Objects Requiring Settings; Operation Procedure - Omron 1 S Series User Manual

8 Safety Function
Position/velocity validation is monitored when "Yes" is applied in the table.
Basic control
Safety position/velocity
validation monitoring
function
Position validation
monitoring
Velocity validation
monitoring
*1. Activate the SOS function with the motor stops completely. Otherwise, the safety function errors could be de-
tected.

8-10-2 Objects Requiring Settings

Subindex
Index (hex)
4F01
Precautions for Correct Use
Set a multiple number of 128 to the setting value of Position Tolerance (4F01-02 hex). If you
set other numbers, the setting value is automatically corrected to a multiple number of 128
which does not exceed the setting value for the operation. Example: When the setting value is
between 256 and 383, 256 is automatically set to the setting value.

8-10-3 Operation Procedure

1
Set parameters.
Set 1 (Enable) to
(4F01-01 hex).
When using SOS/SLP/SDI functions, set Position Tolerance (4F01-02 hex). When using SLS
function, set Velocity Tolerance (4F01-03 hex).
2
Activate the safety monitoring function.
A Servo Drive starts the monitoring of a safety present pulse position and a safety present
motor velocity when commands of safety monitoring functions assigned to safety PDO is set to
0 (Activate) from a safety controller.
As for the details, refer to sections of each safety monitoring function.
8 - 124
Position control
SOS SLS
Yes
Yes
Name
(hex)
--- Safety Posi-
tion/Velocity Valida-
tion Monitoring
Function
01 Function Enable
02 Position Tolerance
03 Velocity Tolerance
Safety Position/Velocity Validation Monitoring Function - Function Enable
1S-series with Built-in EtherCAT Communications and Safety Functionality User's Manual (I621)
SLP SDI SOS
*1
Yes Yes
Yes
Description
Sets the Safety Position/Velocity Validation
Monitoring Function.
Selects to enable or disable the Safety Posi-
tion/Velocity Validation Monitoring Function.
0: Disable
1: Enable
Sets the Tolerance Value of the Position Valida-
tion Monitoring.
Sets the Tolerance Value of the Velocity Valida-
tion Monitoring.
Velocity control
SLS SLP SDI
Yes
Reference
P. 9-134