Data Necessary For Designing Programs Of Each Controller - Omron 1 S Series User Manual

8 Safety Function
8-1-6

Data Necessary for Designing Programs of Each Controller

To secure a combined control between a safety controller and a standard controller, design programs
for each controller and install the Servo Drive with the consideration of the followings.
Time Length Required to Activate the Safety Function
The minimum time length is required to activate the safety functions after the safety controller sent
command signals.
The minimum time length to activate the safety function = EtherCAT Communication Cycle
The safety controller issues commands to activate safety functions to the Servo Drive, considering this
shortest time mentioned earlier and the timing of completion of deceleration by the motor
Safety
Controller/Sensor
Communi
cations
receiving
process
FSoE
Communication
Safety processing
period 2 ms
Servo Drive
8 - 12
Safety Task period
Communi
Program
cation
execution sending
process
Command signal to Servo Drive
EtherCAT Communication period
... ...
... ...
1S-series with Built-in EtherCAT Communications and Safety Functionality User's Manual (I621)
Safety Task period
Communi
Communi
Program
cations cation
execution
receiving sending
process
process
...
...
s control.
'
Communi
cations
receiving
process