The S100 motion controller includes a variety of complex safety functions.
Components such as servo amplifiers adopted in equipment are required to be equipped with high safety measures with various safety functions defined in international standards and safety certifications.
SANYO DENKI already offers the widely-used SANMOTION R ADVANCED MODEL and SANMOTION R 3E Model which are equipped with STO (Safe Torque Off) as a basic safety function. However, in response to the aforementioned demands, we have expanded our lineup with the addition of the SANMOTION R 3E Model Safety servo amplifier which supports a variety of safety functions. This article describes the specifications and features of the new model.
Safety Features Overview
This table below shows the general specifications of the 200 VAC input model, while the image is a structural drawing of the motion controller. The SANMOTION R 3E Model safety features can be configured by attaching a special-purpose board on the side of the existing SANMOTION R 3E Model analog/pulse train interface or EtherCAT interface servo amplifier. Moreover, the safety module and side cover are standardized, so all amplifier capacities of each input power specification are compatible with the expansion.
The new model is compatible with our standard encoders, and can be used with the SANMOTION R servo motors. This means that safety functions can be added by simply replacing the existing servo amplifier with this new, safety function-equipped model, eliminating the need to make changes to the servo motor or equipment itself.
Safety functions
This table describes the safety functions. The new model is equipped with five safety inputs to execute each of these five functions. Moreover, parameters can be used to determine which safety function is executed by each safety input.
The following table lists the safety inputs and corresponding selectable safety functions. Safety inputs SFIA and SFIB support all safety functions and the appropriate function can be selected to suit the purpose.
SFIC through SFIE function as inputs for Safely-Limited Speed (SLS). Seven stages of safe speed range (speed limited levels) can be selected through ON/OFF combinations of the three inputs. Moreover, for fine-tuned control, SFIA and SFIB can be used to expand the safe speed range up to a maximum of 31 stages.
With multiple safety inputs and the freedom to select which safety function to execute, the safety functions can be used flexibly to match the device operating conditions. It is also possible to execute multiple safety functions simultaneously.
Safety output functions
This table provides descriptions of the safety output functions and monitor output functions. The new model supports two types of safety outputs and three types of monitor outputs, which are selectable using parameters. 
Safe Speed Monitor (SSM) can be outputted from SFOC and, in the same way as Safely-Limited Speed, a maximum of 31 stages of safe speed ranges can be selected through different combinations of the safety inputs.
Safe Brake Control (SBC) is a signal for the motor’s holding brake control and can be outputted from all safety outputs.
The Safety Input Status Monitor (INM) outputs the status of safety inputs SFIA and SFIB to SFOA and SFOB, and the combined statuses of SFIC through SFIE to SFOC. This output function enables equipment failures to be monitored in the path from the safety inputs to the safety outputs of the servo amplifier circuit.
Moreover, by utilizing the Safety Function Operating Monitor (STA) and Safe Torque Off (STO) status monitor, the new model can monitor consistency between the safety inputs and servo amplifier internal status, as well as assess the amplifier’s status.
Check out the links below to learn more about the new features designed in the S100.