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6 FUNCTIONAL SAFETY
6.4 Safety sub-function
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
When using the SLT function, set the following parameters.
■SLT torque 1 to SLT torque 4
Refer to the operation sequence and set the threshold for torque monitoring. Although there are parameters corresponding to
SLT1C (SLT1 command) to SLT4C (SLT4 command), it is not necessary to set the parameters corresponding to commands
that are not enabled.
■SLT torque detection delay time
Set the error detection time for the detected torque. The setting value of this parameter changes the delay time from when the
SLT torque exceeds during torque monitoring to when the STO function is activated.
Parameter Name
PSB10 SLT torque upper limit value 1
PSB11 SLT torque upper limit value 2
PSB12 SLT torque upper limit value 3
PSB13 SLT torque upper limit value 4
PSB14 SLT torque lower limit value 1
PSB15 SLT torque lower limit value 2
PSB16 SLT torque lower limit value 3
PSB17 SLT torque lower limit value 4
PSB18 SLT torque detection delay time
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