Table of Contents
MAN-G-PMDRIVEHM-EC (Ver. 1.020)5
Chapter 9: STO (Safe Torque Off)................................................................................51
9.1. Motor Type for STO..................................................................................................51
9.2. STO Signals ...............................................................................................................51
9.3. STO Functional Description ......................................................................................52
9.4. Safety Controller Short Pulses for Diagnostics.........................................................52
9.5. STO input Interface...................................................................................................53
9.5.1. Source Mode – PLC Voltage Level .............................................................53
9.5.2. TTL Mode – TTL Voltage Level ...................................................................54
9.5.3. STO Connection of Several Drives .............................................................55
9.6. STO Output Status (upon customer request)...........................................................56
9.7. Diagnostics ...............................................................................................................58
9.7.1. STO Status Register....................................................................................58
9.7.2. ELMO Status Register ................................................................................59
9.7.3. Drive Status Indicator ................................................................................59
9.7.4. STO Output Status – GO[1 to 4] ................................................................59
9.8. STO Start-Up.............................................................................................................60
9.9. Maintenance ............................................................................................................61
9.10. STO Timing................................................................................................................61
9.11. STO Standards Data..................................................................................................64
Chapter 10: Feedbacks .................................................................................................65
10.1. Introduction..............................................................................................................65
10.2. Feedback Supply Voltage .........................................................................................65
10.3. Feedback Port A .......................................................................................................66
10.3.1. Incremental Encoder .................................................................................67
10.3.2. Hall Sensors ...............................................................................................69
10.3.3. Absolute Serial Encoder.............................................................................71
10.3.3.1. EnDat 2.2 ..................................................................................74
10.3.3.2. BISS-C and B..............................................................................74
10.3.3.3. Panasonic..................................................................................75
10.3.3.4. Tamagawa.................................................................................75
10.3.3.5. Sanyo / Nikon ...........................................................................76
10.3.3.6. SSI .............................................................................................76
10.3.3.7. Hiperface ..................................................................................77
10.4. Feedback Port B........................................................................................................79
10.4.1. Incremental Encoder .................................................................................80
10.4.2. Interpolated Analog (Sine/Cosine) Encoder..............................................82
10.4.3. Resolver .....................................................................................................84
10.5. Port C –Encoder Output ...........................................................................................86
10.5.1. Introduction...............................................................................................86
10.5.2. Signals........................................................................................................86
10.5.3. Specification ..............................................................................................87
10.5.4. Connections...............................................................................................88
10.6. Gantry.......................................................................................................................89
