Settings; Returning Method; Exceptional Operation - YASKAWA E-V Series User Manual

6.6.2 Settings

To use the SLS-D function, make the settings for using the SLS-D function of either Safety Function A or
Safety Function B in the parameters. For details on the settings of the safety functions, refer to 6.2.1 Selecting
a Safety Function.

6.6.3 Returning Method

The method of returning to normal operation depends on the operation state of the SLS-D function.
(1) During Deceleration Monitoring or Constant-speed Monitoring
The SERVOPACK will return to normal operation when the input state of safety request is turned to ON.
(2) During Safe (HWBB) State
The method of returning after an alarm has occurred and the SERVOPACK has changed to the safe (HWBB)
state is the same as that for the SBB function. For details, refer to 6.3.3 Returning Method.

6.6.4 Exceptional Operation

(1) After Resetting the System
After the system is reset, if the Safety Request Input Signal turns OFF (Safety Function Execution Request)
when the S-RDY signal turns OFF, the Safety Module performs constant-speed monitoring instead of deceler-
ation monitoring.
Safety Request Input Signal
SLS-D function operation state
(2) While Recalculating Parameters
Similar to the CONFIG command of MECHATROLINK-II communications or MECHATROLINK-III com-
munications, if the Safety Request Input Signal turns OFF (Safety Function Execution Request) when the S-
RDY signal turns OFF during recalculation to enable the specified parameters, constant-speed monitoring is
performed instead of deceleration monitoring.
Safety Request Input Signal
SLS-D function operation state
Operation Timing
System reset
ALM signal
S-RDY signal
ON
Initialization
Safety Module state
SERVOPACK state
Operation Timing
Parameter recalculation request
S-RDY signal
SERVOPACK state
ON
6.6 Safely Limited Speed with Delay Function (SLS-D Function)
ON
OFF
Undefined ON OFF
Initialization
HWBB HWBB
OFF ON
Parameter recalculation
OFF
HWBB Constant-speed monitoring
SLS-D function executed
OFF
ON
Operating
Constant-speed
monitoring
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