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MDS-D2/DH2 Series Instruction Manual
3.3 STO (Safe Torque Off) Function
Safe Torque Off function is a shutoff function which does not provide the energy to the motor capable of generating
torque and it shuts off an energy supply electronically inside the drive unit.
STO function can be used in the following two ways ((1) and (2) below).
(1) Network STO function
[1] System configuration and wiring
STO function shuts off the motor power of all axes in the system.
Warning A4(sub-number 0001) is detected while STO function is shutting off the motor power.
< A system configuration example when using network STO function >
< A wiring diagram for network STO function (Dual emergency stop) >
CAUTION
1. Refer to "2.8 Wiring of the peripheral control" when wiring the door input signal for CN9.
2. The wiring diagram above is an example with M700VW. When wiring with the unit other than M700VW, connect the NC
side door switch input and contactor shutoff output to the remote I/O unit. In that case, set the device of the remote I/O
unit to input each signal by the following Base Specifications Parameters.
- Door 1 switch input "#1349 DOOR_1"
- Contactor shutoff output 1 "#1353 MC_ct1"
For details on the setting or wiring of NC side, refer to the manual of NC system.
Emergency stop
input 1
Optical
communication
Normal MC control
Shut off
STO shutoff via
optical
communication
Emergency stop
input 2
T
S
R
STO1 STO2
STO1 STO2
MDS-D2/DH2 MDS-D2/DH2 MDS-D2/DH2
MC_dp1
EMGIN
L1 L2 L3
L11
L12
24V
CN8 CN8
CN24
4A DICOM
1A EMG1
CN23
1MC1
2
3MC2
MPI1
13
CN9
*1
MPI1
13
SDI1
SDO1
COM
SDIO
*2
CN9
*1
CN1A CN1B CN1A
CN4
CN4
OPT1
Drive unit
Power supply unit
Open/close sensor
Connect the emergency stop input 2
to the connector CN24.
Contactor Reactor Circuit protector
Control the relay for contactor drive.
Insert the attached short-circuit connector.
Operation
board I/O
Emergency stop
input 1 (EMG1)
Emergency stop
input 2 (EMG2)
Remote I/O unit
NC control unit
Contactor shutoff output 1
Door 1 switch input
Set with the parameter "#1330 MC_dp1" for
selecting the device to input "MC_dp1".
Drive unit
(Safety observing input/output I/F)