sh030106u.pdf - 第458页

13. USIN G STO FUNCTI ON 13 - 5 13.2.2 Sig nal (dev ice) exp lanat ions (1) I/O device Signal name Connector pin No. Descr iptio n I/O divi sion STOCOM CN8-3 Com mon terminal for input signal of STO1 and STO2 DI-1 STO1 C…

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13. USING STO FUNCTION
13 - 4
13.1.6 Maintenance
This servo amplifier has alarms and warnings for maintenance that supports the Drive safety function. (Refer
to chapter 8.)
13.2 STO I/O signal connector (CN8) and signal layouts
13.2.1 Signal layouts
POINT
The pin assignment of the connectors is as viewed from the cable connector
wiring section.
TOFB2
STO2TOFB1
STO1
STOCOM
2
CN8
STO I/O signal connector
Servo amplifier
1
43
65
87
TOFCOM
13. USING STO FUNCTION
13 - 5
13.2.2 Signal (device) explanations
(1) I/O device
Signal name
Connector
pin No.
Description
I/O
division
STOCOM CN8-3 Common terminal for input signal of STO1 and STO2 DI-1
STO1 CN8-4 Inputs STO state 1.
STO state (base shut-off): Open between STO1 and STOCOM.
STO release state (in driving): Close between STO1 and STOCOM.
Be sure to turn off STO1 after the servo motor stops by the servo-off state or with
forced stop deceleration by turning off EM2 (Forced stop 2).
DI-1
STO2 CN8-5 Inputs STO state 2.
STO state (base shut-off): Open between STO2 and STOCOM.
STO release state (in driving): Close between STO2 and STOCOM.
Be sure to turn off STO2 after the servo motor stops by the servo-off state or with
forced stop deceleration by turning off EM2 (Forced stop 2).
DI-1
TOFCOM CN8-8 Common terminal for monitor output signal in STO state DO-1
TOFB1 CN8-6 Monitor output signal in STO1 state
STO state (base shut-off): Between TOFB1 and TOFCOM is closed.
STO release state (in driving): Between TOFB1 and TOFCOM is opened.
DO-1
TOFB2 CN8-7 Monitor output signal in STO2 state
STO state (base shut-off): Between TOFB2 and TOFCOM is closed.
STO release state (in driving): Between TOFB2 and TOFCOM is opened.
DO-1
(2) Signals and STO state
The following table shows the TOFB and STO states when the power is on in normal state and STO1
and STO2 are on (closed) or off (opened).
Input signal State
STO1 STO2
Between TOFB1 and
TOFCOM
(STO1 state)
Between TOFB2 and
TOFCOM
(STO2 state)
Between TOFB1 and
TOFB2
(STO state)
STO
Off Off ON: STO state ON: STO state ON STO state
Off On ON: STO state OFF: STO release state OFF (Note) STO state
On Off OFF: STO release state ON: STO state OFF (Note) STO state
On On OFF: STO release state OFF: STO release state OFF STO release state
Note. Between TOFB1 and TOFB2 is off, but the servo amplifier is in the STO state.
(3) Test pulse of STO input signal
Set the test pulse off time inputted from outside to 1 ms or less.
13.2.3 How to pull out the STO cable
The following shows how to pull out the STO cable from the CN8 connector of the servo amplifier.
1)
2)
While pressing knob 1) of the STO cable plug in the
direction of the arrow, pull out the plug 2).
13. USING STO FUNCTION
13 - 6
13.3 Connection example
POINT
Turn off STO (STO1 and STO2) after the servo motor stops by the servo off
state or with forced stop deceleration by turning off EM2 (Forced stop 2).
Configure an external sequence that has the timings shown as below using an
external device such as the MR-J3-D05 safety logic unit.
STO1/STO2
ON
OFF
ON
OFF
EM2
0 r/min
Servo motor
speed
If STO is turned off during operation, the servo motor is in dynamic brake stop
(stop category 0), and [AL. 63 STO timing error] will occur.
13.3.1 Connection example for CN8 connector
This servo amplifier is equipped with the connector (CN8) in accordance with the STO function. When this
connector is used with a certified external safety relay, power to the motor can be safely removed and
unexpected restart can be prevented. The safety relay used should meet the applicable safety standards and
have forcibly guided or mirror contacts for the purpose of error detection.
In addition, the MR-J3-D05 safety logic unit can be used instead of a safety relay for implementation of
various safety standards. Refer to app. 5 for details.
The following diagram is for source interface. For sink interface, refer to section 13.4.1.
STO1
STO2
CN8
8
6
TOFCOM
7
TOFB2
TOFB1
STO1
CN8
4
STO2
5
STOCOM
3
Approx.
3.0 kΩ
24 V DC
Door
Open
(Note 2)
(Note 2)
(Note 3)
(Note 1)
Approx.
3.0 kΩ
Servo amplifier
Note 1. By using TOFB, whether the servo is in the STO state can be confirmed. For connection
examples, refer to section 13.3.2 to 13.3.4. The safety level depends on the setting value
of [Pr. PF18 STO diagnosis error detection time] and whether STO input diagnosis by
TOFB output is performed or not. For details, refer to the Function column of [Pr. PF18] in
section 5.2.6.
2. When using the STO function, turn off STO1 and STO2 at the same time. Turn off STO1
and STO2 after the servo motor stops by the servo off state or with forced stop
deceleration b
y
turnin
g
off EM2
(
Forced stop 2
)
.
3. Confi
g
ure the interlock circuit so that the door is open after the servo motor is stopped.