Omron R88D-KTA5L User Manual page 431

I/O Signal Specifications
Safety Input Signal
There are 2 safety input circuits to operate the STO function.
Signal name
Safety input 1
Safety input 2
 When safety input 1 or 2 turns OFF, the STO function will start operating within 5 ms of the input,
and the motor output torque will be reduced to 0.
 Connect the equipment so that the safety input circuit is turned OFF to operate the STO function.
 Use Stop Selection for Alarm Detection (Pn510) to set the operation when the safety input is
turned OFF.
Precautions for Correct Use
 L-pulses for self-diagnosis of safety equipment
When you are connecting a safety device, such as a safety controller or a safety sensor, the safety
output signal of the device may include L pulses for self-diagnosis. To avoid malfunction due to the
L pulses for self-diagnosis, a filter that removes the L pulses is built into the safety input circuit. If the
OFF time of the safety input signal is 1 ms or less, the safety input circuit does not recognize it as
OFF. To make sure that OFF is recognized, maintain the OFF status of safety input signal for at least
5 ms.
Safety input signal
Servo amplifier operation
OMNUC G5-SERIES AC SERVOMOTOR AND SERVO DRIVE USER'S MANUAL
Pin
Symbol
number
SF+ CN8-4
• The upper arm drive signal of the
power transistor inside the Servo
Drive is cut off.
SF− CN8-3
SF2+ CN8-6 • The lower arm drive signal of the
power transistor inside the Servo
Drive is cut off.
SF2− CN8-5
For self-diagnosis
Within 1 ms
Normal operation
7-1 Safe Torque OFF (STO) Function
Description
L pulse
5 ms or more
Within 5 ms
STO status
Control mode
Fully-
Position Speed Torque
closed
√ √ √ √
√ √ √ √
√ √ √ √
√ √ √ √
7-2
7