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7 FUNCTIONAL SAFETY PARAMETER DETAILS
7.1 Safety sub-function 1 parameters group ([Pr. PSA_ _ ])
[Pr. PSA14_SLS speed 4 (**SLSS4)]
Set the threshold for the safety speed if activating the SLS function via the SLS4 command. The STO function will activate if
the absolute value of the servo motor speed exceeds the value set in this parameter during speed monitoring via the SLS
function.
This functional safety parameter can be used only with the MR-J5-_G_-RJ and MR-J5D_-_G_.
[Pr. PSA15_Safety sub-function - Speed detection delay time
(**SLST)]
Specify the filter time of the delay filter that will judge whether the servo motor speed has exceeded or fallen below the
threshold during speed monitoring. The setting of this functional safety parameter delays the response time of the following
types of speed monitoring.
• The time required for the STO function to start after the speed is exceeded during speed monitoring via the SLS function
• The time required for the stop monitoring (SOS) to start after the servo motor speed falls below the stop speed while
decelerating during deceleration monitoring via the SS2/SOS function
• The time required for the STO function to start after the servo motor speed exceeds the stop speed during stop monitoring
(SOS) via the SS2/SOS function
• The time required for the STO function to start after the deceleration speed either exceeds the deceleration monitor speed
or falls below the stop speed during deceleration monitoring via the SS1 function
[Pr. PSA17_Safety sub-function - Position detection delay time
(**SOSPT)]
Specify the filter time of the delay filter that will judge whether the motor position has exceeded the threshold during position
monitoring. The setting of this functional safety parameter delays the response time of the following types of position
monitoring.
• The time required for the STO function to start after the position feedback travel distance deviates from the permissible
travel distance during stop monitoring via the SS2/SOS function
This functional safety parameter can be used only with the MR-J5-_G_-RJ and MR-J5D_-_G_.
[Pr. PSA18_SSM speed (**SSMS)]
Set the threshold for the safety speed if activating the SSM function. SSMS (SSM output) turns off when the absolute value of
the servo motor speed exceeds this speed, and turns on when the absolute value of the servo motor speed falls below this
speed. Note that judgment of the absolute value of the servo motor speed uses the hysteresis specified in [Pr. PSA19 SSM
hysteresis width].
SSMS (SSM output) is turned off if an alarm that disables the safety sub-function occurs.
If this functional safety parameter is set incorrectly, [AL. 537 Parameter setting range error (safety sub-function)] occurs.
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.
10 [ms]
5 to 2000
Each axis
B2
Initial value
Setting range
Setting method
Ver.
0 [ms]
0 to 2000
Each axis
B2
Initial value
Setting range
Setting method
Ver.
50 [r/min], [mm/s]
0 to 10000
Each axis
B2
