FUJI SERVO SYSTEM

ALPHA7 SERIES FUNCTION SAFETY MODULE

USER’S MANUAL

24C7-E-0137
This manual is the "User's Manual for Fuji AC Servo System ALPHA7 Series Function Safety Module
WSU-ST1".

The following document is packaged together with the product.

Device Model Document name Doc. No.

Function safety Operation Manual
WSU-ST1 INR-SI47-2075JE
module ALPHA7 Series Function Safety Module

For uncertainties in the product or description given in this manual, contact the dealer or our sales
office shown at the end of this volume.

 Manual
Description given in this manual may be inconsistent to the product due to improvements added to
the product. Description given in this manual is subject to change without notice.
Illustrations included in this manual show the servo amplifier or servomotor of a specific capacity
and they may be different from the appearance of the product you purchased.

This product is not designed or manufactured for use in devices or systems related to human lives.
To use this product for aeronautic devices, traffic controllers, space industry devices, nuclear reactor
controllers, medical devices or systems including those devices, contact our sales window.
To use the product for equipment in which failure of the product will be engaged with human lives or
serious material losses, install safety devices matching the equipment.

 Icons
The following icons are used in the description of the manual when necessary.

Negligence of description shown with this sign will undermine the true performance of the
product.
Reference items helpful for operation and data entry of the servomotor or servo amplifier
are described.

i
ii
CHAPTER 0 INTRODUCTION 0
CHAPTER 1 INSTALLATION 1
CHAPTER 2 WIRING 2
CHAPTER 3 PARAMETERS 3
CHAPTER 4 SAFETY FUNCTION OPERATION 4
CHAPTER 5 MAINTENANCE AND INSPECTION 5
CHAPTER 6 SPECIFICATIONS 6
CHAPTER 7 COMPLIANCE WITH SAFETY STANDARDS 7
CHAPTER 8 WARRANTY 8

iii
 Contents
CHAPTER 0 INTRODUCTION
0.1 Safety Precautions ···································································· 0-2
0.1.1 Types and Meanings of Warning Signs ····································· 0-2
0.1.2 Graphic Symbols ·································································· 0-2
0.2 Product Overview ···································································· 0-11
0.3 Explanation of Model Codes ······················································ 0-13
0.4 Servomotor and Servo Amplifier Combinations ······························ 0-14

CHAPTER 1 INSTALLATION
1.1 Storage Environment ································································· 1-2
1.2 Operating Environment ······························································· 1-3
1.3 Mounting On the Servo Amplifier ·················································· 1-4

CHAPTER 2 WIRING
2.1 Configuration ············································································ 2-2
2.1.1 Name of Each Part ······························································· 2-2
2.1.2 Configuration ······································································· 2-3
2.1.3 Terminal Function Description ················································· 2-7
2.1.4 I/O Signal Connection Diagram ············································· 2-10
Input signals (terminals SIA1+, SIA1-, SIA2+, SIA2-, SIB1+, SIB1-,
SIB2+, SIB2-, RES+, RES-) ·········································································· 2-10
Output signals (terminals EDM1+, EDM1-, EDM2+, EDM2-,
PI_SSM1, SSM1, CM_SSM1, PI_SSM2, SSM2, CM_SSM2) ······························· 2-11
Output signals (terminals PISBC1, SBC1, PISBC2, SBC2) ·································· 2-12

CHAPTER 3 PARAMETERS
3.1 Parameter List ·········································································· 3-2
3.2 Description of Each Parameter ····················································· 3-4
3.3 Parameter Setting Method························································· 3-11
3.3.1 Parameter Setting Flow ······················································· 3-11
3.3.2 Password Authentication ······················································ 3-12
3.3.3 Parameter Editing······························································· 3-14
3.3.4 Importing Parameters ·························································· 3-15
3.3.5 Exporting Parameters·························································· 3-16
3.4 Related Servo Amplifier Parameters ············································ 3-17
PA2_61: Action sequence at servo-on = OFF, forced stop ··································· 3-17
PA2_62: Action sequence at alarm ································································· 3-17

iv
 PA1_36 Acceleration / deceleration selection at speed control ··························· 3-18
PA1_37 Acceleration time 1 ········································································ 3-18
PA1_38 Deceleration time 1 ······································································· 3-18
PA1_39 Acceleration time 2 ········································································ 3-18
PA1_40 Deceleration time 2 ······································································· 3-18
PA2_76 No.3 deceleration time ··································································· 3-18
PA4_11 Function safety Amplifier operation selection······································· 3-18
PA4_12 Function safety SLS speed limit value ··············································· 3-18

CHAPTER 4 SAFETY FUNCTION OPERATION

4.1 Safe Stop 1 (SS1) Speed Monitoring ············································· 4-2
4.1.1 Safe Stop 1 (SS1) Speed Monitoring Normal Operation ·············· 4-2
4.1.2 Safe Stop 1 (SS1) Speed Monitoring Alarm Operation ··············· 4-4
4.1.3 Related Parameters ······························································ 4-5
4.2 Safe Stop 1 (SS1) Time Monitoring ··············································· 4-6
4.2.1 Safe Stop 1 (SS1) Time Monitoring Normal Operation ················ 4-6
4.2.2 Related Parameters ······························································ 4-7
4.3 Safe-Limited Speed (SLS) ··························································· 4-8
4.3.1 Safe-Limited Speed (SLS) Normal Operation ····························· 4-8
4.3.2 Safe-Limited Speed (SLS) Alarm Operation ····························· 4-10
4.3.3 Related Parameters ···························································· 4-11
4.4 Safe Speed Monitor (SSM) ························································ 4-12
4.4.1 Safe Speed Monitor (SSM) Normal Operation ·························· 4-12
4.4.2 Related Parameters ···························································· 4-12
4.5 Safe Brake Protocol (SBC) ························································ 4-13
4.5.1 Safe Brake Protocol (SBC) Normal Operation··························· 4-13
4.5.2 Related Parameters ···························································· 4-14

CHAPTER 5 MAINTENANCE AND INSPECTION

5.1 Inspection ················································································ 5-2
5.2 Status Display ·········································································· 5-4
5.2.1 LED Display ········································································ 5-4
5.2.2 Alarm List ··········································································· 5-5
5.2.3 Troubleshooting ··································································· 5-6
The "PWR" LED display does not turn on. ·························································· 5-6
EcF alarm sub-code 01xx, 02xx, 03xx, 0Bxx, 11xx: Function safety module error ······· 5-6
EcF alarm sub-code 04xx: SIA circuit error ························································· 5-7
EcF alarm sub-code 05xx: SIB circuit error ························································· 5-7
EcF alarm sub-code 06xx, 09xx: SBC circuit error ················································ 5-8

v
 EcF alarm sub-code 07xx, 0Axx: SSM circuit error ··············································· 5-8
EcF alarm sub-code 00xx, 08xx: STO circuit error ················································ 5-8
EcF alarm sub-code 0Cxx: Servo amplifier communication error ····························· 5-9
EcF alarm sub-code 0Dxx: Encoder error ··························································· 5-9
EcF alarm sub-code 0Fxx: SS1 (speed monitoring) operation error ························ 5-10
EcF alarm sub-code 10xx: SLS circuit error ······················································ 5-10
EcF alarm sub-code 12xx: Servo amplifier major failure ······································ 5-11
EcF alarm sub-code 13xx: Loader communication error ······································ 5-11
The servo motor does not rotate. (No alarm displayed) ······································· 5-11

CHAPTER 6 SPECIFICATIONS
6.1 Standard Specifications ······························································ 6-2
6.2 Precautions When Turning On the Power ······································· 6-4

CHAPTER 7 COMPLIANCE WITH SAFETY STANDARDS

7.1 Safety Standards Compliance Precautions ····································· 7-2
7.1.1 Terminal SIA, SIB Wiring Method ············································· 7-2
7.1.2 Terminal SBC Wiring Method ·················································· 7-2
7.1.3 Safety Function Operation (STO, SS1, SLS) Caution ··················· 7-3
7.1.4 Wiring Check ······································································· 7-3
7.1.5 Safety Function Test ····························································· 7-3

CHAPTER 8 WARRANTY
8.1 Warranty Period and Warranty Scope ············································ 8-2
8.1.1 Free of Charge Warranty Period ·············································· 8-2
8.1.2 Warranty Scope ··································································· 8-2
8.1.3 Trouble Diagnosis ································································ 8-3
8.1.4 Exclusion of Liability for Loss of Opportunity, etc. ························ 8-3
8.1.5 Repair Period after Production Stoppage,
Spare Parts Supply Period ····························································· 8-3

vi
CHAPTER 0 INTRODUCTION 0

0-1
 CHAPTER 0 INTRODUCTION

0 0.1 Safety Precautions

0.1.1 Types and Meanings of Warning Signs

Before starting installation, wiring work, maintenance or inspection, read through this manual and other
attached documents.
Be familiar with the device, safety information and precautions before using.
In this manual, safety precautions are described in two categories: "WARNING" and "CAUTION."

Warning sign Meaning

Negligence of description will cause danger in which deaths or serious
WARNING injuries may be caused.
Negligence of description will cause danger in which minor or medium
CAUTION injuries or material losses may be caused.

Description given in the "CAUTION" category may cause serious results under some circumstances.
All descriptions are critical and should be strictly observed.
After reading, keep the manual in a place where users can refer to it at any time.

0.1.2 Graphic Symbols

Graphic symbols are used when necessary.

Graphic Graphic
Meaning Meaning
symbol symbol

Do not touch Make sure to make grounding

Do not disassemble

Notice of general prohibition

0-2 Safety Precautions

 CHAPTER 0 INTRODUCTION

 Precautions on use

WARNING
0
 Never touch components inside the servo amplifier, or live terminal blocks or connectors.
Failure to observe this could result in electric shock.
 Make sure to ground the grounding terminal of the servo amplifier and servomotor.
Failure to observe this could result in electric shock.
 Always carry out work such as wiring and maintenance after waiting at least 5 minutes after
turning off the power, and after confirming that the charge LED is off.
Failure to observe this could result in electric shock.
 Work such as wiring and maintenance should be carried out by a specialized technician.
Failure to observe this could result in accident, injury, or failure.
 Do not give damage or unreasonable stress to cables. Do not place a heavy matter on them or
do not pinch them.
Failure to observe this could result in failure, damage, or electric shock.
 Do not touch the rotating part of the servomotor during operation.
Failure to observe this could result in injury.
 The WSU-ST1 output cutoff function is not designed to completely cut off the power supply to
the motor electrically. Depending on the application, it is necessary to take protection measures
such as adopting a mechanical brake to prevent the machine from moving, or employing motor
terminal protection to prevent anticipated electric shock.
Failure to observe this could result in injury or electric shock.
 Carry out work after ensuring that the servomotor has come to a complete stop.
Failure to observe this could result in electric shock.
 Never disassemble or modify the product.
Failure to observe this could result in accident or injury, and the product will no longer be
covered by warranty.

Safety Precautions 0-3

 CHAPTER 0 INTRODUCTION

0 CAUTION
 Use with the servo amplifier and servomotor combinations specified in the instruction manual or
user's manual.
Failure to observe this could result in fire or failure.
 Carry out wiring work properly and securely.
Failure to observe this could result in fire or failure.
 Never use at places susceptible to water splashes, in corrosive atmosphere, in flammable gas
atmosphere or near flammable matters.
Failure to observe this could result in fire or failure.
 As the servo amplifier, servo motor and peripheral devices temperature will become high and
requires careful considerations.
Failure to observe this could result in burns.
 Do not touch the heat sink of the servo amplifier, braking resistor, servo motor and so on while
they are turned on and for a while after they are turned off due to high temperature.
Failure to observe this could result in burns.
 The motor holding brake is not a shutdown device for ensuring machine safety. To ensure
machine safety, install a shutdown device at the machine side.
Failure to observe this could result in injury.
 If an alarm occurs, eliminate the cause, ensure safety, and then reset the alarm.
Failure to observe this could result in injury.
 If a braking resistor is used, take measures to turn the power off upon a fault signal output from
the servo amplifier.
Otherwise the braking resistor may be overheated and cause fire in the event of failure of the
braking transistor.
Failure to observe this could result in fire.

 Precautions on storage

CAUTION
 Do not store at places susceptible to rain or water splashes or toxic gases or liquid.
Failure to observe this could result in failure.
 Store the product where it will not be exposed to direct sunlight, and within the prescribed
temperature and humidity ranges.
Failure to observe this could result in failure.
 To store in the installed state.
Cover the entire servo motor with a sheet to protect against vapor, oil and water. Apply an
anti-corrosive agent on machined surfaces such as the shaft and flange face.
To avoid rust on bearings, turn manually or operate for five minutes without a load about once a
month.
Failure to observe this could result in failure.

0-4 Safety Precautions

 CHAPTER 0 INTRODUCTION

 Precautions on transportation

CAUTION
0
 Do not hold cables or servo motor shaft when transporting.
Failure to observe this could result in failure or injury.
 Overloaded products will cause collapse of cargo, hence observe the requirements.
 The eye bolt of the servo motor shall be applied exclusively for transportation of the servo motor.
Do not use it to transport machineries.
Failure to observe this could result in failure or injury.
 Do nor drop or apply strong impact to the product.
Failure to observe this could result in failure.
 Fumigation process before shipment
The internal parts of servo amplifiers may get corroded due to a halogen compound gas such as
methyl bromide which is used for fumigation process in packaging, resulting in damage of the
product.
When shipping servo amplifiers by installing them to a board or unit, pack them using wooden
materials which have been processed with fumigation treatment.

 Precautions on installation

CAUTION
 Do not ride on the servomotor or place a heavy matter on it.
Failure to observe this could result in failure, damage, electric shock, or injury.
 Do not block the exhaust port or do not allow foreign substance to enter.
Failure to observe this could result in failure or electric shock.
 Observe the installation orientation of the servo amplifier.
Failure to observe this could result in fire or failure.
 Do not apply strong impact.
Failure to observe this could result in failure.
 The shaft-through hole of the servo motor is not water proof or oil proof. Take measures on the
machine side to block entry of water, coolant or similar from entering inside the servo motor.
Failure to observe this could result in failure.
 If case of application when massive water or oil is splashed on the main body of the servo motor,
install a water or oil splash guard or take similar measures on the machine side.
Failure to observe this could result in failure.
 In a humid and high oil mist environment, install the lead wires and connectors in a face down
orientation.
Failure to observe this could result in poor insulation, short circuit and resultant failure.

