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4. SAFETY OBSERVATION FUNCTION
(4) Parameter setting
Set the parameter referring to section 4.3.3. Set parameters referring to section 4.4.1 when using the
SS1 function with input devices, and section 4.4.3 when using the SS1 function with safety compatible
motion controller. Additionally, when using SS1S (SS1 output) with output devices, refer to 4.4.2 to set
parameters.
The SS1 function is used for an emergency stop when an error is detected in internal diagnosis.
Therefore, be sure to set [Pr. PSA03 SS1/SS2 monitoring deceleration time] to a time required for the
servo motor to stop.
4.5.3 SS2/SOS function
(1) Summary
When SS2C (SS2 command) turns off, the SS2/SOS function executes the stop observation (SOS) after
a delay time set in advance or after standby until the servo motor stop is detected (SS2).
(2) Summary of sequence
The SS2/SOS function will operate by turning off SS2C (SS2 command).
The SS2/SOS function executes monitoring deceleration at first. Next, it will wait until the speed
decelerates a fixed speed or until a specified time passes. During the time, please execute deceleration
with the controller. Refer to (3) of this section for details of speed observation and delay time observation
during deceleration.
After the deceleration is complete, the stop observation starts. As the stop observation, speed
command, speed feedback, and position feedback are the targets. Refer to (4) of this section for details
of these observations. SOSS (SOS output) outputs on during stop observation.
The SS2/SOS function ends by returning SS2C (SS2 command) to on.
Servo motor speed
Servo motor feedback
position
SS2C (SS2 command)
SOSS (SOS output)
SS2S (SS2 output)
Standstill
speed
0 r/min
0 pulse/s
ON (disabled)
OFF (enabled)
ON (observation
in progress)
OFF
ON (disabled)
OFF (enabled)
4 - 27
Deceleration
Stop observation (SOS)
SOS allowance value
of position deviation
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