Omron G9SP Series Reference Manual page 93

Safety Device Function Blocks
Truth Table
Error Handling and Error Resetting
Truth Table for Two-hand Control
Input 1 Input 2
(Pair 1-NO) (Pair 1-NC)
0
0
0
0
0
0
0
0
1
1
1
1
1
1
1
1
0: OFF, 1: ON
Error
condition
Output
Enable
Discrepancy
Error at Pair 1
OFF
(safety state)
Discrepancy
Error at Pair 2
Note The Output Enable signal will not turn ON if the synchronization time require-
ment is not satisfied (i.e., operation inputs for both hands must be completed
within 500 ms), but this is not considered an error.
Input 3
(Pair 2-NO)
0 0
0 0
0 1
0 1
1 0
1 0
1 1
1 1
0 0
0 0
0 1
0 1
1 0
1 0
1 1
1 1
Behavior for error detection
Fault Error output
Present
Discrepancy Error Pair 1:
ON
Discrepancy Error Pair 2:
Section 3-5
Input 4
(Pair 2-NC)
0
1
0
1
0
1
0
1
0
1
0
1
0
1
0
1
Resetting the error
condition
Remove the cause of
ON the error and then do
the following:
1. Make the both input
pair 1 and pair 2 inac-
tive and then active
again.
2. Or change the
ON
G9SP-series Con-
troller's operating
mode to IDLE Mode
and then back to
RUN Mode.
Output
Enable
0
0
0
0
0
0
0
0
0
0
1
0
0
0
0
0
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