8-6
Safety Function
The safety function stops the motor by signals from the safety controller.
This section provides a functional outline of the safety function, examples of operation and examples
of connections.
8-6-1
Overview of Safety Function
The safety function is designed so that the safety stop function of category 0 (uncontrolled stop) speci-
fied in IEC 60204-1 is used to meet the safety standards of PL-e under ISO 13849-1.
The safe torque OFF (STO) function cuts off the motor current and stops the motor by input signals
from the safety controller.
When the STO function is activated, the servo driver turns servo ready output (READY) OFF to set the
inverter to the safety state.
The M1 Series Inverter EtherCAT type has the following two STO functions. Use either of the functions
according to the configuration of the safety devices.
• STO function by safety input signal
• STO function via EtherCAT communication
Safety Functions
Function Standard
STO (Safe Torque Off) EN/IEC 61800-5-2
Stop Category 0 EN/IEC 60204-1
Response Time
Response time Remarks
STO (via signal line) re-
sponse time
50 ms or
lower
Time from when the SF1/SF2 signal state changes to STO up to
when power to the motor is cut off
EDM response time
50 ms
Time from when the SF1/SF2 signal state changes to STO up to
when the EDM signal state changes to ON
STO function via Ether-
CAT communication re-
sponse time
80ms max.
T
ime from when the FSoE state changes to STO up to when power
to the motor is cut off
Safety Related Parameters
Parameter Value Standard
PL e
EN/ISO 13849-1
EN/IEC 60204-1
Cat 3
MTTFd >62 years
DCavg Medium
8 Other Functions
8-61
M1 Series EtherCAT Type User’s Manual (I670)
8-6 Safety Function
8
8-6-1 Overview of Safety Function
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