separate the housing from the remaining components especially the PCB Send the separated components to the cor...

Page 26: ... width 8 to 96 inputs and 4 to 48 safe outputs programmable use of up to 255 standard and application specific logic blocks standard logic blocks e g AND OR NOT XNOR XOR application specific logic blocks e g emergency stop two hand muting press ramp down operating mode selector switch reset restart integration in different networks via network modules possible Ethernet and CC Link 2 EFI interfaces...

Page 27: ...ence WS0 CPU0 CPU module 255 1 WS0 CPU1 4 1 WS0 CPU3 4 1 WS0 XTIO Safety I O combined module 8 4 12 WS0 XTDI Safety input module 8 WS0 4RO Safety relay output module 4 4 2 WS0 GETH Ethernet interface module 2 WS0 GCC1 CC Link interface module 1 EFI terminals 2 Max of 16 safe relay outputs Figure 2 Examples for the minimum configuration of a MELSEC WS safety controller with WS0 CPU0 and WS0 XTDI or...

Page 28: ...0 Input output relation matrix V1 3 0 Invertable inputs for the AND OR RS Flip Flop and Routing N N function blocks V2 01 Revision 2 xx V1 3 0 Ramp down detection function block V1 11 Revision 1 xx V1 3 0 Adjustable on delay timer and Adjustable off delay timer function blocks V2 01 Revision 2 xx V1 3 0 Fast Shutoff function block with bypass only with WS0 XTIO V2 01 Revision 2 xx V2 00 Revision 2...

Page 29: ...ne previously The version of the Setting and Monitoring Tool can be found in the Extras menu under About For the acquisition of the newest version of the Setting and Monitoring Tool please contact your local Mitsubishi representative The function package Revision 1 xx or Revision 2 xx must be selected in the Setting and Monitoring Tool hardware configuration Function package Revision 2 xx is avail...

Page 30: ...s are only supplied electrically via the memory plug On the other hand the outputs are supplied separately Q1 to Q4 Y1 to Y6 as well as IY7 and IY8 The data saved in the memory plug are also retained on an interruption in the supply of power If modules are replaced ensure that the memory plug is reconnected to the correct CPU module Mark all the connecting cables and plug connectors unambiguously ...

Page 31: ...Chapter 3 28 Product description 3 5 2 Display elements and terminal description Figure 4 Display elements WS0 CPU0 ...

Page 32: ...eliminated after multiple repetition replace this module For detailed diagnostics information refer to the Setting and Monitoring Tool Red Critical error in the system possibly in another module Application is stopped All outputs are switched off Switch the supply voltage off and on again If the error is not eliminated after multiple repetition replace the module which displays Red 2 Hz If this is...

Page 33: ...ing optocouplers 3 6 CPU module WS0 CPU1 3 6 1 Description The WS0 CPU1 module has the same functions as the WS0 CPU0 Please observe the notes in Section 3 6 The CPU module WS0 CPU1 can only be operated together with the memory plug WS0 MPL0 In addition this module has 2 EFI interfaces If SICK EFI compatible devices are connected the following additional functions can be used Transferring the conf...

Page 34: ...gration of any SICK EFI compatible device or Flexi Link station after power up Red 1 Hz Error e g Any expected SICK EFI compatible device or Flexi Link station not found within 3 minutes Integration check failed Communication interruption SICK EFI compatible device address conflict Flexi Link ID conflict Check the wiring Later integration is still possible Red 2 Hz alternating Identify e g for Fle...

Page 35: ...the same functions as the CPU module WS0 CPU1 Please observe the notes in Section 3 7 In addition this module has a Flexi Line interface that permits the safe networking of up to 32 MELSEC WS stations see Section 4 8 The CPU module WS0 CPU3 can only be operated together with the memory plug WS0 MPL1 Note ...

Page 36: ...ine started waiting for neighboring stations Green 2 Hz Teaching required Red Green 2 Hz Flexi Line configuration required Red 1 Hz Error on the Flexi Line bus e g communication interrupted Red Critical fault Flexi Line stopped USB interface WS CPU3 module furthermore has a USB interface with the following functions Transferring the configuration from the Setting and Monitoring Tool to the memory ...

Page 37: ...e devices connected to the inputs and outputs The response time on the FLEXBUS backplane bus as well as the logic execution time are irrelevant in this case See also Section 12 1 Enabling or disabling of test pulses for outputs Q1 to Q4 with firmware version V2 00 0 or higher and Setting and Monitoring Tool version V1 3 0 or higher The WS0 XTIO module cannot be used alone and always requires a WS0...

Page 38: ...nals A1 and A2 of this module With firmware V2 00 0 Invalid configuration Red 2 Hz With firmware V2 00 0 Critical error in the system possibly in this module Application is stopped All outputs are switched off Switch the supply voltage off and on again If the error is not eliminated after multiple repetition replace the module For detailed diagnostics information refer to the Setting and Monitorin...

Page 39: ...re is a correctable error Green 1 Hz alternating with the red MS LED Input output is active and there is a correctable error The input and output LEDs display the states with a refresh rate of approx 64 ms 3 8 3 Internal circuits Table 14 Displays of the input output LEDs on WS0 XTIO Note Figure 8 Internal circuits WS0 XTIO safe inputs and test outputs Figure 9 Internal circuits WS0 XTIO outputs Q...

