YASKAWA GA700 Technical Manual page 226

4.4 Safe Disable Input
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Disabling and Enabling the Drive Output ("Safe Torque Off")
Refer to Figure 4.19 for an example of drive operation when switching from the "Safe Torque Off" status until
reaching normal operation.
Switching from Normal Operation to "Safe Torque Off"
Turning OFF (opening) either safety input terminal H1 or H2 will enable the Safe Disable function. Triggering the
Safe Disable function while the motor is running will shut off the drive output and motor torque and the motor
will coast to stop regardless of the b1-03 [Stopping Method Selection] setting value.
The "Safe Torque Off" status is only possible when using the Safe Disable function. Clear the Run command to
stop the drive. Shutting off the drive output, as in a baseblock condition, is not the same as "Safe Torque Off".
Note:
• A maximum of 3 ms will elapse from when terminals H1 or H2 shut off until the drive switches to the "Safe Torque Off" status. Set the
OFF status for terminals H1 and H2 to hold for at least 2 ms. The drive may not be able to switch to the "Safe Torque Off" status if
terminals H1 and H2 are only open for less than 2 ms.
• Switch OFF terminals H1 and H2 after the motor has come to a complete stop to prevent the motor from coasting to stop during normal
operation.
Returning to Normal Operation from "Safe Torque Off"
The safety input releases only when the Run command is not present.
• During Stop:
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Figure 4.18 Safe Disable Function Wiring Example
Figure 4.19 Safe Disable operation
YASKAWA ELECTRIC SIEP C710617 01B YASKAWA AC Drive GA700 Technical Manual