Safety Precautions 0-5

 CHAPTER 0 INTRODUCTION

0 Do not disassemble
 Never remodel the servo motor and servo amplifier.
It might cause fire and failure. It will not be covered by the warranty.

Do not hammer
 Do not apply strong impact on the output shaft of the servo motor.
It might cause damage to the encoder inside the motor.

 Precautions on wiring

CAUTION
 Never apply the commercial power supply to the U, V and W terminals of the servo motor.
Failure to observe this could result in fire or failure.
 Do not connect the ground (E) to the servo motor side U, V, or W terminals, or connect the U, V,
or W terminals in the wrong order.
Failure to observe this could result in fire or failure.
 Always ensure that motor power cables are not connected incorrectly. If there is a motor power
cable wiring (U, V, W) phase interruption, the motor may not rotate, and an alarm (OL, OS, etc.)
may be detected even if a command is input.
Failure to observe this could result in fire or failure.
 Do not insert an electromagnetic contactor, etc. between the servo amplifier U, V, and W output
and servomotor U, V, and W terminals.
Failure to observe this could result in fire or failure.
 If fabricating an encoder cable, be careful not to mistake the BAT+ and BAT- polarity. If a battery
is connected with incorrect BAT+ and BAT- polarity, both ends of the battery will short circuit,
and the battery may overheat or suffer damage.
Failure to observe this could result in abnormal operation or failure.
 Never perform a dielectric, Megger or buzzer test to the encoder terminals.
Failure to observe this could result in encoder damage.
 To perform a dielectric, Megger or buzzer test to the U, V and W terminals of the servo motor,
disconnect the servo amplifier.
Failure to observe this could result in failure.
 Do not connect encoder terminals in inappropriate order.
Failure to observe this could result in encoder or servo amplifier damage.

0-6 Safety Precautions

 CHAPTER 0 INTRODUCTION

CAUTION
 In an adverse power supply environment, insert a protective device such as the AC reactor so
0
that the voltage fluctuation is contained within the rating.
Failure to observe this could result in servo amplifier damage.
 Install a circuit breaker or similar safety devices for short circuits in external wiring.
Failure to observe this could result in fire or failure.
 Do not remove the cover or disconnect the cable, connector or optional device with the servo
amplifier turned on.
Failure to observe this could result in electric shock, operation stoppage, or failure.
 Use the servo system under the specified voltage range.
Failure to observe this could result in failure.
 Do not tie signal cables or route them in the same duct with main power cable or servo amplifier
motor output cable.
Failure to observe this could result in failure or abnormal operation.
 Use the designated wiring material. In particular, use the option cable or equivalent for the
encoder cable.
 Do not insert a phase advance capacitor, various filter, reactor or similar on the output side of
the servo amplifier.
Failure to observe this could result in failure.
 The servo amplifier cannot be fully protected from ground fault.
 Be sure to connect the grounding terminal of the servo amplifier to a grounding electrode.
 Secure wires and connector screws with the prescribed torque.
Failure to observe this could result in abnormal operation or overheating.

Ground
 Be sure to connect the grounding terminal of the servo amplifier to a grounding electrode.
Failure to observe this could result in electric shock.

 Precautions on operation

CAUTION
 In order to avoid unstable motions, never change adjustment radically.
Failure to observe this could result in injury.
 To perform test operation, fix the servo motor and leave it disconnected from the mechanical
system. After checking the motion, connect to the machine.
Failure to observe this could result in injury.
 The retention brake incorporated in the servo motor is not a stopping unit for assuring safety of
the machine. Install a stopping unit on the machine side to assure safety.
Failure to observe this could result in failure or injury.

Safety Precautions 0-7

 CHAPTER 0 INTRODUCTION

0 CAUTION
 When an alarm occurs, resolve the cause and assure safety before performing alarm reset and
restarting operation.
Failure to observe this could result in injury.
 Stay away from the machine after power failure and power restoration because sudden restart
may be triggered. (Design the machine so that personal safety is secured even if the machine
restarts suddenly.)
 The brake incorporated in the servo motor is for retention. Do not use it for regular braking
operation.
Failure to observe this could result in failure or injury.
 Install an external emergency stop circuit so that operation can be stopped immediately and the
power can be turned off.
Failure to observe this could result in fire, failure, burns, or injury.
 Before installing to the machine and starting operation, enter parameters matching the machine.
If the machine is operated without entering parameters, the machine may unexpectedly
malfunction and cause failure.
 To use the servo motor in a vertical travel, install a safety device (Such as external brake) to
prevent the mechanical movable part from dropping in case of alarm or similar.
Failure to observe this could result in injury.
 If auto tuning is not used, be sure to enter the "inertia ratio."

 General precautions

CAUTION
 Drawings in this manual may show the state without covers or shields for safety to explain in
details. Restore the covers and shields in the original state when operating the product.

 Product disposal

CAUTION
 In case of disposal of the product, comply with the following two laws and act in accordance with
each regulation. These laws are effected in Japan. Outside Japan, local laws have priority.
When necessary, give notification or indication on the final assembly to be compliant with legal
requirements.
(1) Law Concerning Promotion of Effective Use of Resources (Law for Promotion of Effective
Utilization of Resources)
Recycle and collect resources from the product to be discarded, as far as possible.
It is recommended to disassemble the product into iron dust, electric parts and so on and sell
them to appropriate subcontractors to recycle and collect resources.

0-8 Safety Precautions

 CHAPTER 0 INTRODUCTION

CAUTION
(2) Waste Disposal and Public Cleaning Law (Waste disposal & law public cleansing law)
0
It is recommended to recycle and collect resources from the product, which is to be discarded,
according to the aforementioned law (Law for Promotion of Effective Utilization of Resources,
and to reduce waste.)
In case unnecessary product cannot be sold and will be discarded, the product falls in the
category of industrial waste described in the law. The industrial waste must be handled in due
course including to request an authenticated subcontractor to dispose of the product and control
manifesto.
The battery used in the product falls in the category of called "primary battery" and must be
discarded in the due course as required by the corresponding local government.

 Compatibility with European standards

CAUTION
EU directives aim at integration of regulations among the EU member countries to promote
distribution of safety assured products. It is required to satisfy basic safety requirements including
machine directive, EMC directive, and low voltage directive and to affix a CE mark (CE marking) on
the product sold in EU member countries. Machines and devices housing the servo system are
subjected to CE marking.
The servo system does not function independently but is a component to be used in combination
with machines and equipments. For this reason, the servo system is not applicable to the EMC
directive. However, the machine or equipment including the servo system is applicable.
In order to facilitate CE marking declaration on the assembly machine or equipment of the servo
system, optional devices that are compliant with the low voltage directive and that support compliant
with the EMC directive as well as a relevant guideline are prepared.

 Service life of EEPROM

CAUTION
This product is equipped with EEPROM for retaining parameter data in the event of power failure.
The write enable frequency of EEPROM is about 100,000 cycles. After the following operation is
repeated 100,000 times or more, the risk of the servo amplifier failure becomes higher.
 Parameter editing
 Position preset of absolute position system
 Batch transfer of parameters

Safety Precautions 0-9

 CHAPTER 0 INTRODUCTION

0  Related documents
This technical document describes WSU-ST1 functionality only. It does not contain information on the
servo amplifier or servomotor, and therefore the following technical documents are required in order to
ensure correct use of servo systems incorporating this option. Always obtain these documents to
ensure safe use.

Name Document No.

Fuji Servo System ALPHA7 Series User's Manual 24C7-E-0135
Function Safety Module WSU-ST1 Instruction Manual INR-SI47-2075JE

0-10 Safety Precautions

 CHAPTER 0 INTRODUCTION

0.2 Product Overview 0

The following safety functions can be used by installing the WSU-ST1 on "ALPHA7 Series" servo
amplifiers. Restrictions apply to servomotors if using the SS1, SLS, or SSM functions. Use the
compatible servomotors indicated at section 0.4.

Safety functions
 Safe Stop 1 (SS1)
 Safe-Limited Speed (SLS)
 Safe Brake Control (SBC)
 Safe Speed Monitor (SSM)

This user's manual describes WSU-ST1 functionality only. It does not contain information on the
servo amplifier or servomotor. Refer to the user’s manual for each servo amplifier in order to ensure
correct use of the servo systems incorporating this option.

An overview of WSU-ST1 safety functions is given below.

STO: Safe Torque OFF Servo motor Free-run

speed
This function blocks servo amplifier output, and works in
tandem with the SS1 function.
Furthermore, STO operation is applied when an alarm has STO function No operation Operation
occurred, or while the WSU-ST1 parameters are being
changed.

SS1: Safe Stop 1

The following two monitoring methods can be used depending
on the parameter setting.
■ Speed monitoring Servo motor Deceleration
speed
By turning the redundant SS1 input terminal off (open), the
SS1 level Free-run
SS1 function becomes active, and when the motor speed
decelerates to the speed (SS1 level) set in the parameters, SS1 input
the STO operation is applied.
If the motor speed exceeds the monitoring speed, the STO STO operation
No operation Operation
operation (alarm status) is applied immediately.

Product Overview 0-11

 CHAPTER 0 INTRODUCTION

0 ■ Time monitoring
By turning the redundant SS1 input terminal off (open), the
Servo motor
speed
SS1 time

Deceleration
SS1 function becomes active, and when the time (SS1 time) Free-run

set in the parameters has elapsed, the STO operation is

SS1 input
applied.

STO No operation Operation

operation
Servo motor
SLS: Safe-Limited Speed speed Deceleration
By turning the redundant SLS input terminal off (open), speed SLS level
monitoring is performed at the limiting speed set in the
parameters.
SLS input
If this function is triggered at a speed exceeding the limiting
speed, the STO operation (alarm status) is applied.

Servo motor
SBC: Safe Brake Control speed Brake stop
This signal controls the non-excitation actuating brake.
Current to the non-excitation actuating brake is cut off when STO operation No operation Operation

the STO operation is applied and when an alarm occurs,

SBC operation No operation Operation
allowing the brake to be applied.

SSM: Safe Speed Monitor SSM level

This is a redundant SSM output terminal. Terminal output Servo motor

speed
turns off when the speed set in the parameters is exceeded.

SSM output

0-12 Product Overview

 CHAPTER 0 INTRODUCTION

0.3 Explanation of Model Codes 0

 When unpacking
Check the following items.

(1) Ensure that the packaging contains the function safety module, a screw (M3x16: 1), and the
instruction manual.
(2) Ensure that no damage such as function safety module abnormalities, dents, or warping has
occurred during transport.
(3) Ensure that the model "WSU-ST1" is printed on the product.

If there is anything about the product of which you are unsure, please contact your dealer or nearest
Fuji sales office.

 Nameplate
A nameplate indicating the model and serial number is affixed to the side of the WSU-ST1 body.

Explanation of Model Codes 0-13

 CHAPTER 0 INTRODUCTION

0 0.4 Servomotor and Servo Amplifier Combinations

If using the WSU-ST1 SS1 (speed monitoring) function, or the SLS or SSM functions, use the
servomotor indicated in the following table. Furthermore, the dedicated PC Loader is required to read
and write parameters.

Servomotor Servo amplifier PC loader

SS1 (time All models
monitoring)
SS1 (speed
monitoring) GY□□□□□7-E□2-□
RYT□□□□7-□□2 ALPHA Series Loader
or
SLS
GY□□□□□7-N□2-□
SSM
SBC All models
(*1) □ is replaced by alphanumeric characters indicating information such as the capacity, type, and voltage series.

CAUTION
 An EcF alarm will occur if an inapplicable servomotor is used.
 It will not be possible to read or make changes to parameters if an inapplicable PC Loader is
used.

0-14 Servomotor and Servo Amplifier Combinations

CHAPTER 1 INSTALLATION 1

1-1
 CHAPTER 1 INSTALLATION

1.1 Storage Environment

1 Ensure that the following environment is maintained when storing or transporting the WSU-ST1.

Item Specification
Storage -20 to 80 °C Location with no condensation or freezing as a result of
temperature (*1) sudden temperature changes
Relative 10 to 90% (*2)
humidity
Atmosphere Indoors at altitude of 1,000 [m] or lower free from powder dust and corrosive
gases.
There should be no dust, direct sunlight, corrosive gas, flammable gas, oil mist,
steam, water droplets, or vibrations.
There should be minimal salt content. (0.01 mg/cm2/year or less)
Atmospheric 86 to 106kPa (during storage)
pressure
70 to 106kPa (during transport)
Vibrations 3 mm (max. amplitude): less than 2 to 9Hz
9.8 m/s2: less than 9 to 20Hz
2 m/s2: less than 20 to 55Hz
1 m/s2: less than 55 to 200Hz

(*1) The values indicated for the storage environment assume a relatively short period of time such as during transport.

(*2) Even if humidity satisfies the specification values, condensation or freezing may occur in locations with significant
temperature fluctuations. Avoid storage in such a location.

 Storage precautions
(1) Do not install the WSU-ST1 directly on the floor.
(2) When there is a risk of the WSU-ST1 being adversely affected by moisture, place desiccant (silica
gel, etc.) inside the product, and then seal and package with a plastic sheet and so no.
(3) Package very carefully to prevent the intrusion of moisture, etc. Fill the packaging with desiccant
(silica gel, etc.), and ensure a relative humidity inside the packaging of 70% or less.

1-2 Storage Environment

 CHAPTER 1 INSTALLATION

1.2 Operating Environment

Operate the WSU-ST1 in the following environment. The servo amplifier is not of a dust proof or water
proof construction.
1
Item Specification
Ambient -10 to 55 °C Location with no condensation or freezing as a result of
temperature sudden temperature changes
Ambient 10 to 90% (*1)
humidity
Atmosphere Indoors at altitude of 1,000 [m] or lower free from powder dust and corrosive
gases.
There should be no dust, direct sunlight, corrosive gas, flammable gas, oil mist,
steam, water droplets, or vibrations.
There should be minimal salt content. (0.01 mg/cm2/year or less)
Vibrations 3 mm (max. amplitude): less than 2 to 9Hz
9.8 m/s2: less than 9 to 20Hz
2 m/s2: less than 20 to 55Hz
1 m/s2: less than 55 to 200Hz

(*1) Even if humidity satisfies the specification values, condensation or freezing may occur in locations with significant
temperature changes. Avoid storage in such a location.

