Operation Procedure - Omron 1 S Series User Manual

8-3-2

Operation Procedure

This section describes how to use the SS1 function.
1
Assign SS1 function to PDO.
SS1 function was already assigned when only SS1 command 1 is used.
Assign an instance to be used from SS1 command 2 to SS1 command 8 (6650-02 hex to 08
hex) when other SS1 command is used.
Refer to Setting of Fixed Safety PDO on page 8-8 for details.
2
Set parameters.
• Set a timing to activate STO function into instances from SS1 time to STO - SS1 time to
STO 1 to SS1 time to STO 8 (6651-01 hex to 08 hex).
• Set a velocity limit to detect motor's stop to instances from SS1 velocity zero window - SS1
velocity zero window 1 to SS1 velocity zero window 8 (6653-01 hex to 08 hex).
• Set a monitoring time to determine motor's stop into instances from SS1 time for velocity
zero - SS1 time for velocity zero 1 to SS1 time for velocity zero 8 (6654-01 hex to 08 hex).
3
Enable SS1 function.
STO function is activated at the set timing when SS1 command assigned to safety PDO map-
ping is set to 0 (Activate SS1) from a safety controller.
1S-series with Built-in EtherCAT Communications and Safety Functionality User's Manual (I621)
8 Safety Function
8 - 43
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