8-3
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
External Device Monitor (EDM) Output Signal
This is a monitor output signal that is used to monitor the status of safety input signals using
an external device. Connect a safety device, such as a safety controller or a safety sensor.
Connect the EDM output signal to the monitoring terminal on a safety device.
Relationship between Safety Input Signals and EDM Output Signal
Normally when both safety inputs 1 and 2 are OFF, i.e., when the STO function is activated for
both safety input circuits, the EDM output is ON.
You can detect a failure of the safety input circuit and the EDM output circuit by monitoring all
of the following 4 signal states using an external device.
These are the two cases of errors:
 Both safety inputs 1 and 2 are OFF, but the EDM output circuit signal does not turn ON.
 Either or both safety inputs 1 and 2 are ON, but the EDM output circuit signal is ON.
 The maximum delay time is 6 ms after the safety input signal is input until the EDM output signal
is output.
Signal
name
Symbol
Pin
number
Description
Control mode
Posi-
tion
Speed Torque
Fully-
closed
EDM
output
EDM+ CN8-8
• Monitor signal is output to
detect malfunctioning of the
safety function.
* This is not a safety output.
√√ √ √
EDM− CN8-7 √√ √ √
Signal name Symbol Signal status
Safety input 1 SF1 ON ON OFF OFF
Safety input 2 SF2 ON OFF ON OFF
EDM output EDM OFF OFF OFF ON
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