Furthermore, attention should also be paid to the following during use.

 Install indoors where the product will not be exposed to rainwater or direct sunlight.
 Do not use in a corrosive atmosphere containing substances such as hydrogen sulfide, sulfurous
acid, chlorine, ammonia, sulfur, chlorine-based gases, acids, alkalis, or salts, or near flammable
gases or combustibles.
 Install in a well ventilated environment with minimal moisture, oil or water content.
 Install in a location where the impact from vibrations is not transferred to the product.
 The WSU-ST1 cannot be used in a vacuum.

Operating Environment 1-3

 CHAPTER 1 INSTALLATION

1.3 Mounting On the Servo Amplifier

1 The mounting and removal procedures are described below.

WARNING
 Always mount or remove the WSU-ST1 after waiting at least 5 minutes after turning off the servo
amplifier input power supply and external power supply for the interface, and confirming that the
charge LED is off.
There is a risk of electric shock.

CAUTION
 Avoid frequent removal of the WSU-ST1. Failure to observe this could result in connector
contact defects.
There is a risk of electric shock.

(1) Cut the hole cover on the cover on the right side of the amplifier unit with nippers, etc. to expose the
connector. When cutting, take care not to scratch the board.

(2) Align the two protrusions on the option with the holes on the right side of the amplifier unit, and
secure temporarily so that the front surface is flush.

1-4 Mounting On the Servo Amplifier

 CHAPTER 1 INSTALLATION

(3) Tighten screws (1) to (4) with a driver.

Screw tightening torque: 0.7 N·m

(4) Tighten the provided screw (5) with a driver.

Screw tightening torque: 0.7 N·m
1

Mounting On the Servo Amplifier 1-5

 CHAPTER 1 INSTALLATION

1-6 Mounting On the Servo Amplifier

CHAPTER 2 WIRING
2

2-1
 CHAPTER 2 WIRING

2.1 Configuration

2.1.1 Name of Each Part

2 The WSU-ST1 external dimensions and name of each part are shown below.

Rating nameplate

 LED display
Name Color Details
PWR Red ON: Power supply ON
OFF: Power supply OFF
RUN Green ON: Safety function running
Flashing: Normal status
ERR Red ON: Error detected
OFF: Normal status
STO Green ON: STO running
OFF: Normal status
Flashing: Parameters being changed

2-2 Configuration
 CHAPTER 2 WIRING

 Interface connectors (CN10A, CN10B)

CN10A CN10B
No. Name Name No. No. Name Name No.
9 - - 1 9 RES- RES+ 1

2
10 EDM2- EDM2+ 2 10 EDM1- EDM1+ 2
11 - - 3 11 - - 3
12 SIA2- SIA2+ 4 12 SIA1- SIA1+ 4
13 SIB2- SIB2+ 5 13 SIB1- SIB1+ 5
14 SSM2 PI_SSM2 6 14 SSM1 PI_SSM1 6
15 - CM_SSM2 7 15 - CM_SSM1 7
16 SBC2 PISBC2 8 16 SBC1 PISBC1 8

2.1.2 Configuration

The following pages show the overall device configuration. There is no need to connect all devices.
 The size of the illustrations inside of each device are not drawn to the same scale. (The same
applies in other chapters.)
 The maximum servo amplifier and servo motor wiring length is 20 [m].
 The maximum length of the cables connected to the interface connectors (CN10A, CN10B) is 20
[m].
 Use shielded wire for wiring cables.
 Be sure to ground the servo amplifier protective grounding terminal (terminal with grounding mark)
to the protective ground of the control panel to prevent electric shock.

Use the following recommended screwdriver to connect or disconnect the connectors (CN10A, CN10B).
Furthermore, use the following recommended wire size for wiring connected to connectors.

 Recommended wire size: AWG24 to 16 (0.2 mm2 to 1.5 mm2)

 Recommended screwdriver: Flat-blade (0.4 x 2.5 mm)
 Tightening torque: 0.2 to 0.3 N·m
 Exposed wire size: 10 ±0.5 mm

Configuration 2-3
 CHAPTER 2 WIRING

WARNING
 Control signal lines generally do not have a reinforced insulation coating, and therefore if control
signal lines come into contact with live parts of the main circuit, the insulating coating may be
damaged for some reason. In such a case, there is a danger that high voltage from the main

2
circuit will be applied to the control signal lines, and therefore care should be taken to ensure
that they do not come into contact with live parts of the main circuit.
Failure to observe this could result in an accident or electric shock.

CAUTION
 Noise is produced by the servo amplifier, servo motor, and wiring. Take care to prevent the
malfunction of surrounding sensors and devices.
Failure to observe this could result in an accident.
 If using twisted wires, it is easier to insert them by peeling back the coating and twisting the ends
of the wires, however, the above exposed wire size must still be maintained after twisting. If the
length of the exposed wire portion lies outside the specified range, there is a possibility that
wires will not be sufficiently secured, or that they will short circuit other wires.

 If using rod terminals, use the following models. (PHOENIX CONTACT GmbH & Co. KG)

Table2.1-1 Recommended rod terminals

Insulation sleeve Wire size Rod terminal
With insulation AWG24 AI 0,25-10 YE [3241128]
sleeve
AWG22 AI 0,34-10 TQ [3241129]
AWG20 AI 0,5 -10 WH [3201275]
AWG18 AI 0,75-10 GY [3201288]
Without insulation AWG20 A 0,5 -10 [3202494]
sleeve
AWG18 A 0,75-10 [3200234]
AWG18 A 1 -10 [3200250]
AWG16 A 1,5 -10 [3200276]

2-4 Configuration
 CHAPTER 2 WIRING

 Wire insertion procedure

(1) Twisted wire with no rod terminal
[Wire insertion]
Press in the release button with a flathead screwdriver with tip width of approximately 2.5 mm,
insert the wire fully, and then remove the screwdriver.
Recommended screwdriver: PHOENIX CONTACT, model: SZS 0,4X2,5 (product No.: 1205037)
2

[Wire removal]
Pull out the wire while pressing down the release button with the flathead screwdriver.

(2) Twisted wire with rod terminal, single wires

[Wire insertion]
Insert the tip of the wire as is.

[Wire removal]
Pull out the wire while pressing down the release button with the flathead screwdriver.

Configuration 2-5
 CHAPTER 2 WIRING

 Connection diagram (example)

This is the connection diagram for the WSU-ST1. Safety functions can be used by setting the
relevant parameters. Refer to the user's manual for each servo amplifier for details on the servo
amplifier.

Power supply

(*1) An external 24 VDC ±10% power supply is required for the interface. For convenience' sake, the power supply has
been separated, however, configuration with a common power supply is possible.
(*2) Use safety components such as safety relays or safety switches compatible with EN ISO13849-1 standard PL-d or
higher, or EN61508 standard SIL2 or higher.
(*3) Use safety relays compatible with EN ISO13849-1 standard PL-d or higher, or EN61508 standard SIL2 or higher. Use a
24 VDC exciting voltage, contact a for main contacts, and contact b for auxiliary contacts.
(*4) There is a possibility that internal switching components may be damaged by relay surge voltage that occurs when the
power is off. In order to suppress surge voltage, connect diodes or varistors, etc. near relays. Internal circuits will be
damaged if the diode polarity is mistaken.
(*5) There is a risk of damage if the built-in brake is applied while the servo motor is rotating. If necessary to ensure secure
braking with the SBC function, install an external brake, and connect the SBC.

2-6 Configuration
 CHAPTER 2 WIRING

2.1.3 Terminal Function Description

The interface connector (CN10A, CN10B) terminal functions are described below.
Refer to "CHAPTER 4 SAFETY FUNCTION OPERATION" for details on each safety function.

The signal ON/OFF definition given in the safety function description refers to the following
statuses.
2
ON: Current is flowing to the signal line.
OFF: No current is flowing to the signal line.

Configuration 2-7
 CHAPTER 2 WIRING

Terminal Connector
Details
symbol pin No.

RES+ CN10B - 1 If the restart function setting is enabled Electrical specifications

(parameter SF18: 1), this is the terminal that is Min. Max.

2
operated when recovering from the safety
Operating ON 20 V 27 V
function operation status. voltage OFF 0V 2V
It will not be possible to restart unless terminal Operating - 5mA
[RES+] is turned ON → OFF → ON , even if the current when ON

status of the safety input terminal is recovered Max. wire length - 20 m

to ON (short circuit) after SS1, or SLS and SBC

Input circuit: Secured at source
operation.
The terminal [RES+] ON and OFF time must be
20 ms or longer.

RES- CN10B - 9 Terminal [RES+] reference potential

SIA1+ CN10A - 4 If the terminal input turns OFF with a redundant

SIA2+ CN10B - 4 input signal, the safety function set with

parameter SF12 will run.
If either of the input terminals turns OFF, an
EcF alarm will be output, and the STO
operation will be applied. Ensure that the input
time difference between terminals [SIA1+] and
[SIA2+] is 50 ms or less.
It is necessary to turn the power off and on
again to clear the alarm status.

SIA1- CN10B - 12 Terminal [SIA1+] reference potential

SIA2- CN10A - 12 Terminal [SIA2+] reference potential

SIB1+ CN10B - 5 If the terminal input turns OFF with a redundant

SIB2+ CN10A - 5 input signal, the safety function set with

parameter SF13 will run.
If either of the input terminals turns OFF, an
EcF alarm will be output, and the STO
operation will be applied. Ensure that the input
time difference between terminals [SIB1+] and
[SIB2+] is 50 ms or less.
It is necessary to turn the power off and on
again to clear the alarm status.

SIB1- CN10B - 13 Terminal [SIB1+] reference potential

SIB2- CN10A - 13 Terminal [SIB2+] reference potential

2-8 Configuration
 CHAPTER 2 WIRING

Terminal Connector
Details
symbol pin No.

EDM1+ CN10B - 2 This terminal outputs the safety function Electrical specifications

EDM1- CN10B - 10 operating condition.  Rated voltage: 27 V

The operation selection is set with parameter  Max. current when ON: 50mA
 Max. voltage when ON: 2 V

2
SF20.

EDM2+ CN10A - 2 This terminal outputs the safety function  Output circuit: Secured at
source
EDM2- CN10A - 10 operating condition.
The operation selection is set with parameter  Max. wire length: 20 m

SF21.
PI_SSM1 CN10B 6 This is the power supply input terminal for SSM Electrical specifications: 24 VDC
PI_SSM2 CN10A - 6 signal output. ±10%

SSM1 CN10B - 14 This is a redundant output signal. The SSM Electrical specifications
SSM2 CN10A - 14 function operation is selected with parameter
SF09, and the terminal turns OFF if the speed  Rated voltage: 27 V
level set with parameter SF10 is exceeded.  Max. current when ON: 50mA
 Max. voltage when ON: 2 V
 Output circuit: Secured at
source
 Max. wire length: 20 m
CM_SSM1 CN10B - 7 This is a common terminal for the [PI_SSM1]
CM_SSM2 CN10A - 7 and [PI_SSM2] power input terminals.

PISBC1 CN10B - 8 This is the power supply input terminal for SBC Electrical specifications: 24 VDC
PISBC2 CN10A - 8 signal output. ±10%

SBC1 CN10B - 16 This is the brake signal used to operate the Electrical specifications
SBC2 CN10A - 16 redundant non-excitation actuating brake.
Select SBC function operation with parameter  Rated voltage: 27 V
SF11.  Max. current when ON: 50mA
The signal between terminals [PISBC1] and  Max. voltage when ON: 2 V
[SBC1], and between [PISBC2] and [SBC2] will
be OFF during STO operation. Furthermore,  Output circuit: Secured at
assign SBC feedback functions (parameters: source
SF12, SF13) to terminal [SIA] or terminal [SIB],  Max. wire length: 20 m
and connect brake operation relay contact b to
the terminal to which the function is assigned.

Configuration 2-9
 CHAPTER 2 WIRING

2.1.4 I/O Signal Connection Diagram

Input signals (terminals SIA1+, SIA1-, SIA2+, SIA2-, SIB1+, SIB1-, SIB2+,
SIB2-, RES+, RES-)
A wiring example is shown below. The safety functions set in the parameters can be used for SIA1+,

2 SIA1-, SIA2+, SIA2- and SIB1+, SIB1-, SIB2+, SIB2-. Refer to Chapter 4 for details on each safety
function. The input circuit is secured at the source.

*4

(*1) An external 24 VDC ±10% power supply is required for the interface.
(*2) Use safety components such as safety relays or safety switches compatible with EN ISO13849-1 standard PL-d or
higher, or EN61508 standard SIL2 or higher.
(*3) Ensure a maximum wire length of 20 m, and use shielded wire. Use a separate shield wire for CN10A and CN10B.
(*4) The terminal status is monitored constantly, and therefore in order to prevent malfunction, do not connect wiring to
terminals that are not being used.

2-10 Configuration
 CHAPTER 2 WIRING

Output signals (terminals EDM1+, EDM1-, EDM2+, EDM2-, PI_SSM1, SSM1,

CM_SSM1, PI_SSM2, SSM2, CM_SSM2)
A wiring example is shown below. The safety functions set in the parameters can be used for EDM1+,
EDM1-, EDM2+, EDM2-, PI_SSM1, SSM1,CM_SSM1, PI_SSM2, SSM2, and CM_SSM2. Refer to
Chapter 4 for details on each safety function. The output circuit is secured at the source.

2
*3
PI_SSM1
*1

SSM1

CM_SSM1

*2
*3
PI_SSM2
*1

SSM2

Safety
Control CM_SSM2
circuit *2

*3
EDM1+
*1

EDM1-

*3
EDM2+
*2

EDM2- *1

*2

(*1) An external 24 VDC ±10% power supply is required for the interface. Turn on the power before turning on the servo
amplifier power. If the power is turned on after turning on the servo amplifier power, the safety circuit self-diagnosis
function will determine that a fault has occurred, resulting in an alarm.
(*2) There is a possibility that internal switching components may be damaged by relay surge voltage that occurs when the
power is turned off. In order to suppress surge voltage, connect diodes or varistors, etc. near relays. Internal circuits
will be damaged if the diode polarity is mistaken.
(*3) Ensure a maximum wire length of 20 m, and use shielded wire.

