8-2
8-1 Safe Torque OFF Function
OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
8
Safety Function
I/O Signal Specifications
Safety Input Signals
There are 2 safety input circuits to operate the STO function.
 When safety input 1 or 2 turns OFF, the STO function will start operating within 5 ms of the input,
and the motor output torque will be reduced to 0.
 Connect the equipment so that the safety input circuit is turned OFF to operate the STO function.
 Set the operation when the safety input turns OFF in the Fault reaction option code (605E hex).
Precautions for Correct Use
 L pulses for self-diagnosis of safety equipment
When you are connecting a safety device, such as a safety controller or a safety sensor, the safety
output signal of the device may include L pulses for self-diagnosis. To avoid malfunction due to the
L pulses for self-diagnosis, a filter that removes the L pulses is built into the safety input circuit. If the
OFF time of the safety input signal is 1 ms or less, the safety input circuit does not recognize it as
OFF. To make sure that OFF is recognized, maintain the OFF status of safety input signal for at least
5 ms.
Signal
name
Symbol
Pin
number
Description
Control mode
Posi-
tion
Speed Torque
Fully-
closed
Safety
input 1
SF+ CN8-4
• The upper arm drive signal of
the power transistor inside the
Servo Drive is cut off.
√√√√
SF− CN8-3 √√√√
Safety
input 2
SF2+ CN8-6
• The lower arm drive signal of
the power transistor inside the
Servo Drive is cut off.
√√√√
SF2− CN8-5 √√√√
For self-diagnosis L pulse
Within 1 ms
Within 5 ms
Normal operation
STO status
Safety input signal
Servo Drive operation
5 ms or more
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