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6 FUNCTIONAL SAFETY
6.4 Safety sub-function
Speed monitoring
■Speed monitoring command
During speed monitoring, this function monitors whether the absolute value of the speed command is within the SLS speed.
Upon detection that the speed command exceeds the SLS speed, the STO function is activated. However, there will be a
delay equal to the time set in [Pr. PSA15 Safety sub-function - Speed detection delay time] from when the SLS speed is
exceeded until the STO function is activated.
■Speed feedback monitoring
During speed monitoring, this function monitors whether the absolute value of the speed feedback is within the SLS speed. If
the time of the speed feedback remains exceeded for the duration set in [Pr. PSA15 Safety sub-function - Speed detection
delay time], the STO function is activated.
0 r/min
(mm/s)
ON
OFF
ON
Servo motor speed
SLS_C (SLS_command)
ON (disabled)
OFF (enabled)
ALM (malfunction)
ON (disabled)
OFF (enabled)
Base circuit
(energy supply to
servo motor)
STOS (STO output)
OFF (shut-off)
Speed monitoring
Feedback
STO state
SLS deceleration monitor time
Speed detection delay time
Command
SLS speed
0 r/min
(mm/s)
ON
OFF
ON
Servo motor speed
SLS_C (SLS_command)
ON (disabled)
OFF (enabled)
ALM (malfunction)
ON (disabled)
OFF (enabled)
Base circuit
(energy supply to
servo motor)
STOS (STO output)
OFF (shut-off)
Speed monitoring
Feedback
STO state
SLS deceleration monitor time
Speed detection delay time
Command
SLS speed
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