Configuration 2-11
 CHAPTER 2 WIRING

Output signals (terminals PISBC1, SBC1, PISBC2, SBC2)

These are brake signals used to control the servo motor non-excitation actuating brake. Refer to
Chapter 4 for a detailed description of functions.

Power supply

(*1) An external 24 VDC ±10% power supply is required for the interface. Turn on the power before turning on the servo
amplifier power. If the power is turned on after turning on the servo amplifier power, the safety circuit self-diagnosis
function will determine that a fault has occurred, resulting in an alarm.
(*2) There is a possibility that internal switching components may be damaged by relay surge voltage that occurs when the
power is turned off. In order to suppress surge voltage, connect diodes or varistors, etc. near relays. Internal circuits
will be damaged if the diode polarity is mistaken.
(*3) Use safety relays compatible with EN ISO13849-1 standard PL-d or higher, or EN61508 standard SIL2 or higher. Use a
24 VDC exciting voltage, contact a for main contacts, and contact b for auxiliary contacts.
(*4) Connect a power supply compatible with the brake specifications.
(*5) Ensure a maximum wire length of 20 m, and use shielded wire.
(*6) There is a risk of damage if the built-in brake is applied while the servo motor is rotating. If necessary to ensure secure
braking with the SBC function, install an external brake, and connect SBC.

2-12 Configuration
CHAPTER 3 PARAMETERS
3

3-1
 CHAPTER 3 PARAMETERS

3.1 Parameter List

The following is a list of WSU-ST1 parameters.

Depending on how the WSU-ST1 is used, these parameters may be related to those retained by the
servo amplifier.
Refer to description of each safety function (Chapter 4) to ensure correct use.

3 CAUTION
 The dedicated PC Loader is required to read and make changes to parameters. Use a version of
PC Loader compatible with WSU-ST1.
 Set parameters are updated when the power is restarted.
 The STO operation is applied while changing, and after changing parameters, and therefore the
servo motor cannot be rotated during this time.

Default value
Parameter Name Setting range (Factory
default)
SF00 SS1 level 0 to 6,000 [r/min] 150
SF01 SS1 timer 0.01 to 99.99 [s] 10.00
SF02 SS1 deceleration time 0.01 to 99.99 [s] 1.00
SF03 SS1 upper limit width 0 to 6,000 [r/min] 150
SS1 stop (monitoring) mode 0: Speed monitoring, 1: Time 0
SF04
monitoring
SF05 SLS level 100 to 6,000 [r/min] 150
SF06 SLS timer 0.01 to 99.99 [s] 10.00
SF07 SLS deceleration time 0.01 to 99.99 [s] 1.00
SF08 SLS upper limit width 0 to 6,000 [r/min] 150
SF09 SSM selection 0: Don't use, 1: Use 0
SF10 SSM level 0 to 6,000 [r/min] 150
SF11 SBC function selection 0: Disable, 1: Enable 0
0: No selection
SIA terminal function 1: SS1
SF12 0
selection 2: SLS
3: SBC_FB
0: No selection
SIB terminal function 1: SS1
SF13 0
selection 2: SLS
3: SBC_FB
SF14 Servo motor standard speed 1 to 6,000 (r/min) 2,000
SF15 Upper limit speed wait time 0.00 to 99.99 [s] 1.00
For adjustment by -
SF16 -
manufacturer
0: Not recommended
SF17 Encoder selection 1
1: Recommended

3-2 Parameter List

 CHAPTER 3 PARAMETERS

Default value
Parameter Name Setting range (Factory
default)
0: Disable
SF18 Restart selection 1
1: Enable
For adjustment by -
SF19 100
manufacturer
0: Profile F
1: Profile Y
EDM output selection
SF20 2: SS1 operation 0

3
EDM1 side
3: SLS operation
4: SBC operation
0: Profile F
1: Profile Y
EDM output selection
SF21 2: SS1 operation 1
EDM2 side
3: SLS operation
4: SBC operation
Function safety module ID 0 to 9999 (BCD code) 0000
SF22
No.

Parameter List 3-3

 CHAPTER 3 PARAMETERS

3.2 Description of Each Parameter

 SF00 SS1 level
Parameter Name Setting range Default
value
SF00 SS1 level 0 to 6,000 [r/min] 150

3 Set the servo motor speed at which the switch is made from SS1 operation to STO operation.
If the SF04 (SS1 stop (monitoring) mode) setting value is set to "0", operation with this parameter
will be valid.

 SF01 SS1 timer

Parameter Name Setting range Default
value
SF01 SS1 timer 0.01 to 99.99 [s] 10.00

Set the time from the point the SS1 operation starts until the switch to the STO operation.
If the SF04 (SS1 stop (monitoring) mode) setting value is set to "1", operation with this parameter
will be valid.

3-4 Description of Each Parameter

 CHAPTER 3 PARAMETERS

 SF02 SS1 deceleration time

 SF03 SS1 upper limit width
 SF14 Servo motor standard speed
 SF15 Upper limit speed wait time
Parameter Name Setting range Default
value
SF02 SS1 deceleration time 0.01 to 99.99 [s] 1.00
SF03
SF14
SS1 upper limit width
Servo motor standard speed
0 to 6,000 [r/min]
1 to 6,000 [r/min]
150
2,000
3
SF15 Upper limit speed wait time 0.01 to 99.99 [s] 1.00

This parameter is used to set the upper limit speed when using the SS1 function (speed
monitoring).
The upper limit speed is calculated with the following equations.

SF15: Upper limit speed wait time

SF03: SS1 upper limit width

Upper limit speed

Servo motor speed

SF00: SS1 level

Normal

[ t0 ≤ t ≤ t1 upper limit speed ]

Upper limit speed [r/min] = servo motor speed [r/min] at t0 + SF03 (SS1 upper limit width [r/min])
[ t1 ≤ t ≤ t2 upper limit speed ]
Upper limit speed [r/min] = upper limit speed [r/min] at t1
SF14 (servo motor standard speed [r/min] )
×( t –t1 )
SF02 (SS1 deceleration time [s] )

Description of Each Parameter 3-5

 CHAPTER 3 PARAMETERS

 SF05 SLS level

 SF06 SLS timer
 SF07 SLS deceleration time
 SF08 SLS upper limit width
 SF14 Servo motor standard speed
 SF15 Upper limit speed wait time

3
Parameter Name Setting range Default
value
SF05 SLS level 0 to 6,000 [r/min] 150
SF06 SLS timer 0.01 to 99.99 [s] 10.00
SF07 SLS deceleration time 0.01 to 99.99 [s] 1.00
SF08 SLS upper limit width 0 to 6,000 [r/min] 150
SF14 Servo motor standard speed 1 to 6,000 [r/min] 2,000
SF15 Upper limit speed wait time 0.01 to 99.99 [s] 1.00

This parameter is used to set the upper limit speed when using the SLS function.
The upper limit speed is calculated with the following equations.

SF15: Upper limit speed wait time

SF06: SLS timer

Upper limit speed SF08: SLS upper limit width

Servo motor speed SF08: SLS upper limit width

SF05: SLS level

Normal

[ t0 ≤ t ≤ t1 upper limit speed ]

Upper limit speed [r/min] = servo motor speed [r/min] at t0 + SF08 (SLS upper limit width [r/min])
[ t1 ≤ t ≤ t2 upper limit speed ]
SF14 (servo motor standard speed [r/min] )
Upper limit speed [r/min] =servo motor speed [r/min] at t0 = - × ( t – t1 )
SF02 (SS1 deceleration time [s] )
[ t2 ≤ t ≤ t3 upper limit speed ]
Upper limit speed [r/min] = SF08 (SLS upper limit width [r/min]) + SF05 (SLS level [r/min])
[ t3 ≤ t upper limit speed ]
Upper limit speed [r/min] = SF05 (SLS level [r/min])
* Please set so that the upper limit speed wait time < SLS timer.

3-6 Description of Each Parameter

 CHAPTER 3 PARAMETERS

 SF04 SS1 stop (monitoring) mode

Parameter Name Setting range Default
value
SF04 SS1 stop (monitoring) mode 0: Speed monitoring, 1: Time 0
monitoring

Select "Speed monitoring" to monitor the servo motor speed and bring it to a decelerated stop, or
"Time monitoring" to monitor the time when the servo motor is decelerating.

 SF09 SSM selection

3
Parameter Name Setting range Default
value
SF09 SSM selection 0: Don't use, 1: Use 0

Select whether or not to use the SSM function.

 SF10 SSM level

Parameter Name Setting range Default
value
SF10 SSM level 0 to 6,000 [r/min] 150

The terminal [SSM] turns OFF when the servo motor speed exceeds the SF10 setting value.

 SF11 SBC function selection

Parameter Name Setting range Default
value
SF11 SBC function selection 0: Disable, 1: Enable 0

Select whether to enable or disable the SBC function.

If using the SBC function, connect contactor contact b used to operate the non-excitation actuating
brake to terminal [SIA] or terminal [SIB].
If using terminal [SIA], assign the SF12 (SIA terminal function selection) setting value to "3:
SBC_FB".
If using terminal [SIB], assign the SF13 (SIB terminal function selection) setting value to "3:
SBC_FB".

Description of Each Parameter 3-7

 CHAPTER 3 PARAMETERS

 SF12 SIA terminal function selection

Parameter Name Setting range Default
value
0: No selection
SIA terminal function 1: SS1
SF12 0
selection 2: SLS
3: SBC_FB

3 Select the safety function assigned to terminal [SIA].

* The same function cannot be assigned to both terminal [SIA] and terminal [SIB].

 SF13 SIB terminal function selection

Parameter Name Setting range Default
value
0: No selection
SIB terminal function 1: SS1
SF13 0
selection 2: SLS
3: SBC_FB

Select the safety function assigned to terminal [SIB].

* The same function cannot be assigned to both terminal [SIA] and terminal [SIB].

 SF17 Encoder selection

Parameter Name Setting range Default
value
0: Not recommended
SF17 Encoder selection 1
1: Recommended

If using the applicable servo motor indicated in section 0.3 of Chapter 0, set the setting value to "1".
If the setting value is "0", it will not be possible to use the SS1 (speed monitoring), SLS, or SSM
functions.

3-8 Description of Each Parameter

 CHAPTER 3 PARAMETERS

 SF18 Restart selection

Parameter Name Setting range Default
value
0: Disable
SF18 Restart selection 1
1: Enable

If using the restart function, set the setting value to "1".

If the restart function is enabled, it is necessary to turn terminal [RES+] ON, turn it OFF again for
20 ms or longer, and then turn it ON again with the cause of STO, SS1, or SLS eliminated in order
to cancel STO, SS1, or SLS.
3
If the restart function is disabled, STO, SS1, or SLS is canceled the moment that the cause of STO,
SS1, or SLS is eliminated.
 SF20 EDM output selection (EDM 1)
 SF21 EDM output selection (EDM 2)
Parameter Name Setting range Default
value
0: Profile F
1: Profile Y
SF20 EDM output selection (EDM 1) 2: SS1 operation 0
3: SLS operation
4: SBC operation
0: Profile F
1: Profile Y
SF21 EDM output selection (EDM 2) 2: SS1 operation 1
3: SLS operation
4: SBC operation

Select the EDM1, EDM2 function operation profile.

Terminal [EDM] output for each operation profile is shown below.
The terminal [EDM] operation profile for the servo amplifier is fixed. The servo amplifier terminal
[EDM] operation cannot be changed with this parameter setting.

Servo Servo
WSU-ST1
amplifier amplifier
Profile F Profile Y Profile Profile Profile Servo
EDM SLS SS1 SBC amplifier
display
STO cancel (terminal [EN] ON) Short
Open - - - -
circuit
During STO operation (terminal [EN] OFF) Short Short
- - - -
circuit circuit
(Servo amplifier) safe state * Open - - - - - EcF
(WSU-ST1) safe state 1, 2 * - - Open - - - EcF
SBC cancel (terminal [EN] ON) Short
- - - - Open
circuit
During SBC operation
Short Short
(Terminal [EN] is turned OFF, or STO is - - - -
circuit circuit
output by the WSU-ST1.)
SBC fault (same as STO fault) - - Open - - Open EcF

Description of Each Parameter 3-9

 CHAPTER 3 PARAMETERS

Servo Servo
WSU-ST1
amplifier amplifier
Profile F Profile Y Profile Profile Profile Servo
EDM SLS SS1 SBC amplifier
display
SBC fault (SBC FB fault) - - Open - - Open EcF
SS1 not in operation Short
- Open - Open -
circuit
During SS1 operation Short Short Short
- - -
circuit circuit circuit
SS1 signal mismatch - Open Open - Open - EcF

3 SS1 overspeed
SLS not in operation
-

-
Open

Open
Open
Short
circuit
-

Open
Open

-
-

-
EcF

During SLS operation Short Short Short

- - -
circuit circuit circuit
SLS signal mismatch - Open Open Open - - EcF
Overspeed during SLS operation - Open Open Open - - EcF
SSM monitoring speed or less Short
- - - - -
circuit
SSM monitoring speed over Short
- - - - -
circuit
SSM feedback fault - - Open - - - EcF
Communication error between WSU-ST1
Open - Open - - - EcF
and servo amplifier
Communication error between WSU-ST1
Open - Open - - - EcF
and encoder
Safety CPU fault Open - Open - - - EcF
SIA/SIB input ON (safety function standby Short
- - - - -
status) circuit
Initializing WSU-ST1 Open - Open Open Open Open
WSU-ST1 initialization error Open - Open - - - EcF
*
: Safe state means that the servo amplifier or WSU-ST1 has detected a fault (abnormality) in a circuit or wiring, etc., and
STO operation has been applied.

 SF22 Function safety module ID No.

Parameter Name Setting range Default
value
Function safety module
SF22 0 to 9999 (BCD code) 0000
ID No.

This is an ID No. used to identify the function safety module. The ID No. can be used for such
purposes as managing the parameter servo amplifier and WSU-ST1 individually.
This has no effect on safety function operation.

3-10 Description of Each Parameter

 CHAPTER 3 PARAMETERS

3.3 Parameter Setting Method

The PC Loader and USB cable for connecting to a computer described in section 0.4 of Chapter 0 are
required to read or make changes to the WSU-ST1 parameters. Refer to Chapter 13 of the servo
amplifier user's manual for details on the PC Loader installation procedure and operation method.

