Add Safety PDOs to the 1S-series Servo Drive with Built-in EtherCAT Communications PDOs in the EtherCAT network configuration.

• RxPDO: 273th receive PDO Mapping (1710 hex)

• TxPDO: 273th transmit PDO Mapping (1B10 hex)

Make sure the 1S-series Servo Drive with Built-in EtherCAT Communications is enabled under the setting for the Safety CPU Unit.

Use the following data and create safety programs for the Safety CPU Unit.

• When you use the STO function via EtherCAT communications, enable the security function of the EtherCAT master to ensure that the PDO mapping is not changed.
• Use the Operation Authority Verification function in the NJ/NX-series CPU Unit to enable the security function. Set authorities so that synchronization of the transfer operations cannot be operated.
• When communications with the EtherCAT master are established, the STO status is detected and the 7-segment LED display shows ST. Reset STO after communications with the Safety CPU Unit are established.
• NX-series Safety CPU Units use the Safety Output Unit’s processing time and the slave control period to calculate the safety reaction time and the safety task period respectively. For 1S-series Servo Drives with Built-in EtherCAT Communications, use the following values:
  • Safety Input Unit’s processing time: 4 ms
  • Slave control period: 3 ms