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3.9.2 Wiring for the EtherCAT communication connector ········································ 3-114
3.10 CN10 STO (Safe Torque Off) function ····························································· 3-117
3.10.1 Introduction to STO ··············································································· 3-117
3.10.2 Precautions for using STO function ·························································· 3-117
3.10.3 Potential risks of STO ············································································ 3-118
3.10.4 Safety parameters ················································································ 3-119
3.10.5 How does the STO function work? ··························································· 3-120
3.10.5.1 Response time···············································································3-120
3.10.5.2 Alarm triggering ············································································· 3-121
3.10.5.3 STO deactivation settings·································································3-123
3.10.6 Wiring for STO ·····················································································3-128
3.10.6.1 CN10 STO connector ······································································ 3-128
3.10.6.2 Input / output signal specification ······················································· 3-129
3.10.6.3 Not using the STO function ······························································· 3-130
3.10.6.4 Using the STO function for a single drive ·············································3-130
3.10.6.5 Using the STO function for multiple drives············································3-131
3.10.7 Validation test ······················································································ 3-132
3.11 220V series – Standard wiring example ··························································· 3-133
3.11.1 Position (PT) control mode – differential line driver signal input ······················· 3-133
3.11.2 Position (PT) control mode – open-collector signal input································3-134
3.11.3 Position (PR) control mode – internal position commands······························3-135
3.11.4 Speed (S) control mode ·········································································3-137
3.11.5 Torque (T) control mode ·········································································3-139
3.11.6 Communication mode (CANopen) ···························································· 3-141
3.11.7 Communication mode (DMCNET) ···························································· 3-142
3.11.8 Communication mode (EtherCAT) ···························································· 3-143
3.12 400V series – Standard wiring example ··························································· 3-144
3.12.1 Position (PT) control mode – differential line driver signal input ······················· 3-144
3.12.2 Position (PT) control mode – open-collector signal input ······························· 3-145
3.12.3 Position (PR) control mode – internal position commands ····························· 3-146
3.12.4 Speed (S) control mode ·········································································3-148
3.12.5 Torque (T) control mode·········································································3-150
3.12.6 Communication mode (CANopen) ···························································· 3-152
3.12.7 Communication mode (DMCNET) ···························································· 3-153
3.12.8 Communication mode (EtherCAT) ···························································· 3-154
4
Test Operation and Panel Display
4.1 Panel description ·····························································································4-2
4.2 Parameter setting procedure···············································································4-3
4.3 Status display··································································································4-6
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