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4. SAFETY OBSERVATION FUNCTION
(3) Deceleration observation
(a) Speed observation at deceleration
The deceleration will be assumed as completion and the stop observation (SOS) will start when both
absolute value of the speed command and speed feedback are set value of [Pr. PSA04 SS2/SOS
standstill speed] or lower during deceleration. However, when the speed is lower than the standstill
speed, the stop observation will start after the setting time of [Pr. PSA15 SLS/SS2/SOS speed
detection delay time].
Servo motor speed
SS2C (SS2 command)
SOSS (SOS output)
(b) Delay time observation during deceleration
The deceleration will be assumed as completion and the stop observation (SOS) will start when the
time after starting SS2/SOS function reaches the set time of [Pr. PSA03 SS1/SS2 Deceleration
observation time].
Servo motor speed
SS2C (SS2 command)
SOSS (SOS output)
Command
Standstill
speed
0 r/min
ON (disabled)
OFF (enabled)
ON (observation
in progress)
OFF
Command
Standstill
speed
0 r/min
ON (disabled)
OFF (enabled)
ON (observation
in progress)
OFF
4 - 28
Deceleration
SS1/SS2 monitoring
deceleration time
Speed detection
delay time
Feedback
Deceleration
SS1/SS2 monitoring
deceleration time
Speed detection
delay time
Feedback
Stop observation (SOS)
Stop observation (SOS)
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