Page 40: ...est pulses because a short circuit to 24 V can not be detected if the output is High This could inhibit the switch off capability for the other outputs in case of an internal detected hardware failure due to reverse powering Perform cyclic tests if the test pulses of any safety output are disabled If you disable the test pulses of one or more safe outputs Q1 to Q4 at least once per year either all...

Page 41: ...The capacitance beyond the value that is permitted for the output as standard must be discharged to the low level in the customer s installation after switching off the output If this condition is not met within the maximum time allowed there will be a cross circuit fault on the output independent of whether the test pulses on this output are activated or deactivated Pay attention to the suitabili...

Page 42: ...S0 XTIO outputs Take into account possible brief switching to high on signal channel outputs In the case of an internal hardware fault outputs Q1 to Q4 which would normally be low may briefly switch to high until the fault is detected and there is a response to the fault The fault detection time plus the fault reaction time is dependent on the configuration selected for the output WS0 XTIO firmwar...

Page 43: ...t outputs X1 X3 X5 and X7 the other for the even numbered test outputs X2 X4 X6 and X8 Short circuits between test signal generators on module are detected also between test signal generators on different modules provided the test gaps are 4 ms and the test periods are 200ms for the relevant test outputs Short circuits to 24 V DC stuck at high at inputs connected to test outputs are detected indep...

Page 44: ...inal Assignment X1 X3 Test output 1 test signal generator 1 X2 X4 Test output 2 test signal generator 2 I1 I4 Safe inputs 1 to 4 I5 I8 Safe inputs 5 to 8 X5 X7 Test output 1 test signal generator 1 X6 X8 Test output 2 test signal generator 2 3 9 3 Internal circuits Figure 10 Display elements WS0 XTDI Table 16 Terminal assignment WS0 XTDI Figure 11 Internal circuits WS0 XTDI safe inputs and test ou...

Page 45: ...ic editor The safety relay output module is not participating at the FLEXBUS backplane bus communication Control signals can therefore not be received from the CPU module A max of four WS0 4RO safety relay output modules can be connected to a MELSEC WS safety controller i e a maximum of 16 safe relay outputs are available WS0 4RO The WS0 4RO has two control inputs B1 B2 These control two times two...

Page 46: ...4 V DC a feedback EDM Y3 Y4 dual channel and potential free 3 10 2 Display elements and terminal description Display Meaning PWR green Supply voltage via safety bus is applied K1 2 green Relay K1 K2 safety contacts closed K3 4 green Relay K3 K4 safety contacts closed Figure 13 Internal configuration WS0 4RO Figure 14 WS0 4RO display elements Table 17 WS0 4RO displays ...

Page 47: ... contacts for switch off circuit outputs K1 K2 33 34 and 43 44 Safety contacts for switch off circuit outputs K3 K4 Y1 Y2 Feedback EDM K1 K2 NC contact Y3 Y4 Feedback EDM K3 K4 NC contact Y14 NO safety contact K1 K2 current limited see Chapter 12 Y24 NO safety contact K3 K4 current limited see Chapter 12 Table 18 WS0 4RO terminals ...

Page 48: ...on monitors the machine or system as planned and whether the safety of a configured application is ensured at all times This must be ensured in each operating mode and partial application Document the result of this check In each case observe the instructions for commissioning and daily checking in the manuals of the protective devices integrated into the safety application Note the warnings and f...

Page 49: ...d pulse or a delayed falling edge at this input may lead to a dangerous situation the following measures have to be taken Protected cabling of the related signal to exclude cross circuits to other signals No cross circuit detection i e no connection to test output See the Safety Controller Setting and Monitoring Tool Operating Manual This needs especially to be considered for the following inputs ...

Page 50: ...Chapter 4 47 Connecting devices Figure 15 Example extract of the documentation in the Setting and Monitoring Tool ...

Page 51: ...6 The dual channel emergency stop pushbuttons preconfigured in the Setting and Monitoring Tool have equivalent switching contacts Corresponding elements for implementing dual channel complementary switching contacts are available in the element window under the group named Potential free contacts and restart Function Notes Testing Possible Series connection cascading If emergency stop pushbuttons ...

Page 52: ...channel connected to 24 V Contact between 24 V and I1 Coil at Q1 Single channel connected to test output Contact between X1 and I1 Coil at Q1 Dual channel connected to 24 V Channel 1 Contact between 24 V and I1 Channel 2 Contact between 24 V and I2 Coil at Q1 Dual channel connected to test output Channel 1 Contact between X1 and I1 Channel 2 Contact between X2 and I2 Coil at Q1 Function Notes Test...

Page 53: ...d I5 Channel 2 Contact E23 between 24 V and I6 Channel 3 Contact E31 between 24 V and I7 Channel 4 Contact E41 between 24 V and I8 3 positions connected to test output Channel 1 Contact E13 between 24 V and I1 Channel 2 Contact E23 between 24 V and I2 Channel 3 Contact E31 between X1 and I3 Channel 4 Contact E41 between X2 and I4 Function Notes Testing Possible Series connection Not possible Discr...

Page 54: ...n 24 V and I3 Channel 4 Right side NC contact between 24 V and I4 Type IIIA At Type IIIA two equivalent inputs NO contacts of the two two hand buttons are monitored A valid input signal is only generated if the ON state High level exists at both inputs within a period of 0 5 s synchronous change both two hand buttons pressed and if both were in the OFF state Low level beforehand Function Notes Tes...

