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8 Safety Function
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
8
-2 ST
O Fu
nct
ion
via Safet
y Inp
u
t
S
ig
n
als
8
8-2
-1 I/O Sign
al Specifications
This is a monitor output signal that is used to monitor the status of safety input signals from an external
device.
Connect the EDM output signal to the external device monitoring terminal on a safety device, such as a
safety controller or a safety sensor.
Relationship between Safety Input Signals and EDM Output Signal
Normally when both safety inputs 1 and 2 are OFF, the EDM output circuit signal is ON. When both
safety inputs 1 and 2 are OFF, this means the STO function is active in both 1 and 2 safety input
circuits.
You can detect a failure of the safety input circuit and the EDM output circuit by monitoring all of the
following 4 signal status from 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.
The maximum delay time is 6 ms after the safety input signal is input until the EDM output signal is
output.
Relationship between EtherCAT and EDM Output Signal
When a 1S-series Servo Drive is not connected to the EtherCAT network, its safe state is held by
the STO function. The EDM signal is ON while in this state.
Precautions for Correct Use
Start the applications of the safety controller after the Servo Drive established EtherCAT com-
munications. If this condition is not met, an EDM error may be detected.
External Device Monitoring (EDM) Output Signal
Signal
Symbol
Pin No.
Description
EDM output
EDM+P
CN1-1
A monitor signal is output to detect a safety function failure.
This is not a safety output.
EDM+
CN1-2
EDM-
CN1-21
Signal
Sym-
bol
Signal status
Safety input 1
SF1
ON
ON
OFF
OFF
Safety input 2
SF2
ON
OFF
ON
OFF
EDM output
EDM
OFF
OFF
OFF
ON
Summary of Contents for R88D-1SN ECT Series
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