Panasonic MINAS A6 Series Operating Instructions Manual page 413

7
Supplement
Safety input signal
For list of connector pin numbers, refer to P.2-34,
Signal
Safety
input 1
Safety
input 2
<Response time>
Safety input 1 or 2 enables STO to operate: within 5 ms of response time, the motor
output torque will be turned off.
• Safety equipment self-diagnosis L pulse
Caution
Safety output signal from the safety controller and safety sensor may include L pulse for
self-diagnosis.
To prevent the L pulse from mis-triggering STO function, the safety input circuit has
built-in filter that removes the self-diagnosis L pulse.
Therefore, if the off period of safety input signal less than 1 ms, the safety input circuit
does not detect this "off" event.
To validate this "off" period, turn off the input signal for more than 5 ms.
Safety input
signal
Servo driver
Operate
• P.2-2 "Conformance to international standards" • P.2-74 "How to Use the Front Panel"
Re ated page
• P.3-33 "Inputs and outputs on connector X4"
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1. Safety function
Input & output signals
Symbol Pin No.
• Input 1 that triggers STO function. This input turns
SF1+ 4
off the upper arm drive signal of power transistor.
• When using the function, connect this pin in a way
so that the photocoupler of this input circuit turns off
SF1− 3
to activate STO function.
• Input 2 that triggers STO function. This input turns
SF2+ 6
off the lower arm drive signal of power transistor.
• When using the function, connect this pin in a way
so that the photocoupler of this input circuit turns off
SF2− 5
to activate STO function.
L pulse for self-diagnosis
1 ms or shorter
Contents
5 ms or more
5 ms or shorter
Response time
STO state
1
2
Control mode
Compatible
all control
mode
3
4
5
6
7
7-3