Page 55: ...available in the manual of the two hand control 4 1 5 Safety mats and bumpers The contact symbols in this chapter show the switching status while the safety mat or bumper is not pressed Electrical connection Example from Setting and Monitoring Tool with WS0 XTIO Pressure sensitive short circuiting switching mats in 4 wire technology connected to test output Channel 1 Contact between X1 and I1 Chan...

Page 56: ...e used if an odd numbered test output X1 X3 X5 X7 is used and even numbered inputs I2 I4 I6 I8 have to be used if an even numbered test output X2 X4 X6 X8 is used Further information is available in the manual of the user mode switch 4 1 7 Potential free contacts The Setting and Monitoring Tool makes a series of potential free contacts available for free configuration of contact elements This allo...

Page 57: ...ng Tool Further information is available in the manuals of the SICK magnetic safety switches or in the manuals of devices used 4 2 2 Inductive safety switches e g SICK IN4000 and IN4000 Direct Electrical connection Example from Setting and Monitoring Tool with WS0 XTIO IN4000 Test input TE IN4000 at X1 Output A IN4000 at I1 IN4000 Direct with OSSD OSSD1 IN4000 at I3 OSSD2 IN4000 at I4 Function Not...

Page 58: ... of the Transponder SICK T4000 Compact or T4000 Direct or in the manuals of devices used 4 3 Testable single beam photoelectric safety switches 4 3 1 Testable Type 2 single beam photoelectric safety switches Electrical connection Example from Setting and Monitoring Tool with WS0 XTIO SICK Wx12 18 24 27 Vx18 Test input TE transmitter at X1 Output Q receiver at I1 SICK L21 L27 L28 Test input TE tran...

Page 59: ... connection Example from Setting and Monitoring Tool with WS0 XTIO SICK L41 Test input TE transmitter at X1 Output Q receiver at I1 Use protected or separate cabling for the test output of the module X1 X8 to the test input of the transmitter and for the output of the receiver to the safe input of the module I1 I8 Otherwise a cross circuit between these signals can inhibit the error detection by t...

Page 60: ...he receiver to the safe input of the module I1 I8 Otherwise a cross circuit between these signals can inhibit the error detection by this test 4 3 4 Information for mounting testable single beam photoelectric safety switches Observe the information for mounting in the manual of the respective sensors and in particular the following points Single beam photoelectric safety switches may only be used ...

Page 61: ...nly mounted on one side the light beams may not overlap on the receiver side so that the light beam of one sender does not reach two receivers If the senders and receivers are mounted alternatively ensure that the light beam of Sender S1 cannot be received by Receiver R3 and that the light beam of Sender S3 cannot be received by Receiver R1 Figure 17 Minimum distance a as a factor of the distance ...

Page 62: ...MELSEC WS safety controller contains a WS0 CPU1 or a WS0 CPU3 you can connect intelligent SICK EFI compatible devices and sensors to your CPU module 4 6 1 Connection of EFI devices If shielding is required for example for EMC reasons when connecting the EFI devices use an earth terminal that is placed in the control cabinet near the CPU module for this purpose Connect this earth terminal with the ...

Page 63: ...can be used in a Flexi Link system The connection of WS0 CPU0 modules is not possible The process data of each station inputs and outputs logic results etc can be made available to all other stations in the Flexi Link system The Teach function allows to temporarily deactivate single stations without impairing the function of the overall system Features safe connection of up to four Flexi Link stat...

Page 64: ...ss data sent by any station are received almost simultaneously by all other stations The processing logic in the individual stations is however not necessarily simultaneous as the stations are not synchronized The data on EFI1 and on EFI2 are consistent The data on EFI1 and EFI2 can however be inconsistent for a short time as they are transferred separately 4 7 3 Connection of a Flexi Link system ...

Page 65: ...mitted overall cable length all stations for EFI1 and EFI2 is 100 m each Unused conductors must be connected to FE on both ends All connected Flexi Link stations must have the same 0 V DC of the power supply terminal A2 of memory plug The max permitted voltage at EFI inputs is 30 V to terminal A2 0 V DC Note Figure 19 Connection of Flexi Link stations via EFI1 and EFI2 ...

Page 66: ...13 2 For cables please contact your local SICK representative see Section 14 6 www sens control com EMC measures Please observe the notes in section4 9 Potential equalization Always connect the cable screen on both sides to earth potential Be aware that the earth potential may differ on the earth connections If this is the case you must install an additional potential equalization Follow the relev...

Page 67: ...ions Within the process image global or local bytes can be defined The process image can contain up to 12 bytes or 96 bits The maximum cable length between 2 stations is 1000 meters The possible total length of a system with 32 stations is therefore 31 kilometers The overall system has a fixed update rate This rate is dependent on the maximum length of cable between two stations and the size of th...

Page 68: ...125 m 2 0 34 mm 22 AWG Up to 1000 m 2 0 75 mm 18 AWG For recommended cables see Section 13 2 EMC measures Please observe the notes in section 4 9 Equipotential bonding Always connect the cable screen on both sides to earth potential If this is not possible then earth the side that is connected to the PRE terminals Be aware that the earth potential may differ on the earth connections If this is the...

Page 69: ...elded cables to the reference potential directly at the entrance to the system control cabinet frame DIN mounting rail Connect the cable shield again to the reference potential as close as possible to the CPU module e g on the mounting rail using suitable cable clamps The cable clamps must completely enclose the cable shield Keep the stripped cable ends as short as possible Isolate the screening b...