CAUTION
 To operate with set parameters, it is necessary to turn the power off and on again. 3
 If reading or making changes to parameters, it is first necessary to enter a password.
 Do not forget the password, and store in a safe location.
It will not be possible to read or make changes to parameters without a password.
 The STO operation is applied while changing, and after changing parameters.

3.3.1 Parameter Setting Flow

安全ローダ起動
Start Safety PC Loader.

[Exit]クリック
Click [Exit].

[パスワード]入力 [Exit]クリック
Click [Exit].
* Changes cannot be made to
Enter password.
parameter settings if any or all
NG Changes※
変更可能 of the following conditions
OK? possible*
OK [変更]クリック
Click [Change]. apply.
[読み出し]クリック
Click [Read].  There are no changed values.
(All current parameter values
Changes not
変更不可※
possible* [Exit]クリック
Click [Exit]. and set values are the same.)
 A parameter error occurred.
(The setting value in the
[Exit]クリック
Click [Exit]. [保存]クリック
Click [Save]. parameter settings lies outside
the upper limit to lower limit
range, or the combination is
inappropriate.)
 The change result is abnormal.
(The current parameter values
[Exit]クリック
Click [Exit].
differ from the check 1 current
安全ローダ終了
Exit Safety PC Loader. values.)

Parameter Setting Method 3-11

 CHAPTER 3 PARAMETERS

3.3.2 Password Authentication

Password authentication is necessary if making changes to the WSU-ST1 parameters.

Perform password authentication using the following procedure.
* The default password is 1234.

3 Enter a 4 digit number

and press Enter.

Parameters can now

be edited.

3-12 Parameter Setting Method

 CHAPTER 3 PARAMETERS

* Password authentication failure message

If password authentication is unsuccessful, the following message appears. If this error message
appears, restart the servo amplifier, open the safety parameter editing screen again, and then
perform password authentication once more.

Parameter Setting Method 3-13

 CHAPTER 3 PARAMETERS

3.3.3 Parameter Editing

The parameter editing procedure is described below.

(1) Enter setting values.

(2) Click [Change].

(3) The parameters set for check 1

are displayed. Ensure that the
setting values are correct.

(4) Click [Save].

The parameters saved for check
2 are displayed.
Ensure that the displayed values
match the set parameters.

Parameter editing complete

CAUTION
 To operate with set parameters, it is necessary to turn the power off and on again.
 The STO operation is applied while changing (after password authentication), and after
changing parameters.
 If the editing screen is closed while setting parameters, it will be necessary to turn the servo
amplifier power on and off again. An EcF alarm will occur if the parameter editing screen is
opened again without turning the servo amplifier power on and off again.

3-14 Parameter Setting Method

 CHAPTER 3 PARAMETERS

3.3.4 Importing Parameters

Safety parameters saved to the computer can be called.

(1) Clear the password.

3
(2) Click [Import].

(3) Select the saved file.

(4) Reflect in the setting

values.

Parameter Setting Method 3-15

 CHAPTER 3 PARAMETERS

3.3.5 Exporting Parameters

Safety parameters can be saved to the computer.

(1) Clear the password.

3
(2) Click [Export].

(3) Select the parameter save

destination, and enter the file
name.

(4) Click [Save].

Safety parameter saving complete

3-16 Parameter Setting Method

 CHAPTER 3 PARAMETERS

3.4 Related Servo Amplifier Parameters

Servo amplifier parameters relating to WSU-ST1 safety functions are shown below.

PA2_61: Action sequence at servo-on = OFF, forced stop

PA2_62: Action sequence at alarm

Parameter Name Setting range Default

value
3
Action sequence at
PA2_61 0000 to 3021 2021
servo-on = OFF, forced stop
PA2_62 Action sequence at alarm 0000 to 2011 0000

The STO operation (no alarm) is based on the operation setting when PA2_61 servo-on is OFF.
(When servo-on is OFF, however, the operation when decelerating will be "dynamic brake
operation" when "Rapid deceleration" is set.)
The STO operation (alarm) is based on the operation setting when a PA2_62 major failure alarm
occurs.

Digit 桁 4 3 2 1

PA2_61 PA2_62
サーボオン =OFF時
Stop sequence at アラーム時
Stop sequence at
停止時動作
servo-on = OFF alarm 停止時動作
0: 0：DB
DB 0:0：DB
DB
1: 1：フリーラン
Free-run 1:1：フリーラン
Free-run

Deceleration=OFF時
サーボオン sequence 重故障アラーム時
Deceleration
at servo-on =減速時動作
OFF sequence at減速時動作
major
0: 0：DB
DB 0：DB
failure alarm
1: Free-run 0:1：フリーラン
DB
1：フリーラン
2: Rapid deceleration 1: Free-run
2：急減速
未使用
Not used 未使用
Not used
（0以外は設定できませ
(Not possible to set （0以外は設定できませ
(Not possible to set
value other than 0.)
ん） value other than 0.)
ん）
強制停止時 軽故障アラーム時
Deceleration sequence Deceleration sequence
減速時動作
at forced stop 減速時動作
at minor failure alarm
2: 2：急減速
Rapid deceleration 0: 0：DB
DB
3: 3：減速時間
Deceleration time 1: 1：フリーラン
Free-run
2: Rapid deceleration
2：急減速

If upgrading from the ALPHA5 Series, by setting "0000" to "0005", the values will be the
same as those for ALPHA5 parameter settings PA2_61 to 63. In this case, the
deceleration operation when performing a forced stop or following OT detection will be
fixed at rapid deceleration. Furthermore, the action sequence following either a minor or
major failure alarm will be based on the PA2_62 setting. (With the ALPHA5 Series, the
dynamic brake is applied and the servo motor decelerates when a major failure alarm
occurs, regardless of the PA2_62.)

Related Servo Amplifier Parameters 3-17

 CHAPTER 3 PARAMETERS

PA1_36 Acceleration / deceleration selection at speed control

PA1_37 Acceleration time 1
PA1_38 Deceleration time 1
PA1_39 Acceleration time 2
PA1_40 Deceleration time 2
PA2_76 No.3 deceleration time
PA4_11 Function safety Amplifier operation selection
PA4_12 Function safety SLS speed limit value
3
Parameter Name Setting range Default
value
Acceleration / deceleration selection at
PA1_36 0: Disable 1: Enable 0
speed control
PA1_37 Acceleration time 1 100.0
PA1_38 Deceleration time 1 100.0
0.0 to 99999.9 [ms]
PA1_39 Acceleration time 2 500.0
PA1_40 Deceleration time 2 500.0
PA2_76 No.3 deceleration time 0.0 to 99999.9 [ms] 100.0
Function safety servo amplifier
PA4_11 00 to 11 00
operation selection
PA4_12 Function safety SLS speed limit value 0.01 to 6000.00 [r/min] 6000.00

Set this parameter if wishing to automatically bring the servo motor to a decelerated stop or limit
the servo motor speed at the servo amplifier when the SS1 (Safe Stop 1) function or SLS
(Safety-Limited Speed) function becomes active at the WSU-ST1.

Select this function with PA4_11: Function safety servo amplifier operation selection.
This parameter selects functions for each digit, and by setting 1 for each digit, the function is
enabled.
Digit

Servo amplifier SS1 operation

Servo amplifier SLS operation

 If the setting value is "00", the servo amplifier will not perform servo motor deceleration even if
SS1 or SLS function operation is started. Input a deceleration command to the servo amplifier
from an external device.

3-18 Related Servo Amplifier Parameters

 CHAPTER 3 PARAMETERS

 If the setting value is "1□", the servo motor speed will be limited based on the PA4_12
(Function safety SLS speed limit value) speed setting when SLS operation starts. The
deceleration time when the SLS speed limit is applied, and the acceleration time when SLS
operation is canceled are based on the acceleration/deceleration time selected at the servo
amplifier (PA1_36 to 40).
 If the setting value is "□1", the servo motor will decelerate based on the PA2_76 (No.3
deceleration time) setting value when SS1 operation starts.

Related Servo Amplifier Parameters 3-19

 CHAPTER 3 PARAMETERS

CAUTION
 When performing position command operation or pulse train operation, ensure that commands
from the host device do not apply to speed limiting.
 Operation should normally be performed with command values which ensure a speed of
PA1_25: Max. rotation speed (for position and speed control) or less.
 If activating the servo amplifier SLS function in combination with the WSU-ST1, process
commands in such a way that the speed is PA4_12: Function safety SLS speed limit value or

3 less even at the host device side when the SLS function becomes active.
If the servo amplifier SLS function alone is activated, a deviation over alarm will occur, and the
servo motor may not move as commanded when the SLS function is canceled as described
below.
 The servo motor will move as follows if the command applies to speed limiting.
(1) A position deviation will occur if a command exceeding the speed limit value is issued, and
will continue to build up while the command is applied to speed limiting.
(2) If the position deviation builds to the PA2_69: Deviation detection overflow value, a
deviation over alarm will occur.
(3) If the command is reduced to a value smaller than the speed limit value before the deviation
over alarm occurs, the servo motor will continue to rotate due to speed limiting until the built
up position deviation is offset, and subsequent operation will be based on the command.
(4) If the speed limit value increases before the deviation over alarm occurs (when SLS
canceled), the servo motor will accelerate to the speed limit value.
 If the speed limit value becomes greater than the command value, the operation will be
as described in item (3).
 If the speed limit value remains smaller than the command value, the operation will be
as described in items (1) and (2).

3-20 Related Servo Amplifier Parameters

CHAPTER 4 SAFETY FUNCTION OPERATION
4

4-1
 CHAPTER 4 SAFETY FUNCTION OPERATION

4.1 Safe Stop 1 (SS1) Speed Monitoring

4.1.1 Safe Stop 1 (SS1) Speed Monitoring Normal Operation

By setting parameter SF04 to "0", the SS1 function changes to speed monitoring mode.The SS1
function operates when the input terminal to which the function is assigned is turned OFF (open), and
the STO operation is applied when the servo motor speed decelerates to SF00 (SS1 level). If the servo
motor speed exceeds the upper limit speed, an alarm is output, and the STO operation is applied.
The timing chart when the SS1 function is assigned to terminal [SIA] is shown below.

4 SF15: Deceleration wait time (*6) PA2_76: No.3 deceleration time

SF03: SS1 upper limit width (*5) Upper limit speed

Servo motor speed

SF00: SS1 level

Free-run stop

Less than 50 ms Less than 50 ms

Terminal [SIA1+]

Terminal [SIA2+]

(*1) Terminal [RES+]

SS1 reaction time
20 ms or longer

Servo amplifier status Running Running

(*2) Terminal [SBC]

(*3) Terminal [EDM]

(*1) If the restart function is disabled (parameter SF18: 0), operation is resumed when terminal [SIA] turns ON.
When parameter PA4_11 is set to "□1", operation is resumed when terminal [SIA] turns ON following a deceleration
stop.
(*2) If the SBC function is enabled (parameter SF11: 1), an SBC signal is output at the same time as STO operation is
applied.
(*3) The timing chart for the EDM function is that when parameter SF20 or SF21 is set to "0" or "2".
(*4) There is a 50 ms delay until output is actually cut off after the STO operation is applied.
(*5) Refer to "3.2 Description of Each Parameter" in Chapter 3 for a detailed description of the upper limit speed setting.
(*6) If parameter PA4_11 is set to "□1", the servo motor decelerates in the time set in PA2_76. If the PA4_11 setting value is
"□0", the servo motor decelerates with the deceleration command input to the servo amplifier from an external device.

Fig.4.1-1 Timing chart for Safe Stop 1 (speed monitoring) operation

(if SS1 function assigned to terminal [SIA])

4-2 Safe Stop 1 (SS1) Speed Monitoring

 CHAPTER 4 SAFETY FUNCTION OPERATION

WARNING
 There may be times when the servo motor does not decelerate in accordance with the set
deceleration time when using the servo amplifier torque limiting function, etc. Customers are
responsible for carrying out risk assessment, analyzing whether risks are acceptable, and
designing systems based on the result.
Failure to observe this could result in injury or device damage.
 If SS1 recovery operation is performed when the servo-on signal is ON, the servo motor rotates
immediately after the recovery operation. If necessary to prevent operation being resumed
immediately after the recovery operation, create a sequence in which the servo-on signal is

4
turned OFF.
Failure to observe this could result in injury or device damage.

Safe Stop 1 (SS1) Speed Monitoring 4-3

 CHAPTER 4 SAFETY FUNCTION OPERATION

4.1.2 Safe Stop 1 (SS1) Speed Monitoring Alarm Operation

If the servo motor speed exceeds the upper limit speed during SS1 operation, the STO operation is
applied immediately, and an alarm occurs. If the SBC function is enabled, the SBS function operates at
the same time as STO. Turn the servo amplifier power off and on again to recover the alarm status. The
timing chart for SS1 alarm operation is shown below.

SF15: Upper limit speed wait time

SF15：上限速度待ち時間

4
SF03: SS1SF03：SS1上限幅
upper limit width
モータ速度
Servo motor speed
Dynamic brake operation
ダイナミックブレーキ動作
SF00: SS1 level
SF00：SS1レベル

50ms未満
Less than 50 ms

Terminal [SIA1+]
端⼦[SIA1+] ON OFF

Terminal [SIA2+]
端⼦[SIA2+] ON OFF

SS1 reaction time

SS1リアクションタイム Faultフォルトリアクションタイム
reaction time

Servo amplifier status

サーボアンプ状態 Running
運転中 SS1 STO(*4)

(*1) Terminal [SBC]

(*1) 端⼦[SBC] ON OFF

Alarm
アラーム None
なし EcF

RDY ON OFF

(*2) Dynamic brake

(*2)ダイナミックブレーキ Brake release
釈放 Brake 投⼊
application

(*3) Terminal [EDM]

(*3)端⼦[EDM] OFF ON OFF

(*1) If the SBC function is enabled (parameter SF11: 1), an SBC signal is output at the same time as STO operation is
applied.
(*2) The timing chart of the dynamic brake is that when parameter PA2_62 is set to "□□0□".
(*3) The timing chart of the EDM function is that when parameter SF20 or SF21 is set to "0" or "2".
(*4) There is a 50 ms delay until output is actually cut off after the STO operation is applied.

