6 FUNCTIONAL SAFETY
6.4 Safety sub-function
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Setting functional safety parameters
Refer to the following to set the functional safety parameters.
Page 431 Functional safety parameters that must be set
When using the safety sub-function control by input device, refer to the following.
Page 436 Input device
When using output devices, refer to the following.
Page 439 Output device
When using the safety sub-function control by network, refer to the following.
Page 442 Safety sub-function control by network
To use the SS2/SOS function, a servo motor with functional safety is required. For servo motors with functional safety, refer to
the following.
Page 452 Servo motor with functional safety
When using the SS2/SOS function, set the following parameters.
■SS1/SS2 deceleration monitor time
Refer to the operation sequence and set the sufficient time for the servo motor to stop.
■Safety sub-function - Stop speed
Refer to the operation sequence and set a servo motor speed at which the servo motor is considered to have been stopped.
■SOS permissible travel distance, SOS permissible travel distance unit selection
Refer to the operation sequence and set the travel distance to be permitted during stop monitoring.
■Safety sub-function - Speed detection delay time
The delay time from when the speed falls below the stop speed during deceleration to when stop monitoring starts, and the
delay time from when the stop speed is exceeded during stop monitoring to when the STO function is activated can be
changed with [Pr. PSA15 Safety sub-function - Speed detection delay time].
■Safety sub-function - Position detection delay time
The delay time from when the travel distance exceeds the threshold to when the STO function is activated can be changed
with [Pr. PSA17 Safety sub-function - Position detection delay time].
■SS1/SS2 deceleration monitor delay time
Refer to the operation sequence and set the time required for the deceleration monitoring to start after SS2C (SS2 command)
is turned off.
■SS1/SS2 deceleration monitor time constant
Refer to the operation sequence and set a time constant suitable for the deceleration command of the controller.
■SS1/SS2 deceleration monitor speed offset
An offset can be set for the start speed of the deceleration monitor time constant. Set this parameter if overshoot occurs at the
start of deceleration, etc.
Parameter Name
PSA03 SS1/SS2 deceleration monitor time
PSA04 Safety sub-function - Stop speed
PSA05 SOS permissible travel distance
PSA06 SOS permissible travel distance unit selection
PSA15 Safety sub-function - Speed detection delay time
PSA17 Safety sub-function - Position detection delay time
PSA24 SS1/SS2 deceleration monitor time constant
PSA25 SS1/SS2 deceleration monitor speed offset
PSA26 SS1/SS2 deceleration monitor delay time
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