Page 70: ...ansferred to the sensor equipment 5 1 2 Properties Up to 4 SICK devices are possible per EFI line in as far as the SICK EFI compatible devices support this number Connection of the devices using a 2 wire cable Various device combination possibilities Sensor with sensor within the same product family Sensor with safety controllers and network modules Connection of up to four WS0 CPU1 or WS0 CPU3 mo...

Page 71: ...al functions Simultaneous protective field evaluation Protective field switching Function changeover Operating mode selection Signal routing Decentralized diagnostics information via Ethernet Information on the location of the protective field interruption at host guest applications Evaluation of signals and forwarding of the results 5 1 4 Benefits Reduction of the installation work only 2 wires w...

Page 72: ...sed when certain objects such as pallets with material may be moved into the hazardous area During this transportation through electro sensitive protective equipment ESPE such as a safety light curtain the muting function inhibits monitoring by the ESPE Observe the information in the Safety Controller Setting and Monitoring Tool Operating Manual for the further procedure ...

Page 73: ...e I O modules can be mounted in any order Connect an additional safety relay output module WS0 4RO on the far right of the entire MELSEC WS safety controller The modules are located in a 22 5 mm wide modular system for 35 mm DIN mounting rails to IEC EN 60715 The modules are connected to each other via the FLEXBUS plug connection integrated in the housing Take into account that when replacing a mo...

Page 74: ...e module onto the DIN mounting rail by pressing it lightly in the direction of the arrow 3 If there are several modules slide the modules together individually in the direction of the arrow until the side plug connection latches in Install end clips on the left and right The following steps are necessary after mounting completing the electrical connections configuration See the Safety Controller S...

Page 75: ...rom each other individually in the direction of the arrow until the side plug connection is separated Press the module downwards at the rear 1 and remove it from the DIN mounting rail in the direction of the arrow while keeping it pressed down 2 Figure 24 Removing the plug in terminals Figure 25 Disconnecting the plug connections Figure 26 Removing modules from the DIN mounting rail ...

Page 76: ...to IEC 61326 3 1 additional protective measures have to be taken Machines where safety devices are used must be installed and designed according to the Lightning Protection Zone LPZ according to IEC 62305 1 Required immunity levels can be achieved through the use of external protective devices The installed surge protective devices SPD should meet the requirements according to IEC 61643 11 The ins...

Page 77: ...for the odd numbered test outputs X1 X3 X5 and X7 the other for the even numbered test outputs X2 X4 X6 and X8 Short circuits between test signal generators on MELSEC WS I O modules are detected also between test signal generators on different modules provided the test gaps are 4 ms and the test periods are 200 ms for the relevant test outputs Short circuits to 24 V DC stuck at high at inputs conn...

Page 78: ...Chapter 7 75 Electrical installation 7 2 Internal circuit power supply Figure 27 Safety controller power supply internal circuit ...

Page 79: ...elements window These devices can be configured directly in the Setting and Monitoring Tool by double clicking the icon or alternatively configured and verified locally at the device via its RS 232 interface The SICK configuration and diagnostics software CDS is required for the configuration of the SICK EFI compatible devices The SICK configuration and diagnostics software CDS included in Setting...

Page 80: ...ck the devices connected to the safety controller in accordance with the test notes in the accompanying manual Label all connections connection cables and plugs at the safety controller clearly and without ambiguity to avoid confusion Since the MELSEC WS safety controller has several connections of the same design ensure that disconnected cables or plugs cannot be connected back unintentionally to...

Page 81: ...onal international rules and regulations especially in the Machine and Work Equipment Directive EC Conformity Check the effectiveness of the protective device at the machine using all the selectable operating modes and functions Ensure that the operating personnel of the machine fitted with the safety controller become instructed by the qualified personnel of the machine owner before beginning wor...

Page 82: ...d 1Hz Applications in all modules are in operating state Stop All safe outputs in the system are switched off All safety process data is set to zero Typically also not safety related process data is set to zero Recoverable error Applications in all modules remain in operating state Run MS LED of the effected modules Red green alternating 1 Hz MS LED of not effected modules Green If safe outputs on...

Page 83: ...at least 3 seconds and back on again The MELSEC WS safety controller may restart when it detects a recoverable error caused by noise The MELSEC WS safety controller is ready for operation again if the error cause has been eliminated after the restart Create an interlock program using a reset button to prevent the MELSEC WS safety controller from restarting automatically after the safety function i...

Page 84: ...CPU module in the hardware installation by a module with the same module type as selected in the project file CPU module 0x00170005 0x000F0013 Configuration in memory plug is incompatible because it is for a newer firmware version of the CPU module Memory plug has been configured for an incompatible higher CPU module firmware version e g V1 xx instead of V2 xx An older CPU module firmware version ...

Page 85: ...MS LED is flashing red or red green Too many safety I O modules are connected whose MS LED is flashing red or red green Safety I O modules are missing MS LED of all other modules is flashing red or red green Download a configuration with the same module type and the same or a smaller firmware version for all safety I O modules Replace the affected safety I O module in the hardware installation by ...

