Omron OMNUC G5 Series User Manual page 274

8-1 Safe Torque OFF Function
External Device Monitor (EDM) Output Signal
This is a monitor output signal that is used to monitor the status of safety input signals using
an external device. Connect a safety device, such as a safety controller or a safety sensor.
Connect the EDM output signal to the monitoring terminal on a safety device.
Signal
name
EDM
output
Relationship between Safety Input Signals and EDM Output Signal
Normally when both safety inputs 1 and 2 are OFF, i.e., when the STO function is activated for
both safety input circuits, the EDM output is ON.
You can detect a failure of the safety input circuit and the EDM output circuit by monitoring all
of the following 4 signal states using an external device.
These are the two cases of errors:
Both safety inputs 1 and 2 are OFF, but the EDM output circuit signal does not turn ON.
Either or both safety inputs 1 and 2 are ON, but the EDM output circuit signal is ON.
8
Safety input 1
Safety input 2
EDM output
The maximum delay time is 6 ms after the safety input signal is input until the EDM output signal
is output.
8-3
Pin
Symbol
number
EDM+ CN8-8
EDM− CN8-7
Signal name Symbol
SF1
SF2
EDM
OMNUC G5-series AC Servomotors and Servo Drives User's Manual (with Built-in EtherCAT Communications)
Description
• Monitor signal is output to
detect malfunctioning of the
safety function.
* This is not a safety output.
Signal status
ON ON OFF
ON OFF ON
OFF OFF OFF
Control mode
Posi-
Speed Torque
tion
√ √ √
√ √ √
OFF
OFF
ON
Fully-
closed
√
√