Fig.4.1-2 Timing chart for SS1 (speed monitoring) alarm operation

4-4 Safe Stop 1 (SS1) Speed Monitoring

 CHAPTER 4 SAFETY FUNCTION OPERATION

4.1.3 Related Parameters

The following parameters relate to SS1 operation with speed monitoring. Refer to "3.2 Description of
Each Parameter" in Chapter 3 for details on each parameter.

WSU-ST1 Parameters
Parameter Name Setting range Default value
SF00 SS1 level 0 to 6000 [r/min] 150
SF02 SS1 deceleration time 0.01 to 99.99 [s] 1.00

4
SF03 SS1 upper limit width 0 to 6000 [r/min] 150
SF04 SS1 stop (monitoring) mode 0: Speed monitoring
0
1: Time monitoring
0: No selection
1: SS1
SF12 SIA terminal function selection 0
2: SLS
3: SBC_FB
0: No selection
1: SS1
SF13 SIB terminal function selection 0
2: SLS
3: SBC_FB
SF14 Servo motor basic speed 1 to 6000 (r/min) 2000
SF15 Upper limit speed wait time 0.00 to 99.99 [s] 1.00

Servo amplifier parameters

Parameter Name Setting range Default value
Action sequence at
PA2_61 0000 to 3021 2021
servo-on = OFF, forced stop
PA2_62 Action sequence at alarm 0000 to 2011 0000
PA2_76 No.3 deceleration time 0.0 to 99999.9 [ms] 100.0
PA4_11 Function safety servo amplifier 00 to 11 00
operation selection

Safe Stop 1 (SS1) Speed Monitoring 4-5

 CHAPTER 4 SAFETY FUNCTION OPERATION

4.2 Safe Stop 1 (SS1) Time Monitoring

4.2.1 Safe Stop 1 (SS1) Time Monitoring Normal Operation

By setting parameter SF04 to "1", the SS1 function changes to time monitoring mode. The SS1 function
operates when the input terminal to which the function is assigned is turned OFF (open), and the STO
operation is applied once the time set in parameter SF02 (SS1 timer) has elapsed. The timing chart for
normal SS1 function operation is shown below.
(*3) PA2_76: No.3 deceleration time
(*3) PA2_76：第三減速時間

4 Servo motor speed

モータ速度
SF02: SS1 timer
SF02：SS1タイマ

Free-run
フリーラン停止 stop

50ms未満
Less than 50 ms 50ms未満
Less than 50 ms

Terminal [SIA1+]
端子[SIA1+] ON OFF ON

Terminal [SIA2+]
端子[SIA2+] ON OFF ON

(*1) Terminal [RES+]

(*1)端子[RES+] ON OFF ON
SS1リアクションタイム
SS1 reaction time
20ms以上
20 ms or longer

Servo サーボアンプ状態
amplifier status 運転中
Running SS1 STO(*4) 運転中
Running

RDY ON OFF ON

(*2) (*2)EDM出力
EDM output OFF ON OFF

(*1) If the restart function is disabled (parameter SF18: 0), operation is resumed when terminal [SIA] turns ON.
When parameter PA4_11 is set to "□1", operation is resumed when terminal [SIA] turns ON following a deceleration
stop.
If the restart function is enabled (parameter SF18: 1), perform operation for terminal [RES+] after the SS1 timer has
elapsed.
(*2) The timing chart for the EDM function is that when parameter SF20 or SF21 is set to "0" or "2".
(*3) If parameter PA4_11 is set to "□1", the servo motor decelerates in the time set in PA2_76. If the PA4_11 setting value is
"□0", the servo motor decelerates with the deceleration command input to the servo amplifier from an external device.
(*4) There is a 50 ms delay until output is actually cut off after the STO operation is applied.

Fig.4.2-1 Timing chart for Safe Stop 1 (time monitoring) operation

4-6 Safe Stop 1 (SS1) Time Monitoring

 CHAPTER 4 SAFETY FUNCTION OPERATION

4.2.2 Related Parameters

The following parameters relate to SS1 operation with time monitoring. Refer to "3.2 Description of
Each Parameter" in Chapter 3 for details on each parameter.

WSU-ST1 Parameters
Parameter Name Setting range Default value
SF01 SS1 timer 0.01 to 99.99 [s] 10.00
SF04 SS1 stop (monitoring) mode 0: Speed monitoring
0
1: Time monitoring

SF12 SIA terminal function selection

0: No selection
1: SS1
0
4
2: SLS
3: SBC_FB
0: No selection
1: SS1
SF13 SIB terminal function selection 0
2: SLS
3: SBC_FB

Servo Amplifier Parameters

Parameter Name Setting range Default value

Action sequence at
PA2_61 0000 to 3021 2021
servo-on = OFF, forced stop

PA2_62 Action sequence at alarm 0000 to 2011 0000

PA2_76 No.3 deceleration time 0.0 to 99999.9 [ms] 100.0

Function safety servo amplifier

PA4_11 00 to 11 00
operation selection

Safe Stop 1 (SS1) Time Monitoring 4-7

 CHAPTER 4 SAFETY FUNCTION OPERATION

4.3 Safe-Limited Speed (SLS)

4.3.1 Safe-Limited Speed (SLS) Normal Operation

By turning OFF (open) the input terminal to which the SLS function is assigned, servo motor speed
monitoring is started. The STO operation is applied when the servo motor speed exceeds the upper
limit speed. The timing chart when the SLS function is assigned to terminal [SIA] is shown below.

SF15: Upper limit speed wait time

PA1_38: Deceleration time

4 SF05: SLS timer

(*3) Upper limit speed

SF08: SLS upper limit width SF08: SLS upper limit width
Servo motor speed

SF05: SLS level (*4) PA4_12: Function safety SLS speed limit value

Less than 50 ms Less than 50 ms

Terminal [SIA1+]

Terminal [SIA2+]

(*1) Terminal [RES+]

SLS reaction time 20 ms or longer

Servo amplifier status Running Running

(*2) EDM output

(*1) Do not perform RES terminal operation after SLS deceleration is complete. If the restart function is disabled (parameter
SF18: 0), operation is resumed when terminal [SIA] turns ON.
(*2) The timing chart of the EDM function is that when parameter SF20 or SF21 is set to "0" or "3".
(*3) Refer to "3.2 Description of Each Parameter" in Chapter 3 for a detailed description of the upper limit speed setting.
(*4) If parameter PA4_11 is set to "1□", speed is limited based on the PA4_12 setting value. If PA4_11 is set to "□0", the
servo motor runs at the command speed input to the servo amplifier from an external device.
The deceleration time when speed is limited with the PA4_12 setting value, and the acceleration time when the SLS
operation is canceled are based on the acceleration/deceleration time selected at the servo amplifier (PA1_37 to 40,
etc.)

Fig.4.3-1 SLS operation timing chart (if SLS function assigned to SIA□)

4-8 Safe-Limited Speed (SLS)

 CHAPTER 4 SAFETY FUNCTION OPERATION

CAUTION
[When performing position control]
 If using with parameter PA4_11 set to "1□" in position control mode, when performing servo
amplifier SLS operation in combination with the WSU-ST1, process commands in such a way
that the speed is the parameter PA4_12: Function safety SLS speed limit value or less even at
the host device side when the SLS function becomes active.
 If parameter PA4_11 is set to "1□", the servo amplifier limits speed to the PA4_12 setting value.
Consequently, if the command from the host device is for a speed equal to or greater than the
PA4_12 setting value, a deviation over alarm will occur, and the servo motor may not move as

4
commanded when the SLS function is canceled as described below.
 The servo motor will move as follows if the command is applied to speed limiting.
(1) A position deviation will occur if a command exceeding the speed limit value is issued, and
will continue to build up while the command is applied to speed limiting.
(2) If the position deviation builds to the PA2_69: Deviation detection overflow value, a
deviation over alarm will occur.
(3) If the command is reduced to a value smaller than the speed limit value before the deviation
over alarm occurs, the servo motor will continue to rotate due to speed limiting until the built
up position deviation is offset, and subsequent operation will be based on the command.
(4) If the speed limit value increases before the deviation over alarm occurs (when SLS
canceled), the servo motor will accelerate to the speed limit value.
 If the speed limit value becomes greater than the command value, the operation will be
as described in item (3).
 If the speed limit value remains smaller than the command value, the operation will be
as described in items (1) and (2).

[When performing torque control]

 If using with parameter PA4_11 set to "1□" in torque control mode, servo motor speed may be
limited to a speed higher than the PA4_12 setting value based on the PA1_96: Speed limit gain
for torque control setting.
 Check the actual speed during speed limiting, and adjust the PA4_12 setting value so that
speed is limited at an appropriate speed limit value.

Safe-Limited Speed (SLS) 4-9

 CHAPTER 4 SAFETY FUNCTION OPERATION

4.3.2 Safe-Limited Speed (SLS) Alarm Operation

If the servo motor speed exceeds the upper limit speed during SLS operation, the STO operation is
applied immediately, and an alarm occurs. If the SBC function is enabled, the SBC function operates at
the same time as STO.
Turn the servo amplifier power off and on again to recover the alarm status. The timing chart for SLS
alarm operation is shown below.

Upper limit speed

4
Servo motor speed

SF05: SLS level Dynamic brake stop

Terminal [SIA1+]

Terminal [SIA2+]
SLS reaction time Fault reaction time

Servo amplifier status Running

(*1) SBC output

Alarm None

(*2) Dynamic brake Brake release Brake application

(*3) EDM output

(*1) If the SBC function is enabled (parameter SF11: 1), an SBC signal is output at the same time as STO operation is
applied.
(*2) The timing chart for the dynamic brake is that when parameter PA2_62 is set to "□□0□".
(*3) The timing chart for the EDM function is that when parameter SF20 or SF21 is set to "0" or "3".
(*4) There is a 50 ms delay until output is actually cut off after the STO operation is applied.

Fig.4.3-2 SLS alarm operation timing chart

4-10 Safe-Limited Speed (SLS)

 CHAPTER 4 SAFETY FUNCTION OPERATION

4.3.3 Related Parameters

The following parameters relate to SLS. Refer to "3.2 Description of Each Parameter" in Chapter 3 for
details on each parameter.

WSU-ST1 Parameters
Parameter Name Setting range Default value
SF05 SLS level 100 to 6,000 (r/min) 150
SF06 SLS timer 0.01 to 99.99 [s] 10.00

4
SF07 SLS deceleration time 0.01 to 99.99 [s] 1.00
SF08 SLS upper limit width 0 to 6,000 [r/min] 150
0: No selection
1: SS1
SF12 SIA terminal function selection 0
2: SLS
3: SBC_FB
0: No selection
1: SS1
SF13 SIB terminal function selection 0
2: SLS
3: SBC_FB
SF14 Servo motor basic speed 1 to 6,000 (r/min) 2,000
SF15 Upper limit speed wait time 0.00 to 99.99 [sec] 1.00

Servo Amplifier Parameters

Parameter Name Setting range Default value
PA1_36 Acceleration / deceleration 0: Disable 1: 0
selection at speed control Enable

PA1_37 Acceleration time 1 100.0

PA1_38 Deceleration time 1 100.0

0.0 to 99999.9 [ms]
PA1_39 Acceleration time 2 500.0

PA1_40 Deceleration time 2 500.0

Action sequence at
PA2_61 0000 to 3021 2021
servo-on = OFF, forced stop

PA2_62 Action sequence at alarm 0000 to 2011 0000

Function safety servo amplifier

PA4_11 00 to 11 00
operation selection

Function safety SLS speed limit

PA4_12 0.01 to 6000.00 [r/min] 6000.00
value

Safe-Limited Speed (SLS) 4-11

 CHAPTER 4 SAFETY FUNCTION OPERATION

4.4 Safe Speed Monitor (SSM)

4.4.1 Safe Speed Monitor (SSM) Normal Operation

This signal is output based on the redundant servo motor speed. The function can be enabled with the
parameter SF09 setting. Output turns off (open) when the servo motor speed absolute value exceeds
the parameter SF10 setting value.
Terminal [SSM] opens (OFF) when an EcF alarm occurs.

4 SF10: SSM level

Servo motor speed
SF10: SSM level

Terminal [SSM]

4.4.2 Related Parameters

The following parameters relate to the Safe Speed Monitor.

Refer to "3.2 Description of Each Parameter" in Chapter 3 for details on each parameter.

WSU-ST1 parameters
Parameter Name Setting range Default
value
0: Not used
SF09 SSM selection 0
1: Use
SF10 SSM level 0 to 6,000 (r/min) 150

4-12 Safe Speed Monitor (SSM)

 CHAPTER 4 SAFETY FUNCTION OPERATION

4.5 Safe Brake Protocol (SBC)

4.5.1 Safe Brake Protocol (SBC) Normal Operation

This signal controls the non-excitation actuating brake. By enabling parameter SF11, an SBC signal is
output in tandem with the STO function. If using the SBC function, assign SBC feedback functions to
terminal [SIA] or terminal [SIB], and connect brake control safety relay b-contact to the terminal to
which the feedback function is assigned.
When resuming operation, if the cause of STO function operation has been eliminated (e.g., SS1 input
terminal turned ON), and the restart function is enabled, by turning terminal [RES+] OFF (open), ON
(short circuit) for 20 ms or longer and then OFF (open), the SBC function is canceled, and the 4
non-excitation actuating brake is released after the brake delay time has elapsed. Run the servo
amplifier after ensuring that the brake has been properly released.
The timing chart if using servo amplifier terminal [EN] (STO function) is shown below.

Servo motor speed

Brake stop

Less than 50 ms Less than 50 ms

Terminal [EN1+]

Terminal [EN2+]

SBC output

(*1) Terminal [RES+]

SBC reaction time 20 ms or longer

Servo amplifier status Running Running

Brake Brake release Brake application Brake release

(*2) EDM output

(*1) If the restart function is disabled (parameter SF18: 0), operation is resumed when terminal [EN] turns ON.
(*2) EDM output is the operation if assigned to SBC operation (SF20 or SF21: 4).