Page 86: ...e turned off from logic of by turning off related input signals e g E stop Error reset can take up to 8 seconds Alternatively power cycle the CPU module One or more safety I O modules MS Red green 1 Hz firmware V2 00 0 or MS Red 1 Hz firmware V1 xx 0 and I1 or I2 or I3 or I4 or I5 or I6 or I7 or I8 Green 1 Hz WS0 XTIO WS0 XTDI 0x4601 For inputs which are connected to test output Short circuit to 2...

Page 87: ...puts of the connected sensor Check mechanical dependency of both switches Replace switch sensor in hardware installation To reset the error the effected input pair has to be Low Low for equivalent dual channel inputs and Low High for complementary dual channel inputs MS Red MS Red CPU module 0xXXXCXXXX Safety I O modules 0xCXXX X any value Power supply 0 V at WS0 XTIO module missing firmware V1 xx...

Page 88: ...dule or WS0 XTDI module has 2 signal dips High to Low with a time distance of 2 ms e g test gaps of an OSSD output or bouncing relay contacts A signal channel input at WS0 XTIO module or WS0 XTDI module changes state in intervals of 4 ms for a duration of 40 ms or more e g proximity switch to a tooth wheel To reset the error power cycle the CPU module Change the configuration by activating the ON ...

Page 89: ...lve or failure in the wiring Used relay valve has greater switching delay for monitor contact Increase Max feedback delay time of the function block if acceptable for the application Replace relay valve in the hardware installation All LEDs temporarily off and then LED test sequence All LEDs temporarily off and then LED test sequence CPU module 0x002D4006 Power supply of CPU module had short volta...

Page 90: ...red when both inputs turn OFF the left side figure below However both inputs turn ON during the discrepancy it is not cleared and this error should occur the right side figure below Behavior of a discrepancy error 2 Unequal input data from safety I O module may occur by following signal inputs 1 A dual channel input has 2 single dips high to low with a time distance of 2ms Behavior of unequal inpu...

Page 91: ... local Mitsubishi representative When you send in a WS0 MPL0 or WS0 MPL1 memory plug for repair or analysis it is returned in the state of delivery i e with an empty configuration Therefore save your configuration s to project files with the Setting and Monitoring Tool 10 5 Extended diagnostics The Setting and Monitoring Tool contains extended diagnostic possibilities If you cannot identify what k...

Page 92: ...specified by you The effectiveness of the protective device must be checked by authorized commissioned persons If any modifications have been made to the machine or the protective device or if the MELSEC WS safety controller has been changed or repaired the system must be checked again as specified in the checklist in Chapter 14 Carry out regular or daily inspections in order to keep the MELSEC WS...

Page 93: ...device behavior In order to continue using the system configuration check Is the new module of the same type same material number and is there no error at the new module after the replacement Is the new module plugged in at the same position as the replaced module Have all connectors been re connected to the correct terminals Otherwise you have to completely reconfigure and commission the new syst...

Page 94: ...e time in a Flexi Link system is increased for a remote input compared to a local input by 4 5 ms 2 logic execution time of the remote Flexi Link station Flexi Line The response time in a Flexi Line system is increased for a remote input by the input time of the remote station E1 to E4 from Table 53 the logic response time of the station that evaluates this input item 2 a from Table 53 and N 10 ms...

Page 95: ... 1 ms Total In1 Total Out1 Occurrence In2 Input from EFI device Out2 Output to EFI device If EFI functions are used via SICK EFI compatible devices Response time of the EFI data source as a rule a sensor for external OSSDs via EFI 3 or Flexi Link remote station Response time of the message receiver e g scanner with protective field switching via EFI 3 Constant EFI cycle time of the EFI receiver 3 ...

Page 96: ...the number of network modules used in the system Take the values from the Setting and Monitoring Tool report The update interval amounts to a multiple of 4 ms for each 10 bytes to be transferred to or from the network module if the system contains one network module If 2 network modules are used the update rate amounts to a multiple of 8 ms ...

Page 97: ...ne C4000 safety light curtain Digital outputs WS0 XTIO 1 Q3Q4 Robot Robot dual channel Input from EFI device WS0 CPU1 0 EFI1 1 OSSD OSSD one C4000 receiver stand alone safety light curtain with high resolution for hazardous point hazardous area and access protection at machines 2 paths have to be considered and calculated separately Figure 29 Example of a MELSEC WS safety controller ...

Page 98: ...s Table 54 Example for the calculation of the response time of path 1 of a MELSEC WS safety controller Occurrence In2 Input from EFI device Occurrence Out1 Digital outputs If EFI functions are used via SICK EFI compatible devices Response time of the EFI data source C4000 receiver stand alone 12 0 ms General Robot response time 40 0 ms Constant C4000 1 5 ms General Output processing time 4 5 ms To...

Page 99: ...utput in the signal path Out2 4 0 ms Total response time 18 5 ms Flexi Link Station B Logic execution time 8 ms Occurrence In2 Input from EFI device Occurrence Out1 Digital outputs If EFI functions are used via SICK EFI compatible devices Response time of the EFI data source see table above for Flexi Link station A 18 5 ms General Response time of the actuator Robot response time 40 0 ms Constant ...

Page 100: ...r free switching is possible The min switch off time must be greater than the logic execution time 1 ms and greater than the test gap Long gap if the input is connected to test output X1 X8 and the test gap is 1 ms and greater than the test period i e the higher value of the two test outputs used the max Off on delay if safety mats or bumpers are used 1 Take the values from the Setting and Monitor...

