Position/Velocity Data Monitored By Safety Functions - Omron 1 S Series User Manual

8 Safety Function
8-1-8

Position/Velocity Data Monitored by Safety Functions

Safety Present Motor Velocity, Safety Present Pulse Position and Safety Present Position moni-
tored by safety functions have each characteristic.
Safety Present Motor Velocity
Safety Present Motor Velocity (4F1A-00 hex), which is used for operations each of SS1, SS2, SOS,
SLS and SDI functions and for a monitoring range setting, is different from Present Motor Velocity
(3221-82 hex) and Velocity actual value (606C-00 hex) as shown below explanation.
 Update Cycle
Safety Present Motor Velocity is 2 ms while Present Motor Velocity and Velocity actual value
are 125 µs. Due to this difference of the update cycles, even if Present Motor Velocity and Veloc-
ity actual value momentarily exceed a monitoring velocity by monitoring functions, in some cases,
Safety Present Motor Velocity does NOT exceed the monitoring velocity.
Read Safety Present Motor Velocity when you adjust a monitoring range and survey causes of
safety functions errors and the mal-functions.
Position
Velocity
Monitoring velocity
*1. Update cycle of Present Motor Velocity and Velocity actual value
*2. Update cycle of Safety Present Motor Velocity
8 - 16
125μs* 1
1S-series with Built-in EtherCAT Communications and Safety Functionality User's Manual (I621)
Time
2ms* 2
Time
Present Pulse Position
Safety Present Motor Velocity
Present Motor Velocity,
Velocity actual value