Omron G9SP Series Reference Manual page 68

Safety Device Function Blocks
Grip Input and Grip Enable
Release Input and Release
Enable
Error Handling and Error Resetting
Discrepancy Error
Timing Charts
46
Grip Input
OFF
ON
Release Input
OFF
ON
Error condition Behavior for error detection
Output
Enable
OFF (safety
state)
Normal Operation and Discrepancy Error:
Input1
(NO)
Input2
(NO)
Output
Enable
Discrepancy
Error
Fault
Present
Grip Signal and Release Signal:
Grip
Input
Release
Input
Grip
Enable
Release
Enable
Grip Enable
OFF
ON
Release Enable
OFF
ON
Fault Error output
Present
ON Discrepancy
Error: ON
IDLE to
RUN
Discrepancy Time
Section 3-5
Resetting the error
condition
Remove the cause of the error
and then do one of the follow-
ing:
1. Make the Input inactive and
then active again.
2. Change the operating mode
to IDLE Mode and then back
to RUN Mode.