Page 101: ... General data Protection class III IEC 61140 Enclosure rating IP 20 IEC 60529 Ambient temperature in operation 25 55 C Storage temperature 25 70 C Humidity 10 95 non condensing Climatic conditions 55 C 95 relative humidity IEC 61131 2 No corrosive gases Operating altitude Max 2000 m above sea level 80 kPa Vibration resistance 5 150 Hz 1 g EN 60068 2 6 10 500 Hz 5 g IEC 60068 2 6 Shock resistance C...

Page 102: ...finely stranded 1 0 2 1 5 mm 24 to 15 AWG Finely stranded with ferrules 1 0 25 1 5 mm 23 to 15 AWG Dimensions W H D 22 5 96 5 120 8 mm 22 5 101 7 120 8 mm Weight 111 g 5 CPU1 119 g 5 CPU3 133 g 5 Power supply A1 A2 via memory plug WS0 MPL0 or WS0 MPL1 Supply voltage 24 V DC 16 8 30 V DC Supply voltage UL CSA applications 24 V DC Type of supply voltage PELV or SELV The current of the power supply u...

Page 103: ... safe output Q1 Q4 Category 3 EN ISO 13849 1 For dual channel outputs with or without test pulses disabled for this or any other safe output Q1 Q4 Category 4 EN ISO 13849 1 Performance Level PL e EN ISO 13849 1 PFHd mean probability of a dangerous failure per hour 1 For single channel outputs 4 8 10 9 For dual channel outputs 0 9 10 9 TM mission time 20 years EN ISO 13849 2 1 Applies for single ch...

Page 104: ...IEC 60068 2 6 10 500 Hz 3 g RMS EN 60068 2 64 Shock resistance Continuous shock 10 g 16 ms IEC 60068 2 27 Single shock 30 g 11 ms IEC 60068 2 27 Electromagnetic compatibility Class A IEC 61000 6 2 EN 55011 System connection Dual level spring clamp terminals Power input via FLEXBUS without currents to X1 X2 Max 2 2 W Cross section of connecting wires Single core or finely stranded 0 2 1 5 mm2 24 to...

Page 105: ... characteristic B or C Input circuit I1 I8 Input voltage High 13 30 V DC Input voltage Low 5 5 V DC Input current High 2 4 3 8 mA Input current Low 2 5 2 1 mA Input reverse current in case of ground interruption 3 Hardware version V1 10 1 Max 20 mA 1 5 kΩ effective reverse resistance to power supply Hardware version V1 10 1 Max 2 mA Switching current with mechanical contacts 14 4 mA at 5 V 3 mA at...

Page 106: ...5 Hz configurable Test pulse duration test gap 1 100 ms configurable Load capacity 1 μF for test gap 4 ms 0 5 μF for test gap 1 ms Cable resistance 100 Ω Safe outputs Q1 Q4 Number of outputs 4 Output type PNP semiconductor short circuit protected short circuit monitoring selectable Output voltage High 16 30 V DC max 0 8 V drop to terminal A1 of this module Leakage current Low Normal operation Faul...

Page 107: ...parate cabling for the safe outputs without test pulses because a short circuit to 24 V can not be detected if the safe output is High This could inhibit the switch off capability for the other safe outputs in case of an internal detected hardware failure due to reverse powering 8 Make sure to limit the individual line core resistance to the downstream controller to this value to ensure that a sho...

Page 108: ...ection Dual level spring clamp terminals Power input via FLEXBUS without currents to X1 X8 Max 2 W Cross section of connecting wires Single core or finely stranded 0 2 1 5 mm2 24 to 15 AWG Finely stranded with ferrules 0 25 1 5 mm2 23 to 15 AWG Dimensions W H D 22 5 106 5 120 8 mm Weight 139 g 5 Safe inputs I1 I8 Input voltage High 13 30 V DC Input voltage Low 5 5 V DC Input current High 2 4 3 8 m...

Page 109: ...able sensor cascades per module with max 30 mA each are possible The total current for the MELSEC WS safety controller for all outputs X1 X8 and XY1 XY2 is limited to a maximum of 1 28 A This corresponds to e g a maximum of 32 testable sensor cascades with 30 mA each plus 64 tactile sensors on inputs on safety I O modules with 5 mA each Test pulse rate test period 1 25 Hz configurable Test pulse d...

Page 110: ...ching voltage 230 V AC 1 5 253 V AC 230 V DC 1 5 253 V DC Switching current 10 mA 6 A Mechanical endurance Min 10 106 Electrical endurance See Figure 33 Minimum contact load with Un 24 V DC 50 mW Total current 8 A Response time 2 30 ms Type of output Potential free N O contacts positively guided Contact material AgSnO2 Output circuit fusing 6 A gG per current path Usage category AC 15 Ue 250 V Ie ...

Page 111: ...Chapter 12 108 Technical data Figure 32 DC load breaking capacity safety relay output module WS0 4RO Figure 33 Electrical endurance safety relay output module WS0 4RO ...

Page 112: ...1131 2 No corrosive gases Mechanical strength Vibration resistance 5 150 Hz 1 g EN 60068 2 6 10 500 Hz 3 g RMS EN 60068 2 64 Electrical safety IEC 61131 2 Impulse voltage withstand level Uimp 4 kV Overvoltage category II Pollution degree 2 inside 3 outside Rated voltage 300 V AC Enclosure rating housing terminals IP 40 IP 20 IEC 60529 Electromagnetic compatibility IEC 61131 2 IEC 61000 6 2 EN 5501...

