6 FUNCTIONAL SAFETY
6.4 Safety sub-function
383
6
Torque monitoring
■
Torque command monitoring
During torque monitoring, the function monitors whether the torque command does not exceed the SLT torque upper limit
value and does not fall below the SLT torque lower limit value. Upon detection that the torque command exceeds or falls
below the SLT torque, the STO function is activated. However, there will be a delay equal to the time set in [Pr. PSB18 SLT
torque detection delay time] from the detection until the STO function is activated.
■
Torque feedback monitoring
During torque monitoring, the function monitors whether the torque feedback is within the SLT torque. If the time of the torque
feedback remains exceeded for the duration set in [Pr. PSB18 SLT torque detection delay time], the STO function is activated.
0.0 %
ON
Torque
SLT1C (SLT1 command)
ON (disabled)
OFF (enabled)
SLT1S (SLT1 output)
OFF (enabled)
SLT torque upper limit value
SLT torque lower limit value
Torque monitoring
STO state
Torque detection delay time
Command
Feedback
ON (disabled)
STOS (STO output)
OFF (shut-off)
0.0 %
ON
Torque
SLT1C (SLT1 command)
ON (disabled)
OFF (enabled)
SLT1S (SLT1 output)
OFF (enabled)
SLT torque upper limit value
SLT torque lower limit value
Torque monitoring
STO state
Torque detection delay time
Feedback
ON (disabled)
STOS (STO output)
OFF (shut-off)
Command
