Omron 1 S Series User Manual page 435

(b) To activate SLS function once the velocity arrives the velocity limit before the delay time passed.
In addition to (a), if the motor was decelerated to the velocity limit before SLS time to velocity
monitoring passed, SLS monitoring function starts at the time the motor decelerated. In this case,
set a time to SLS time for velocity in limits that determines that the motor velocity is within veloc-
ity limit.
SLS command
SLS status
Velocity
Velocity limit +
Velocity limit -
SLS starts monitoring when either condition of the SLS time to velocity monitoring or the SLS
time for velocity in limits is met earlier.
SLS command
SLS status
Velocity limit +
Velocity limit -
Precautions for Correct Use
• Set times so that SLS time for velocity in limits is less than or equal to SLS time to veloc-
ity monitoring.
• Set times so that SLS time for velocity in limits is equal to SLS time to velocity monitor-
ing when activating SOS function with only way (a).
1S-series with Built-in EtherCAT Communications and Safety Functionality User's Manual (I621)
Reset SLS Activate SLS
SLS time to velocity monitoring
SLS time for
velocity in limits
Normal status
0
Reset SLS Activate SLS
SLS time to velocity monitoring
Normal status
Velocity
0
SLS status
Time
SLS time for
velocity in limits
SLS status
8 Safety Function
Time
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