YASKAWA A1000 Quick Start Manual page 36

8 Safe Disable Input Function
Safety Relay or PLC
with safety functionality
Disabling and Enabling the Drive Output ("Safe Torque Off")
The diagram below illustrates the Safe Disable input operation.
Frequency
Run Command
H1, H2 Input
Drive Output
Entering the "Safe Torque Off" State
Whenever either one Safe Disable input or both inputs open, the motor torque is shut off by switching off the drive
output. If the motor was running before the Safe Disable inputs opened, then the motor will coast to stop, regardless of
the stopping method set in parameter b1-03.
Notice that the "Safe Torque Off" state can only be achieved using the Safe Disable function. Removing the Run
command stops the drive and shuts the output off (baseblock), but does not create a "Safe Torque Off" status.
Note: To avoid an uncontrolled stop during normal operation, make sure that the Safe Disable inputs are opened first when the motor
has completely stopped.
Returning to Normal Operation after Safe Disable
The Safe Disable function can only be deactivated when a Run command is not active.
When Safe Disable was activated during stop, normal operation can be resumed by simply turning on both Safe Disable
inputs (i.e., by deactivating "Safe Torque Off").
When Safe Disable was activated during run, first the Run command has to be removed and then the Safe Disable inputs
have to be turned on before the drive can be restarted.
Safe Disable Monitor Output Function and Digital Operator Display
The table below explains the drive output and Safe Disable monitor state depending on the Safe Disable inputs.
Safe Disable Input Status
Input 1, H1-HC
OFF
ON
36
HC
Safety
Outputs
Feedback
H1
Output
Run
ON (Safe Disable off)
OFF (Safe Disable activated)
Normal operation
Input 2, H2-HC
OFF
OFF
24V
Control
Jumper S3
Setting:
SOURCE
Gate Block 1
H2
Gate Block 2
DM+
>=1
DM-
Drive
Motor coasts
to stop
Run Command must be
released to deactivate
Safe Disable
Stop
Safe Torque-Off Baseblock (Not Safe!)
Safe Disable Status
Monitor,
DM+ - DM-
OFF
ON
YASKAWA ELECTRIC TOEP C710616 27D YASKAWA AC Drive - A1000 Quick Start Guide
Main Power
Circuit
N Power Module P
M
Drive is ready for
operation
Drive Output Status Digital Operator Display
Safely disabled, "Safe
Torque Off"
Safely disabled, "Safe
Torque Off"
Hbb (flashes)
HbbF (flashes)