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4. SAFETY OBSERVATION FUNCTION
4.1 Safety observation function specification
The achievable safety level and usable safety observation function will be affected depending on devices to
connect. Also, parameter needs to be set in proportion to connecting machine. The following shows servo
motors and parameter settings required to meet each functional safety level.
(1) Shut off/Observation function
(a) When using a drive safety integrated motion controller
(b) Using input device
Safety
observation
function
STO function
SLS function
SS1 function
Category 3,
PL d, SIL 2
Category 4,
PL e, SIL 3
Category 3,
PL d, SIL 2
Category 3,
PL d, SIL 2
Category 4,
PL e, SIL 3
Category 3,
Category 3,
PL d, SIL 2
PL d, SIL 2
Category 4,
Category 4,
PL e, SIL 3
PL e, SIL 3
Note 1. Set the IO diagnosis pulses of the controller to disabled (not use).
2. Set the IO diagnosis pulses of the controller to enabled (use). The controller needs to be compatible with SIL 3.
Safety observation function
STO function
SS1 function
Category 3, PL d, SIL 2
Category 3, PL d, SIL 2
SS2/SOS
Device for connecting to input
function
devices (DI1_ to DI6_) (example)
Push button switch for emergency
stop, safety switch, enable switch
Safety programmable controller (Note
1), safety controller (Note 1)
Push button switch for emergency
stop, safety switch, enable switch
Safety programmable controller (Note
2), safety controller (Note 2)
Push button switch for emergency
stop, safety switch, enable switch
Safety programmable controller (Note
1), safety controller (Note 1)
Push button switch for emergency
stop, safety switch, enable switch
Safety programmable controller (Note
2), safety controller (Note 2)
Push button switch for emergency
stop, safety switch, enable switch
Category 3,
PL d, SIL 2
Safety programmable controller (Note
1), safety controller (Note 1)
Push button switch for emergency
stop, safety switch, enable switch
Category 4,
PL e, SIL 3
Safety programmable controller (Note
2), safety controller (Note 2)
Connected device
Servo motor with functional
SLS function
Not required
Connected device
Servo motor
with functional
safety
Not required
Not required
Not required
Not required
Not required
Not required
Not required
Not required
Required
Required
Required
Required
4 - 2
Parameter setting
Position/speed observation
safety
Pr. PSA02
_ _ 0 0 (no execution)
Parameter setting
(a) Built-in test
Position/speed
pulse
observation
diagnosis
Pr. PSD24
Pr. PSA02
Pr. PSD25
_ _ 0 0
0
(no execution)
(no execution)
_ _ 0 0
0
(no execution)
(no execution)
_ _ 0 0
1
(no execution)
(execution)
_ _ 0 0
0
(no execution)
(no execution)
_ _ 2 0
0
(execution)
(no execution)
_ _ 2 0
0
(execution)
(no execution)
_ _ 2 0
1
(execution)
(execution)
_ _ 2 0
0
(execution)
(no execution)
_ _ 1 0
0
(execution)
(no execution)
_ _ 1 0
0
(execution)
(no execution)
_ _ 1 0
1
(execution)
(execution)
_ _ 1 0
0
(execution)
(no execution)
Fixing-
diagnosis at
start-up
Pr. PSD27
Pr. PSD28
1
(execution)
1
(execution)
1
(execution)
0
(no execution)
1
(execution)
1
(execution)
1
(execution)
0
(no execution)
1
(execution)
1
(execution)
1
(execution)
0
(no execution)
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