YASKAWA CIPR-GA50C series Technical Manual page 203

Switching from Usual Operation to "Safe Torque Off"
Turn OFF (open) safety input terminal H1 or H2 to enable the Safe Disable function. When the Safe Disable
function is enabled while the motor is operating, the drive output and motor torque turn off and the motor always
coasts to stop. The b1-03 [Stopping Method Selection] setting does not have an effect on the stopping method.
The "Safe Torque Off" status is only possible with the Safe Disable function. Clear the Run command to stop the
drive. Turning off drive output (a baseblock condition) ≠ "Safe Torque Off".
Note:
• When it is necessary to ramp to stop the motor, do not turn off terminals H1 and H2 until the motor fully stops. This will prevent the
motor from coasting to stop during usual operation.
• 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 3 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 3 ms.
Going from "Safe Torque Off" to Usual Operation
The safety input will only release when there is no Run command.
• During Stop
When the Safe Disable function is triggered during stop, close the circuit between terminals H1-HC and H2-HC
to disable "Safe Torque Off". Enter the Run command after the drive stops correctly.
• During Run
When the Safe Disable function is triggered during run, close the circuit between terminals H1-HC and H2-HC
to disable "Safe Torque Off" after clearing the Run command. Enter the Stop command, then enter the Run
command when terminals H1 and H2 are ON or OFF.
■
Safe Disable Monitor Output Function and Keypad Display
Refer to Table 5.24 for information about the relation between the input channel status, Safety monitor output
status, and drive output status.
Table 5.24 Safe Disable Input and External Device Monitor (EDM) Terminal Status
Input Channel Status
Input 1 Input 2
(H1-HC) (H2-HC)
ON ON
(Close the circuit) (Close the circuit)
OFF ON
(Open) (Close the circuit)
ON OFF
(Close the circuit) (Open)
OFF OFF
(Open) (Open)
Safety Function Status Monitor
The drive Safety monitor output sends a feedback signal about the status of the Safety function. The Safety
monitor output is one of the possible settings available for the MFDO terminals. If there is damage to the Safe
Disable circuit, a controller (PLC or safety relay) must read this signal as an input signal to hold the "Safe Torque
Off" status. This will help verify the condition of the safety circuit. Refer to the manual for the safety device for
more information about the Safety function.
It is possible to switch polarity of the Safety monitor output signal with the MFDO function settings. Refer to
Table 5.24 for setting instructions.
YASKAWA SIEPC71061753A GA500 Technical Manual
Figure 5.26 Safe Disable Operation
Safety Monitor Output Status
MFDO Terminal MFDO Terminal
(H2-xx = 21) (H2-xx = 121)
OFF ON
OFF ON
OFF ON
ON OFF
Drive Output Keypad
Status Display
Baseblock
Normally
displayed
(Drive ready)
Safety status SToF
(STo) (Flashing)
Safety status SToF
(STo) (Flashing)
Safety status STo
READY: Flashing
(STo) (Flashing)
5.6 Safe Disable Input
MEMOBUS Register
0020H
READY LED
bit C
READY:
0
Illuminated
ALM/ERR:
1
Flashing
ALM/ERR:
1
Flashing
0
bit D
0
5
0
0
1
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