Sanyo Denki Sanmotion R 3E S, Instruction Manual, Page: 409 / 514

10
Safe-Torque-Off (STO) function
In this chapter, details of Safe-Torque-Off (STO) function are explained.
10.1 Illustration of system configuration .................................................................. 10-1
10.2 Safe-Torque-Off function .................................................................................... 10-2
10.2.1 Outline .......................................................................................................................................... 10-2
10.2.2 Standards conformity .................................................................................................................... 10-3
10.2.3 Risk assessment .......................................................................................................................... 10-3
10.2.4 Residual risk ................................................................................................................................. 10-3
10.2.5 Delay circuit .................................................................................................................................. 10-4
10.3 Wiring .................................................................................................................. 10-5
10.3.1 CN4 connector layout ................................................................................................................... 10-5
10.3.2 Connection diagram of CN4-terminals ......................................................................................... 10-5
10.3.3 Example of wiring ......................................................................................................................... 10-6
10.3.4 Safety input-off shot pulse for safety device self-diagnosis ......................................................... 10-8
10.4 Safe-Torque-Off operation ................................................................................. 10-9
10.4.1 Safe-torque-off state ..................................................................................................................... 10-9
10.4.2 Restoration from safe-torque-off state ........................................................................................ 10-10
10.4.3 Safe-Torque-Off during servo motor running ............................................................................... 10-11
10.4.4 Safe-Torque-Off during servo motor stoppage ........................................................................... 10-14
10.4.5 Deviation clear ............................................................................................................................ 10-15
10.4.6 Safety input signal failure detection ........................................................................................... 10-15
10.5 Error Detection Monitor (EDM) ........................................................................ 10-16
10.5.1 Specifications ............................................................................................................................. 10-16
10.5.2 Connection example ................................................................................................................... 10-16
10.5.3 Error detection method ............................................................................................................... 10-17
10.6 Verification test ................................................................................................. 10-18
10.6.1 Preparation ................................................................................................................................. 10-18
10.6.2 Confirmation procedure .............................................................................................................. 10-18
10.6.3 Acceptance criteria ..................................................................................................................... 10-18
10.7 Safety precautions ............................................................................................ 10-19