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7 Appendix
Appendix 4: Safety block diagram
AC power
Emergency stop
input
Channel A
Emergency stop
input
Channel B
Fig.7-3: Safety block diagram
Appendix-108 Safety block diagram
Converter
PWM
Servo CPU block
Servo block
Position data
Encoder feedback
Safety function
block 1
Signal
processing
Safety monitoring
function
Data comparison
Safety function
block 2
Signal
processing
Safety monitoring
function
Control block
Inverter
PWM
PWM gate circuit
Current
feedback
Encoder
feedback
Gate control
Gate control
signal
signal
Signal
processing
Signal
processing
Robot arm
Current
Motor
sensor
Encoder
Gate status
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