Panasonic MINAS A6 Multi Series Technical Reference page 239

8.5Details of safety functions
8.5.3.4 Return timing diagram from STO state
(NOTE 1) Photocouplers for safety input 1 and 2 should be turned on again with servo-on input turned off.
Returning photocouplers for safety inputs 1 and 2 to ON will automatically reset it to Servo ready mode.
There is no need to conduct alarm-clear.
(NOTE 2) This is an STO state and the dynamic brake operates according to Pr5.10 "Sequence at alarm."
(During STO state, "sequence at alarm" will be applied even though no alarm is generated.)
(NOTE 3) This is normal servo-off condition and the dynamic brake operates according to Pr5.06 "Sequence at servo-off."
8.5.3.5 Connection example
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