YASKAWA SGMJV User Manual page 149

(7) Operation with Utility Functions
The HWBB function works while the SERVOPACK operates in the utility function.
If any of the following utility functions is being used with the /HWBB1 and /HWBB2 signals turned OFF, the
SERVOPACK cannot be operated by turning ON the /HWBB1 and /HWBB2 signals. Cancel the utility func-
tion first, and then set the SERVOPACK to the utility function again and restart operation.
• JOG operation (Fn002)
• Origin search (Fn003)
• Program JOG operation (Fn004)
• Advanced autotuning (Fn201)
• EasyFFT (Fn206)
• Automatic offset-signal adjustment of motor current detection signal (Fn00E)
(8) Servo Ready Output (/S-RDY)
The servo ready output will turn OFF because the servo ON (SV_ON: 31 H) command cannot be accepted in
the HWBB state.
The servo ready output will turn ON if the servomotor power is OFF (set to BB state) when both the /HWBB1
and /HWBB2 signals are ON.
The following diagram shows an example where the main circuit power supply is turned ON, the Turn
Encoder Power Supply ON (SENS_ON) command is sent (with an absolute encoder), and no servo alarm
occurs.
/HWBB1
ON
/HWBB2
(Normal
operation)
Servomotor
Power
SERVOPACK
Operating
State
/S-RDY
ON
(9) Brake Signal (/BK)
When the /HWBB1 or /HWBB2 signal is OFF and the HWBB function operates, the brake signal (/BK) will
turn OFF. At that time, Pn506 (brake reference - servo OFF delay time) will be disabled. Therefore, the servo-
motor may be moved by external force until the actual brake becomes effective after the brake signal (/BK)
turns OFF.
• The brake signal is not a safety-related part of a control system. Be sure to design the system so that the
system will not be put into danger if the brake signal fails in the HWBB state. Moreover, if a servomotor
with a brake is used, keep in mind that the brake for the servomotor is used only to prevent the movable
part from being moved by gravity or an external force and it cannot be used to brake the servomotor.
OFF
ON
(Motor current
shut-off request) (Normal operation)
OFF
ON
BB state
HWBB state
OFF
ON
CAUTION
4.9 Safety Function
4
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