Safety Position/Velocity Validation Monitoring Function; Details About Validation Monitoring - Omron 1 S Series User Manual

8-10 Safety Position/Velocity Validation
Monitoring Function
Safety Position/Velocity Validation Monitoring Function provides redundancy with checks of validity in
data about safety position/velocity while safety monitoring functions are activated. This function allows
you to change the safety level of the safety monitoring function to SIL3/PLe.
This function compares a safety position/velocity with each command of position/velocity generated by
the Servo Drive. When the results exceed position/velocity tolerance after the comparison, Safety
Function Error (Error No. 71.02) occurs and the motor stops by STO function.
The following table shows the achievable safety level, by combinations of safety monitoring functions
and basic controls.
Safety Position/Velocity
Validation Monitoring
Function
Activate
Deactivate
The safety level is SIL2/PLd while basic control is torque control regardless of this function.
The safety position/velocity validation monitoring function is activated with SOS, SLS, SLP and SDI
function. When these safety functions are activated, this function monitors the validation of the reliability
of safety position/velocity.
Read following as for more detailed timing.
Safety function
SOS function
SLS function
SLP function
SDI function

8-10-1 Details about Validation Monitoring

This function monitors the safety position/velocity validation by comparing the command of the Servo
Drive as shown below. Safety Present Pulse Position which is used by Position validation monitoring
is converted to the Present Pulse Position equivalent. As for the conversion of Safety Present Pulse
Position to the present pulse position equivalent, refer to 8-1-8 Position/Velocity Data Monitored by
Safety Functions on page 8-16.
Position validation monitoring: The absolute value of difference between Internal Position Command
and Safety Present Pulse Position ≤ Position Tolerance
Velocity validation monitoring: The absolute value of difference between Internal Velocity Command
and Safety Present Motor Velocity ≤ Velocity Tolerance
1S-series with Built-in EtherCAT Communications and Safety Functionality User's Manual (I621)
Safety function
SOS function
SLS function
SLP function
SDI function
SOS function
SLS function
SLP function
SDI function
In the SOS status
In the SLS status
In the SLP status
When the SDI positive/negative direction command is activated
Position control
Achievable safety level
SIL3/PLe
SIL3/PLe
SIL3/PLe
SIL3/PLe
SIL2/PLd
SIL2/PLd
SIL2/PLd
SIL2/PLd
Monitoring Timing
8 Safety Function
Velocity control
Achievable safety level
SIL3/PLe
SIL3/PLe
SIL2/PLd
SIL2/PLd
SIL2/PLd
SIL2/PLd
SIL2/PLd
SIL2/PLd
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