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7 FUNCTIONAL SAFETY PARAMETER DETAILS
7.1 Safety sub-function 1 parameters group ([Pr. PSA_ _ ])
[Pr. PSA04_Safety sub-function - Stop speed (**SSS)]
Set the stop speed. If the absolute value of the servo motor speed is equal to or less than the value set in this functional safety
parameter, the SS2/SOS function considers the servo motor as being stopped.
This functional safety parameter is used by the following four functions.
• When using the SS2/SOS function, the deceleration stop monitoring shifts to the stop monitoring (SOS) when the
deceleration speed becomes equal to or less than the servo motor speed set in this functional safety parameter.
• When using the SS2/SOS function, the STO function activates if the deceleration speed during the stop monitoring (SOS)
exceeds the servo motor speed set in this functional safety parameter.
• When using the SS1 function, the STO function activates if the deceleration speed during deceleration monitoring becomes
equal to or less than the servo motor speed set in this functional safety parameter.
• When using the SD1 function, the STO function activates if movement counter to the travel direction specified in SDIP or
SDIN occurs during direction monitoring due to the servo motor speed set in this functional safety parameter.
[Pr. PSA05_SOS permissible travel distance (**SSDP)]
Specify the travel distance to be permitted during stop monitoring (SOS) via the SS2/SOS function. The STO function
activates if movement to a position exceeding the position set in this functional safety parameter occurs after stop monitoring
starts.
The setting unit can be changed with [Pr. PSA06 SOS permissible travel distance unit selection].
This functional safety parameter can be used only with the MR-J5-_G_-RJ and MR-J5D_-_G_.
[Pr. PSA06_SOS permissible travel distance unit selection
(**SAOP1)]
Select the setting unit that will be used to set the SOS permissible travel distance in [Pr. PSA05 SOS permissible travel
distance].
[Pr. PSA06.0_SOS permissible travel distance unit selection]
0: [rev]
1: [0.1 rev]
2: [0.01 rev]
This functional safety parameter can be used only with the MR-J5-_G_-RJ and MR-J5D_-_G_.
[Pr. PSA07_SLS deceleration monitor time 1 (**SLSDT1)]
Set the threshold for the time required for the speed monitoring to start after the SLS1 command is enabled. Specify a
sufficient time that allows for deceleration to the safety speed after the SLS1 command is enabled. Perform deceleration
control from the controller, etc. as necessary during this delay time.
This functional safety parameter can be used only with the MR-J5-_G_-RJ and MR-J5D_-_G_.
Initial value
Setting range
Setting method
Ver.
50 [r/min], [mm/s]
0 to 10000
Each axis
B2
Initial value
Setting range
Setting method
Ver.
3 [rev]
0 to 1000
Each axis
B2
Initial value
Setting range
Setting method
Ver.
00000000h
Refer to the relevant detail No.
Each axis
Refer to the relevant detail No.
Initial value
Setting range
Ver.
0h
Refer to the text
B2
Initial value
Setting range
Setting method
Ver.
1000 [ms]
0 to 60000
Each axis
B2