Page 113: ...le 61 No of mechanical switching operations Min 200 000 Load type I A Switching frequency Switching operations per annum B10d PFHd AC15 0 1 1 h 8760 10 000 000 5 00 10 10 0 75 1 h 8760 4 150 000 1 20 10 09 3 1 h 8760 400 000 1 20 10 08 5 1 h 8760 70 000 7 20 10 08 DC13 1 1 h 8760 2 000 000 2 50 10 09 3 1 h 8760 450 000 1 10 10 08 AC1 2 1 h 8760 1 000 000 5 00 10 09 4 1 h 8760 600 000 8 40 10 09 In...

Page 114: ...ata 12 3 Dimensional drawings 12 3 1 WS0 CPUx module with memory plug 12 3 2 WS0 XTIO module WS0 XTDI module and WS0 4RO module Figure 34 Dimensional drawing WS0 CPUx mm Figure 35 Dimensional drawing WS0 XTIO WS0 XTDI WS0 4RO mm ...

Page 115: ...C20M8U Configuration cable 2 m M8 USB A WS0 UC 232A RS 232 USB converter RS 232 to USB WS0 GETH00200 Ethernet interface module for Ethernet WS0 GCC100202 CC Link interface module for CC Link WS0 TBC4 4 dual level spring clamp terminals for replacement WS0 TBS4 4 screw terminals for replacement Model Type USB cable MR J3USBCBL3M USB cable USB A type USB miniB type 13 2 Recommended products The foll...

Page 116: ...Chapter 14 113 Annex 14 Annex 14 1 EU declaration of conformity Figure 36 EU declaration of conformity for MELSEC WS safety controller ...

Page 117: ...Chapter 14 114 Annex ...

Page 118: ...No 2 Are the applied directives and standards listed in the declaration of conformity Yes No 3 Does the protective device comply with the required category Yes No 4 Are the required protective measures against electric shock in effect protection class Yes No 5 Has the protective function been checked in compliance with the test notes in this documentation Especially Functional check of the command...

Page 119: ...puts Connect emergency stop pushbuttons to the MELSEC WS safety controller as shown below Use the following terminal combinations for dual channel input wiring WS0 XTIO I1 and X1 I2 and X2 I3 and X1 I4 and X2 I5 and X1 I6 and X2 I7 and X1 I8 and X2 WS0 XTDI I1 and X1 I2 and X2 I3 and X3 I4 and X4 to I7 and X7 I8 and X8 Figure 37 Wiring example of emergency stop pushbuttons ...

Page 120: ...gle channel wiring without test pulse outputs Connect start switches stop switches and reset switches to the MELSEC WS safety controller as shown below Figure 38 Wiring example of start switches stop switches and reset switches ...

Page 121: ...ontroller as shown below Use the following terminal combinations for dual channel input wiring WS0 XTIO I1 and X1 I2 and X2 I3 and X1 I4 and X2 I5 and X1 I6 and X2 I7 and X1 I8 and X2 WS0 XTDI I1 and X1 I2 and X2 I3 and X3 I4 and X4 to I7 and X7 I8 and X8 Figure 39 Wiring example of safety switches ...

Page 122: ...d a laser scanner to the MELSEC WS safety controller as shown below The light curtain is connected to the WS0 XTIO and the laser scanner is connected to the WS0 XTDI in the above example Both elements can be connected to either module Figure 40 Wiring example of light curtain and laser scanner ...

Page 123: ...Chapter 14 120 Annex 4 Wiring of contactors Connect a contactor to the MELSEC WS safety controller as shown below Figure 41 Wiring example of contactor ...

Page 124: ...3 even when the output of WS0 XTIO Q1 to Q4 is a single channel structure When the output is a dual channel structure the system meets the requirements of Category 4 Properly connect the wires so that two wires will not simultaneously short out or break Figure 42 Wiring example of contactor Category 3 4 ...

Page 125: ...r S3000 An operator can access the dangerous area through the protective area or the side gates When the operator opens the side gate or crossing the laser protected area the robots stop their operation Both robots stop when any one of the emergency stop switches is activated Reset the safety device after activation Safety This system meets the performance level d in accordance with EN ISO13849 1 ...

Page 126: ...iring The WS0 4RO cannot be used alone The WS0 4RO performs the ON OFF control via the WS0 XTIO Connect the output terminals Q1 to Q4 of the WS0 XTIO to the input terminals B1 and B2 Figure 44 Wiring of an application example ...

Page 127: ...apter 14 124 Annex 2 Configuration in the Setting and Monitoring Tool a Hardware configuration b Logic Figure 45 Hardware configuration of an application example Figure 46 Logic of an application example ...

Page 128: ...owing 1 Behavior of the safety controller and other connected devices 2 Applicability of the power supply 3 States of input and output devices 4 Installation states of the CPU module and safety I O modules 5 Wiring Power cable and I O lines 6 Display status of all indicators such as MS LED and CV LED After checking 1 through 6 connect the Setting and Monitoring Tool and monitor the operating statu...

Page 129: ...t for CPU module This section describes how to identify errors and measures to eliminate the errors 1 Troubleshooting flowchart The following shows the error description according to the types of events Figure 47 Troubleshooting flowchart for CPU module ...

