Sanyo Denki Sanmotion R 3E S, Instruction Manual, Page: 425 / 514

10.5 Error Detection Monitor (EDM)
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10.5 Error Detection Monitor (EDM)
10.5.1 Specifications
Error detection monitor (EDM) output is a signal to monitor wiring errors in safe-torque-off circuit
or between safety equipment and safety input. The following table shows connections between
safety input (HWGOFF1 and HWGOFF2) and error detection monitor (EDM) output.
✔
If the above connections are not satisfied, the safe-torque-off circuit or EDM output circuit is
malfunctioning.
10.5.2 Connection example
The following is connection example that allows activating safe-torque-off function on pressing
emergency button by using safety unit.
Connect safety output signals of safety unit to safety input 1 (HWGOFF1) and safety input 2
(HWGOFF2) respectively, and then failure detection monitor output signal (EDM) from servo
amplifier to feedback input of safety unit. Under normal conditions, pressing emergency stop
button turns off both of safety inputs and on EDM output. Once emergency stop button is
cancelled, feedback circuit of safety unit is reset and 2 safety inputs are turned on at the same
time because EDM output is on. This allows restarting operation.
✔
In case such a malfunction occurs that EDM will not be turned on despite both the
/HWGOFF1 and /HWGOFF2 being off, even if the emergency stop button is cancelled, the
operation will not resume as the feedback circuit has not been reset yet. (The amplifier keeps
safe-torque-off state).
Signal State
Safety input 1 (HWGOFF1) On On Off Off
Safety input 2 (HWGOFF2) On Off On Off
Error detection monitor (EDM) Off Off Off On
Safety unit Servo amplifier
HWGOFF1-
HWGOFF2-
4
3
6
5
EDM-
EDM+
8
7
Emergency Stop
button
Safety
output
0V
Feedback
input