Fig.4.5-1 SBC operation timing chart

Safe Brake Protocol (SBC) 4-13

 CHAPTER 4 SAFETY FUNCTION OPERATION

WARNING
 Unexpected operation may occur if terminal [SIA] or [SIB] to which the SBC feedback function is
assigned is wired incorrectly, and therefore care should be taken when wiring.
 Customers are responsible for conducting a risk assessment of the overall system to determine
whether the risk incurred in the use of non-excitation actuating brakes and safety relays is
acceptable.
Failure to observe this could result in injury or device damage.
 There is a risk of damage if the built-in brake is applied while the servo motor is rotating. If
necessary to ensure secure braking with the SBC function, install an external brake, and
connect the SBC.

4
CAUTION
 If the Safe Brake Control function is enabled, a circuit diagnostic sequence is run when the
power is turned on. Each brake control relay turns ON and OFF in turn when performing the
diagnosis, however, this is normal.

4.5.2 Related Parameters

The following parameters relate to Safe Brake Control.

Refer to "3.2 Description of Each Parameter" in Chapter 3 for details on each parameter.

WSU-ST1 parameters
Parameter Name Setting range Default
value
0: Disable
SF11 SBC function selection 0
1: Enable
0: No selection
1: SS1
SF12 SIA terminal function selection 0
2: SLS
3: SBC_FB
0: No selection
1: SS1
SF13 SIB terminal function selection 0
2: SLS
3: SBC_FB

4-14 Safe Brake Protocol (SBC)

CHAPTER 5 MAINTENANCE AND INSPECTION
5

5-1
 CHAPTER 5 MAINTENANCE AND INSPECTION

5.1 Inspection

Carry out daily and periodic inspection to prevent failures beforehand, and to ensure continued
high-reliability operation. Lengthy use of the product without inspection could result in failure and
damage, or accident and fire.

WARNING
 Carry out inspections after waiting at least 5 minutes after turning off the power, and after
confirming that the charge LED is off.
Failure to observe this could result in electric shock.
 Do not touch the servo motor, servo amplifier, or wiring with the power on.

5 Failure to observe this could result in electric shock.

 Never disassemble or modify the servo motor or servo amplifier.
Failure to observe this could result in fire or failure. The product is not covered by warranty.

 Daily inspection
Conduct a visual check during operation to verify whether there are any abnormalities. Normally,
the following inspections should be carried out.
(1) Has a significant amount of dust accumulated on the servo amplifier?
(2) Does the ambient environment (temperature, power supply, etc.) satisfy the specifications?
(3) Are there any LED display abnormalities?
(4) Are there any abnormal noises, abnormal vibrations, or abnormal odors?
(5) Are there any abnormalities such as signs of overheating or discoloration?

5-2 Inspection
 CHAPTER 5 MAINTENANCE AND INSPECTION

 Periodic inspection
Carry out periodic inspection after stopping operation and turning off the power. It takes time for the
main circuit DC part smoothing capacitor to dissipate even after turning off the power. Always carry
out inspection after ensuring that the charge LED is off. A periodic inspection cycle of 1 to 2 years
is recommended, however, the cycle may be shortened depending on the usage conditions.

Inspection Inspection item Inspection method Criteria

location
Ambient  Check the ambient  Perform a visual  The specifications
environment temperature, humidity, check, and perform should be
vibration, and atmosphere measurement with satisfied.
(presence of dust, gas, oil the respective  There should be
mist, water droplets, etc.) meters. no objects lying
 Have any foreign objects such  Visual check around.
as tools or dangerous objects
been left in the surrounding
area?
5
Power  Is the interface power supply  Perform  The specifications
supply voltage normal? measurement with a should be
voltage tester, etc. satisfied.
LED display  Is the display difficult to see?  Visual check  There should be
Does it light up correctly? no abnormalities.
Connector  Is there any fixing screw  Tighten further.  There should be
wiring looseness?  Visual check no abnormalities.
 Is there any damage?
 Is there any looseness or wire
disconnection at crimped
parts?
Internal  Are the internal safety circuits  Restart the servo  No alarm should
circuits functioning properly? amplifier. occur.
Note: Safety standards  Turn the input
stipulate that inspection terminals ON and
is required every 3 OFF.
months.

Inspection 5-3
 CHAPTER 5 MAINTENANCE AND INSPECTION

5.2 Status Display

5.2.1 LED Display

The LED display for each operation mode is as follows.

Power ON
When When During safety function operation When
LED name When
power OFF changing alarm
normal SS1 SLS STO
parameters occurs
PWR OFF ON ON ON ON ON ON
RUN OFF Flashing Flashing ON ON ON Flashing

5 ERR
STO
OFF
OFF
OFF
OFF
OFF
Flashing
OFF
OFF
OFF
OFF
OFF
ON
ON
ON

LED display

5-4 Status Display

 CHAPTER 5 MAINTENANCE AND INSPECTION

5.2.2 Alarm List

The following is a list of WSU-ST1 related alarms.

Table5.2-1 Alarm List

Servo Sub-code Alarm details Operation following alarm
amplifier
display
EcF 00xx STO circuit error STO (*1)
01xx Function safety module error STO (*1)
02xx Function safety module error STO (*1)
03xx Function safety module error STO (*1)
04xx SIA circuit error STO (*1)
05xx SIB circuit error STO (*1)
06xx
07xx
SBC circuit error
SSM circuit error
STO (*1)
STO (*1)
5
08xx STO circuit error STO (*1)
09xx SBC circuit error STO (*1)
0Axx SSM circuit error STO (*1)
0Bxx Function safety module error STO (*1)
0Cxx Servo amplifier communication error STO (*1)
0Dxx Encoder error STO (*1)
0Fxx SS1 operation error (speed STO (*1)
monitoring)
10xx SLS operation error STO (*1)
11xx Function safety module error STO (*1)
12xx Servo amplifier major failure STO (*1)
13xx Parameter communication error STO (*1)
(*1) The SBC function will also operate if SF11 is set to "1".

 Sub-code check method

Operating procedure Display

Alarm display status

Hold down [SET/ESC] for 1 second or longer.

Use [˄] / [˅] to jump to rc_14.

Hold down [SET/ESC] for 1 second or longer.

Sub-code display Sub-code

Status Display 5-5

 CHAPTER 5 MAINTENANCE AND INSPECTION

5.2.3 Troubleshooting

If the problem is not resolved even after performing the troubleshooting described below, it is possible
that a failure has occurred. Contact Fuji to request investigation and/or repair.

The "PWR" LED display does not turn on.

Trouble: Power is not being supplied to the WSU-ST1.

Cause Check and remedy

(1) The servo amplifier is not  Check whether the servo amplifier control power supply (L1C,
running L2C) has been wired correctly.
 Repair the wiring.
 Check whether the control power supply input voltage is in the

5 200 to 240 VAC range.

 Review the power supply voltage.
(2) Contact defect with servo  Check whether the WSU-ST1 has been properly installed on
amplifier the servo amplifier.
 Check for any screw looseness, and reinstall if necessary.
 Check whether there is any foreign material adhering to the
connector connected to the servo amplifier.
 Remove the foreign material, and reconnect to the servo
amplifier.

EcF alarm sub-code 01xx, 02xx, 03xx, 0Bxx, 11xx: Function safety module
error
Trouble: WSU-ST1 internal error

Cause Check and remedy

(1) Connection defect with servo  Check whether the WSU-ST1 has been properly connected to
amplifier the servo amplifier.
 Check for any screw looseness, and reattach if necessary.
 Check whether the problem can be resolved by turning the
power off and on again.
 Contact Fuji if unable to resolve the problem even by
turning the power off and on again.
(2) Strong ambient noise from  Check noise countermeasures (grounding condition, signal
surrounding area line and communication cable/main circuit wiring installation
method, etc.)
 Take noise countermeasures. Separate the main circuit
wiring and control circuit wiring as best as possible.
 Check whether the shielded wire has been properly
connected.

5-6 Status Display

 CHAPTER 5 MAINTENANCE AND INSPECTION

EcF alarm sub-code 04xx: SIA circuit error

Trouble: Terminal [SIA1+] and [SIA2+] input ON/OFF does not match.

Cause Check and remedy

(1) Incorrect wiring  Check whether the wiring has been connected correctly.
 Repair the wiring.
 Check for any wiring short circuiting or disconnection.
 Repair the wiring.
(2) Terminals [SIA1] and [SIA2] do  Check whether the wiring for either the terminal [SIA1] or
not turn ON/OFF [SIA2] signal has become disconnected or shorted.
simultaneously  Repair the wiring.
 Check whether the terminal [SIA1] and [SIA2] signal input
time difference is 50 ms or less.
 Repair the signal input circuit.
(3) Strong ambient noise from
surrounding area
 Check noise countermeasures (grounding condition, signal
line and communication cable/main circuit wiring installation
method, etc.)
5
 Take noise countermeasures. Separate the main circuit
wiring and control circuit wiring as best as possible.
 Check whether the shielded wire has been properly
connected.

EcF alarm sub-code 05xx: SIB circuit error

Trouble: Terminal [SIB1+] and [SIAB+] input ON/OFF does not match.

Cause Check and remedy

(1) Incorrect wiring  Check whether the wiring has been connected correctly.
 Repair the wiring.
 Check for any wiring short circuiting or disconnection.
 Repair the wiring.
(2) Terminals [SIB1] and [SIB2] do  Check whether the wiring for either the terminal [SIB1] or
not turn ON/OFF [SIB2] signal has become disconnected or short circuited.
simultaneously  Repair the wiring.
 Check whether the terminal [SIB1] and [SIB2] signal input
time difference is 50 ms or less.
 Repair the signal input circuit.
(3) Strong ambient noise from  Check noise countermeasures (grounding condition, signal
surrounding area line and communication cable/main circuit wiring installation
method, etc.)
 Take noise countermeasures. Separate the main circuit
wiring and control circuit wiring as best as possible.
 Check whether the shielded wire has been properly
connected.

Status Display 5-7

 CHAPTER 5 MAINTENANCE AND INSPECTION

EcF alarm sub-code 06xx, 09xx: SBC circuit error

Trouble: The SBC feedback signal for SBC output does not match.

Cause Check and remedy

(1) Incorrect wiring  Check whether the wiring has been connected correctly.
 Repair the wiring.
(2) Incorrect parameter setting  Check the SIA terminal function selection (SF12) and SIB
values terminal function selection (SF13) data.
 Correct the parameter setting values.
(3) A safety relay other than  Check whether the auxiliary contact is contact b.
specified has been used  Replace with the specified safety relay.
(4) The safety relay does not  Check whether the safety relay contacts have welded
function together or shorted.

5
 Replace the safety relay.
 Check whether the 24 V power supply voltage value has
dropped.
 Change the power supply.

EcF alarm sub-code 07xx, 0Axx: SSM circuit error

Trouble: The terminal [SSM1] and [SSM2] output signals are abnormal.

Cause Check and remedy

(1) Terminals [SSM1] and [SSM2]  Check whether the wiring has been connected correctly.
do not turn ON  Repair the wiring.
 Check whether the 24 V power supply voltage value lies
within the 24 V ±10% range.
 Change the power supply.

EcF alarm sub-code 00xx, 08xx: STO circuit error

Trouble: An STO circuit error occurred.

Cause Check and remedy

(1) Input signal ON/OFF does not  Check whether the wiring has been connected correctly.
match for terminals [EN1+] and  Check the wiring, and turn the power off and on again.
[EN2+] in the servo amplifier
(2) Contact defect with servo  Check whether the WSU-ST1 has been properly installed on
amplifier the servo amplifier.
 Check for any screw looseness, and reinstall if necessary.
 Check whether there is any foreign material adhering to the
connector connected to the servo amplifier.
 Remove the foreign material, and reconnect the connector
to the servo amplifier.
(3) STO circuit internal error  Check whether the alarm can be cleared by turning the power
off and on again.
 Replace the servo amplifier or WSU-ST1.

5-8 Status Display

 CHAPTER 5 MAINTENANCE AND INSPECTION

EcF alarm sub-code 0Cxx: Servo amplifier communication error

Trouble: Servo amplifier communication error

Cause Check and remedy

(1) Contact defect with servo  Check whether the WSU-ST1 has been properly installed on
amplifier the servo amplifier.
 Check for any screw looseness, and reinstall if necessary.
 Check whether there is any foreign material adhering to the
connector connected to the servo amplifier.
 Remove the foreign material, and reconnect the connector
to the servo amplifier.
(2) Strong ambient noise from  Check noise countermeasures (grounding condition, signal
surrounding area line and communication cable/main circuit wiring installation
method, etc.)

5
 Take noise countermeasures. Separate the main circuit
wiring and control circuit wiring as best as possible.
 Check whether the shielded wire has been properly
connected.

EcF alarm sub-code 0Dxx: Encoder error

Trouble: Unable to communicate with the encoder.

Cause Check and remedy

(1) The encoder wiring has become  Check whether the encoder has been properly connected, or
disconnected or has shorted whether the wiring has become disconnected or shorted.
 Repair the wiring.
(2) A servo motor incompatible with  Check whether the servo motor model is compatible.
the safety functions was  Replace the servo motor.
connected
(3) Strong ambient noise from  Check noise countermeasures (grounding condition, signal
surrounding area line and communication cable/main circuit wiring installation
method, etc.)
 Take noise countermeasures. Separate the main circuit
wiring and control circuit wiring as best as possible.
 Check whether the shielded wire has been properly
connected.

Status Display 5-9

 CHAPTER 5 MAINTENANCE AND INSPECTION

EcF alarm sub-code 0Fxx: SS1 (speed monitoring) operation error

Trouble: The servo motor speed exceeded the SS1 upper limit speed during SS1 (speed monitoring)
operation.

Cause Check and remedy

(1) The SS1 function terminal  Check whether parameters (SF12, SF13) used for assigning
settings are incorrect the terminal [SIA] and [SIB] functions are correct.
 Correct the parameters.
(2) The servo motor speed exceeds  Check whether the upper limit speed parameter setting is
the upper limit speed correct.
SF00: SS1 level
SF02: SS1 deceleration time
SF03: SS1 upper limit width
SF14: Servo motor standard speed

5 SF15: Upper limit speed wait time

 Correct the parameters.
 The servo motor does not decelerate.
 Check the command speed, and correct if necessary.
 Check parameters PA2_76 and PA4_11, and correct if
necessary.

EcF alarm sub-code 10xx: SLS circuit error

Trouble: The servo motor speed exceeded the SLS upper limit speed during SLS operation.