Page 130: ...n the MS LED has turned off Refer to the following flowchart when the MS LED of the CPU module has turned off at power on or during operation of the MELSEC WS safety controller Figure 48 Flowchart when the MS LED has turned off ...

Page 131: ...e MS LED has turned on red Refer to the following flowchart when the MS LED of the CPU module has turned on red at power on or during operation of the MELSEC WS safety controller Figure 49 Flowchart when the MS LED has turned on red ...

Page 132: ... red and green Refer to the following flowchart when the MS LED of the CPU module is flashing red or flashing red and green at power on or during operation of the MELSEC WS safety controller Figure 50 Flowchart when the MS LED is flashing red or flashing red and green ...

Page 133: ...tting and Monitoring Tool Refer to the following flowchart when communication with a peripheral device is disabled when connecting the CPU module with Setting and Monitoring Tool Figure 51 Flowchart when the CPU module cannot communicate with Setting and Monitoring Tool ...

Page 134: ...Chapter 14 131 Annex ...

Page 135: ...afety I O module This section describes how to identify errors and measures to eliminate the errors 1 Troubleshooting flowchart The following shows the error description according to the types of events Figure 52 Troubleshooting flowchart for safety I O module ...

Page 136: ...he MS LED has turned off Refer to the following flowchart when the MS LED of the safety I O module has turned off at power on or during operation of the MELSEC WS safety controller Figure 53 Flowchart when the MS LED has turned off ...

Page 137: ... LED has turned on red Refer to the following flowchart when the MS LED of the safety I O module has turned on red at power on or during operation of the MELSEC WS safety controller Figure 54 Flowchart when the MS LED has turned on red ...

Page 138: ... to the following flowchart when the MS LED of the safety I O module is flashing red at power on or during operation of the MELSEC WS safety controller a For safety I O modules firmware V1 xx 0 Figure 55 Flowchart when the MS LED is flashing red firmware V1 xx 0 ...

Page 139: ...Chapter 14 136 Annex b For safety I O modules firmware V2 00 0 or later Figure 56 Flowchart when the MS LED is flashing red firmware V2 00 0 or later ...

Page 140: ...he following flowchart when the MS LED of the safety I O module is flashing red and green at power on or during operation of the MELSEC WS safety controller a For safety I O modules firmware V1 xx 0 Figure 57 Flowchart when the MS LED is flashing red and green firmware V1 xx 0 ...

Page 141: ...Chapter 14 138 Annex b For safety I O modules firmware V2 00 0 or later Figure 58 Flowchart when the MS LED is flashing red and green firmware V2 00 0 or later ...

Page 142: ...ay output module This section describes how to identify errors and measures to eliminate the errors 1 Troubleshooting flowchart The following shows the error description according to the types of events Figure 59 Troubleshooting flowchart for safety output relay module ...

Page 143: ... LED has turned off Refer to the following flowchart when the PWR LED of the safety relay output module has turned off at power on or during operation of the MELSEC WS safety controller Figure 60 Flowchart when the PWR LED has turned off ...

Page 144: ...has turned off Refer to the following flowchart when the K1 2 or K3 4 LED of the safety relay output module has turned off at power on or during operation of the MELSEC WS safety controller Figure 61 Flowchart when the K1 2 or K3 4 LED has turned off ...

Page 145: ...tal Output 56 0ms Occurrence Output Output to Flexi Line Output to Flexi Line Total In1 6 5ms Total Output 0ms Evaluation1 1 Inputs Response time of the considered input in the signal path In1 6 5ms 2 Logic Response time of the logic 2 logic execution time 8 0ms Delay through logic application 3 Outputs Response time of the considered output in local out2 56 0ms Total response time remote input to...

Page 146: ...s 2 2ms 56 0ms General Output processing time 4 5ms Total Input 70 5ms Total Out1 44 5ms Evaluation 1 Inputs Response time of the considered input in remote input Input 70 5ms 2 Logic Response time of the logic 2 logic execution time 16 0ms Delay through logic application 3 Outputs Response time of the considered output in path 2 Out1 44 5ms Total response time remote input to local output 131 0ms...

Page 147: ...39 02 27 43 41 E Mail info sick it Japan Phone 81 0 3 3358 1341 E Mail support sick jp Nederlands Phone 31 0 30 229 25 44 E Mail info sick nl Norge Phone 47 67 81 50 00 E Mail austefjord sick no Österreich Phone 43 0 22 36 62 28 8 0 E Mail office sick at Polska Phone 48 22 837 40 50 E Mail info sick pl Republic of Korea Phone 82 2 786 6321 4 E Mail kang sickkorea net Republika Slovenija Phone 386 ...

Page 148: ...h MELCO s Technical Bulletins Products discontinued and repair parts for them may not be available after their production is discontinued 2 Limits of Warranties a MELCO does not warrant or guarantee the design specify manufacture construction or installation of the materials construction criteria functionality use properties or other characteristics of the equipment systems or production lines int...

Page 149: ... these terms shall apply to all three types of damages to the fullest extent permitted by law If however the personal injury wrongful death and or physical property damages cannot be disclaimed or limited by law or public policy to the extent provided by these terms then in any such event the disclaimer of and limitations on pecuniary or economic consequential and incidental damages shall neverthe...

Page 150: ...tem 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 SH NA 080855ENG I ...

Page 151: ......

Page 152: ...o change without notice When exported from Japan this manual does not require application to the Ministry of Economy Trade and Industry for service transaction permission 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 ...

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