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4. SAFETY OBSERVATION FUNCTION
(d) SLS/SS2/SOS speed detection delay time
You can set a delay time for when the speed decelerates lower than standstill speed until the start of
stop observation and for when the speed accelerates higher than standstill speed during stop
observation until the start of the STO function by using [Pr. PSA15 SLS/SS2/SOS speed detection
delay time].
(e) SOS position detection delay time
You can set a delay time for when the travel distance exceeds a threshold until the start of the STO
function by using [Pr. PSA17 SOS position detection delay time].
4.5.4 SLS function
(1) Summary
This is a function to observe whether the speed is within a regulated speed limit value. When the speed
is over a specified speed, energy will be shut off by STO. The STO function operates when the servo
motor speed exceeding the SLS speed is detected. The SLS function observes both command speed
and feedback speed.
(2) Summary of sequence
The SLS function starts to operate by turning off SLS_C (SLS_command). Speed observation will be
started when the delay time specified with the parameter has passed after SLS_C (SLS_command) is
turned off. During the speed observation, the servo motor speed is observed to be equal to or less than
the SLS speed specified with the parameter. The speed observation will be terminated by turning on
SLS_C (SLS_command).
Servo motor speed
SLS1C
(SLS1 command)
SLS1S
(SLS1 output)
(3) Parameter switching
With the SLS function, four patterns of SLS speed and SLS deceleration monitoring time can be set. The
following table shows SLS deceleration monitoring time and SLS speed enabled with each command of
SLS1, SLS2, SLS3, and SLS4.
SLS command
SLS1 command
SLS2 command
SLS3 command
SLS4 command
SLS monitoring
deceleration time 1
0 r/min
ON (disabled)
OFF (enabled)
ON (disabled)
OFF (enabled)
SLS deceleration monitoring time
[Pr. PSA07 SLS deceleration monitoring time 1] [Pr. PSA11 SLS speed 1]
[Pr. PSA08 SLS deceleration monitoring time 2] [Pr. PSA12 SLS speed 2]
[Pr. PSA09 SLS deceleration monitoring time 3] [Pr. PSA13 SLS speed 3]
[Pr. PSA10 SLS deceleration monitoring time 4] [Pr. PSA14 SLS speed 4]
4 - 31
Speed observation
in progress
SLS speed 1
SLS speed
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