Panasonic MINAS A6 Multi Series Technical Reference page 237

8.5Details of safety functions
8.5.3 Details of Safe Torque Off (STO)
8.5.3.1 Change point from MINAS-A5 series
STO
operation
Method of
releasing
the STO state
8.5.3.2 Outline of safe torque off (STO) function
The safe torque off (STO) function is a safety function that shuts the motor current and turns off motor output torque by forcibly
turning off the driving signal of the servo driver internal power transistor.
When STO is activated, the servo driver turns off the servo-ready output signal (S-RDY) and goes into a STO state, with the
indication in the front panel turning to "St". When STO input is released and servo-on input is Off, it will automatically transition
itself to Servo ready state.
Note) To ensure that the servo amplifier recognizes that STO has turned off, keep STO off for at least 8 ms.
8-13
MINAS-A5
Alarm generation
Err30.0
Release of the
factors
and
Alarm clear
MINAS-A6
No Alarm
7-segment LED is "St"
After the STO state
status
When the alarm is
not generated
Release of the
factors of STO
and servo off
command
After the STO state
status
When the alarm is
generated
Release of the factors
of STO/alarm
and Alarm clear