Panasonic MINAS A6 Series, Technical Reference

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8.7The operation of the driver module
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8.7 The operation of the driver module
Depending on the safety monitoring program of the safety part, the motor control processing of the
driver module is affected as follows.
8.7.1 Safety STO status
When a recoverable alarm (Alarm code starts with A) occurs in the safety part, the axis that is the target
of the recoverable alarm enters the STO state. In addition, the STO state can be intentionally set in the
safety monitoring program.
In the STO state, the motor current cut off and turn off the motor output torque.
On EtherCAT communication, the PDS (Power Drive Systems) state of the axis that is in the STO state
is automatically “Switch on disabled”, but the ESM (EtherCAT State Machine) state does not transition
automatically, and follow the host controller.
For details on the PDS status and ESM status, refer to "TECHNICAL REFERENCE EtherCAT
Communication Specification (SX-DSV03456)".
The 7-segment LED display on the drive module is STO display (St) when no other alarms or warnings
occur in the driver information display mode.
For details, refer to Chapter "3.5.2 Driver information display mode" of this document.
In the safety information display mode, the 4-digit error code is displayed one by one in sequence,
following the single-digit alphabet (A) indicating the alarm type.
For details, refer to Chapter "3.5.3 Safety information display mode" of this document.
8.7.2 Safety fatal error status
If a fatal error (Error code starts with F) occurs in the safety part, the motor current is cut off by the STO
function, and both Axis A and Axis B of the driver module will enter an alarm state due to Err31.5 (Safety
function error protection 5).
On EtherCAT communication, When Err31.5 occurs, the motor of each axis stops according to the
setting of EtherCAT object 2105h / 2505h (Sequence at alarm), and the PDS status changes to “Fault”,
but the ESM state does not change automatically and follows the host controller.
The 7-segment LED display of the drive module is an Err31.5 alarm display in the amplifier information
display mode when no other high priority alarm has occurred.
For details, refer to Chapter "3.5.2 Driver information display mode" of this document.
In the safety information display mode, a 4-digit error code is displayed in sequence, one digit after the
one-digit alphabet (F) indicating the alarm type.
For details, refer to Chapter "3.5.3 Safety information display mode" of this document.
8.7.3 EtherCAT object to check the safety status
To check the STO status of each axis with the host controller, refer to the following EtherCAT object.

EtherCAT object 2322h(Axis A) / 2722h(Axis B) : Logical output signal
b
it
3
0:
STO status monitor output
0: non-STO
1: STO