Cause Check and remedy

(1) The SLS function terminal  Check whether parameters (SF12, SF13) used for assigning
settings are incorrect the terminal [SIA] and [SIB] functions are correct.
 Correct the parameters.
(2) The servo motor speed exceeds  Check whether the upper limit speed parameter setting is
the upper limit speed. correct.
SF05: SLS level
SF06: SLS timer
SF07: SLS deceleration time
SF08: SLS upper limit width
SF14: Servo motor standard speed
SF15: Upper limit speed wait time
 Correct the parameters.
 The servo motor does not decelerate.
 Check the command speed, and correct if necessary.
 Check parameters PA4_11 and PA4_12, and correct if
necessary.

5-10 Status Display

 CHAPTER 5 MAINTENANCE AND INSPECTION

EcF alarm sub-code 12xx: Servo amplifier major failure

Trouble: A major failure alarm occurred at the servo amplifier.

Cause Check and remedy

The servo amplifier output a major  Check for alarm codes other than EcF.
failure alarm.  Eliminate the cause of the alarm other than EcF, and turn
the power off and on again.

EcF alarm sub-code 13xx: Loader communication error

Trouble: An error occurred during communication with PC Loader.

Cause Check and remedy

The editing screen was closed while Turn the servo amplifier power off and on again. 5
editing parameters, and then
reopened without turning the servo
amplifier power off and on again.

The servo motor does not rotate. (No alarm displayed)

Trouble: The servo does not turn on.

Cause Check and remedy

The connector connection has been Check again whether the servo amplifier has been properly
wired incorrectly, or has shorted. connected to the connector, and whether shorting has
occurred.

Status Display 5-11

 CHAPTER 5 MAINTENANCE AND INSPECTION

5-12 Status Display

CHAPTER 6 SPECIFICATIONS
6

6-1
 CHAPTER 6 SPECIFICATIONS

6.1 Standard Specifications

Item Details
Interface power supply 24 VDC ±10%
Operating Ambient temperature During operation: -10 to 55 °C
environment During storage, transport: -10 to 80 °C
Ambient humidity 5 to 90% (there should no freezing or condensation)
Atmosphere · There should be no dust, direct sunlight, corrosive gas,
flammable gas, oil mist, steam, or water droplets. (Pollution level
2 (IEC60664-1)) (Note)
· There should be very little salt content. (0.01 mg/cm2/year or less)
· There should be no condensation as a result of sudden
temperature changes.
(Note) Do not install in environments in which the cooling fan may
become clogged with dust containing waste thread or
dampness, etc. If using the product in such an environment,
install inside a control panel into which waste thread, etc.

6
cannot enter.
Altitude 1,000 m or lower
Atmospheric pressure During operation: 90 to 106kPa
During storage: 90 to 106kPa
During transport: 90 to 106kPa
Vibrations 3 mm: less than 2 to 9Hz
9.8 m/s2: less than 9 to 20Hz
2 m/s2: less than 20 to 55Hz
1 m/s2: less than 55 to 200Hz
Other [UL Standard, Low Voltage Directive]
Ensure that the installation conditions described in the "ALPHA7
series" servo amplifier instruction manual and user's manual are
satisfied.
[EMC Directive]
Ensure that the installation conditions described in the "ALPHA7
series" servo amplifier instruction manual and user's manual are
satisfied.
Compatibility with the EMC Directive may vary depending on
conditions such as the actual product configuration and wiring, and
therefore compatibility should be checked on the customer's
machine at which EMC countermeasures have been applied.
Safety function Safe Stop 1 (SS1)
Safe-Limited Speed (SLS)
Safe Brake Control (SBC)
Safe Speed Monitor (SSM)
Compatible standards EN ISO 13849-1: 2015 Cat. 3 / PL-d
IEC / EN 61508: SIL2
IEC / EN 61800-5-2: 2016 SIL2
IEC / EN 62061: 2015 SILCL2
IEC / EN 61000-6-7: 2014

6-2 Standard Specifications

 CHAPTER 6 SPECIFICATIONS

Item Details
-7
Safety PFH PFH ≤ 1.5 × 10
functions (probability of dangerous failure
per hour)
MTTFd 12 years or longer
Deterministic capability SC2
SFF (Safe Failure Fraction) SFF: 90% or higher, Type B
Proof test interval 10 years
Stop category 0, 1 (IEC/EN 60204-1: 2006)
Response time (incl. failure 80 ms or less
detection)

Standard Specifications 6-3

 CHAPTER 6 SPECIFICATIONS

6.2 Precautions When Turning On the Power

The WSU-ST1 performs an initial diagnosis of the safety circuit when the power is turned on. The
diagnosis time will vary depending on the safety functions used, and therefore caution is required. The
maximum length of time from the point the control power is turned on until initial diagnosis is complete
is 4.5 seconds.
Turn on the external power supply (24 VDC) connected to the WSU-ST1 before turning on the servo
amplifier. If the servo amplifier starts up with the external power supply off, a circuit error will be
determined by the safety circuit self-diagnosis function, and an alarm will occur.
 If using the SSM function, it is necessary to input the 24 V power supply to terminals [PI_SSM1]
and [PI_SSM2] before turning on the servo amplifier. If the servo amplifier starts up with the 24 V
power supply off, a circuit error will be determined by the safety circuit self-diagnosis function, and
an EcF alarm will occur.
 If using the SBC function, it is necessary to input the 24 V power supply to terminals [PISBC1] and

6
[PISBC2] before turning on the servo amplifier, and ensure that servo amplifier terminals [EN1] and
[EN2] are OFF. If the servo amplifier starts up without these conditions being satisfied, a circuit
error will be determined by the safety circuit self-diagnosis function, and an EcF alarm will occur.

6-4 Precautions When Turning On the Power

CHAPTER 7 COMPLIANCE WITH SAFETY STANDARDS
7

7-1
 CHAPTER 7 COMPLIANCE WITH SAFETY STANDARDS

7.1 Safety Standards Compliance Precautions

7.1.1 Terminal SIA, SIB Wiring Method

 Safety functions are triggered when current no longer flows to terminals SIA1+, SIB1+, SIA2+, or
SIB2+. Use safety components such as safety relays compatible with EN ISO13849-1 PL=d Cat.3
or higher, or IEC/EN61508 SIL2 or higher to ensure that the 24 VDC power supply to each terminal
can be properly turned off.
 The machine manufacturer is responsible for wiring between terminals SIA1+, SIB1+, SIA2+, and
SIB2+ and external safety components, and wiring work should be carried out with care to ensure
that no shorting occurs.
(Example: Current may continue to flow to each terminal, hindering the safety functions, even if
this wiring becomes trapped in the control panel doors, causing a short circuit between terminals
SIA1+, SIB1+, SIA2+, SIB2+ and other wiring (signals), and safety components are off.)
 It is not possible to respond to input OFF pulses of 1 ms or shorter. Terminals SIA1+, SIB1+,
SIA2+, and SIB2+ must be turned off for at least 20 ms.
 Ensure that the difference in the time that terminals SIA1+ and SIA2+, or SIB1+ and SIB2+ are

7 turned on and off is 50 ms or less.

7.1.2 Terminal SBC Wiring Method

 The SBC function assumes a non-excitation actuating brake, and therefore the brake will not
switch to a non-excited status, and not be applied if the terminal wiring method is mistaken, or the
wiring is shorted.
 The machine manufacturer is responsible for terminal wiring, and wiring work should be carried out
with care to ensure that no shorting occurs.

7-2 Safety Standards Compliance Precautions

 CHAPTER 7 COMPLIANCE WITH SAFETY STANDARDS

7.1.3 Safety Function Operation (STO, SS1, SLS) Caution

 If constructing a product safety system with the STO function, SS1 function, or SLS function, the
machine manufacturer is responsible for carrying out a risk assessment not only of external
devices and wiring connected to input terminals, but of the entire machinery including other
equipment, devices, or wiring for product safety systems required by the manufacturer, and for
ensuring that the entire machinery is compatible with the product safety system. Furthermore, a
periodic inspection must be carried out to determine whether the product safety system is
functioning properly for the purpose of preventive maintenance.
 To comply with safety compliance standards, it is necessary to install the servo amplifier inside a
control panel offering protective construction of IP54 or higher.
 To comply with safety compliance standards, it is necessary to comply with European standards
EN61800-5-1 and EN61800-3.
 The STO function brings motors to a slow stop (free-run stop). If stopping or holding motors with a
mechanical brake, the safety system for all machinery and equipment requires the use of the
WSU-ST1 SBC function.
 If a single fault is detected by the safety cutoff circuit, the STO status occurs at the servo amplifier.
 The STO function is not designed to completely cut off the power supply to the motor electrically.
Always carry out work such as wiring and maintenance after waiting at least 5 minutes after turning
off the servo amplifier input power supply.
7
7.1.4 Wiring Check

If starting the product for the first time, or making changes to the wiring when carrying out maintenance,
ensure that the safety function being used is functioning properly with the servo amplifier stopped.

7.1.5 Safety Function Test

 Conduct a safety function test at least once a year to ensure that each of the safety functions
(STO, SS1, SLS, SBC) function properly at applications at which the safety functions are not run
regularly.

Safety Standards Compliance Precautions 7-3

 CHAPTER 7 COMPLIANCE WITH SAFETY STANDARDS

7-4 Safety Standards Compliance Precautions

CHAPTER 8 WARRANTY
8

8-1
 CHAPTER 8 WARRANTY

8.1 Warranty Period and Warranty Scope

8.1.1 Free of Charge Warranty Period

(1) The warranty period is "1 year from the date of purchase", or "18 months from the manufacturing
date printed on the name plate", whichever date is earlier.
(2) However, in cases where the usage environment, conditions of use, usage frequency or number of
times used, etc., has an effect on product life, this warranty period may not apply.
(3) Furthermore, the warranty period for parts restored by Fuji Electric's Service Department is "6
months from the date on which repairs are completed".

8.1.2 Warranty Scope

(1) In the event that a failure occurs during the product warranty period which is the responsibility of
Fuji Electric, Fuji Electric shall replace or repair the part of the product that has broken down free of
charge at the place where the product was purchased or where it was delivered. However, if the
following cases are applicable, the terms of this warranty may not apply.
1) The failure was caused by inappropriate conditions, environment, handling or usage methods,

8 etc., which are not specified in the catalog, instruction manual, specifications, or other relevant
documents.
2) If the failure was caused by some reason other than the purchased or delivered Fuji product.
3) The failure was unrelated to Fuji Electric, such as a problem with the design of the customer's
equipment or software.
4) The failure was caused by running a program other than that supplied by Fuji
Electric for a programmable Fuji Electric product, or as a result of using such a program.
5) The failure was caused by modifications or repairs carried out by a party other than Fuji Electric.
6) The failure was caused by a failure to properly maintain or replace the consumable parts, etc.
specified in the instruction manual or catalog, etc.
7) The failure was caused by a scientific or technical problem that was not foreseen when making
practical application of the product at the time it was purchased or delivered.
8) The product was not used in the manner in which it was originally intended to be used.
9) The failure was caused by a reason for which Fuji Electric holds no responsibility, such as
natural or other disaster.
(2) Furthermore, the warranty specified herein shall be limited solely to the purchased or delivered
product.
(3) The upper limit for the warranty scope shall be as specified in item (1) above, and any damages
(damage to or loss of machinery or equipment, or lost profits from the same, etc.) consequent to or
resulting from a failure of the purchased or delivered product shall be excluded from coverage by
this warranty.

8-2 Warranty Period and Warranty Scope

 CHAPTER 8 WARRANTY

8.1.3 Trouble Diagnosis

As a rule, the customer is requested to carry out a preliminary trouble diagnosis. However, at the
customer's request, Fuji Electric or its service network can perform the trouble diagnosis for a fee. In
this case, the customer is asked to assume the burden for charges levied in accordance with Fuji
Electric's fee structure.

8.1.4 Exclusion of Liability for Loss of Opportunity, etc.

Regardless of whether a failure occurs during or after the free of charge warranty period, Fuji Electric
shall not be liable for any loss of opportunity, loss of profits, or damages arising from special
circumstances, secondary damages, accident compensation to another company, or damages to
products other than Fuji Electric's products, whether foreseen or not, which Fuji Electric is not
responsible for causing.

8.1.5 Repair Period after Production Stoppage, Spare Parts Supply

Period

With regards to models (products) which have gone out of production, Fuji Electric shall carry out
repairs for a period of 7 years following production stoppage, from the month and year when the
8
production stoppage occurs. In addition, Fuji shall continue to supply the spare parts required for
repairs for a period of 7 years, from the month and year when the production stoppage occurs.
However, if it is estimated that the life cycle of certain electronic and other parts is short and it will be
difficult to procure or produce those parts, there may be cases where it is difficult to provide repairs or
supply spare parts even within this 7-year period. For details, please confirm with the Fuji Electric
business office or our service office.

Warranty Period and Warranty Scope 8-3

 FUNCTION SAFETY MODULE FOR ALPHA7

WSU-ST1
Instruction Manual
First Edition July 2017

Fuji Electric Co., Ltd.

■ The unauthorized reproduction or reprinting of this instruction manual, in part or in full, is prohibited.
■ The content of this instruction manual may be subject to change without notice.
■ Every effort has been made to ensure the accuracy of the content of this instruction manual, however, please contact Fuji if
there is anything that is unclear, or if any errors or omissions and so on are found.
■ Notwithstanding the above, Fuji Electric accepts no responsibility for any adverse affects occurring through the use of this
product.
 SAFETY PRECAUTIONS
1. This catalog is intended for use in selecting required servo systems. Before actually using these products,
carefully read their instruction manuals and understand their correct usage.
2. Products described in this catalog are neither designed nor manufactured for combined use with a system or
equipment that will affect human lives.
If you are considering using these products for special purposes, such as atomic energy control, aerospace,
medical application, or traffic control, please consult our sales office.
3. If you use our product with equipment that is expected to cause serious injury or damage to your property in
case of failure, be sure to take appropriate safety measures for the equipment.

Gate City Ohsaki, East Tower, 11-2,

Osaki 1-chome, Shinagawa-ku,
Tokyo 141-0032, Japan
Phone: +81-3-5435-7057 Fax: +81-3-5435-7420
URL: http://www.fujielectric.com/

Information in this catalog is subject to change without notice. 2017-07(G17/G17)CM 00 FOLS