YASKAWA SERVOPACK Sigma 7W Series Product Manual page 72

Safety Functions
This chapter provides details on the HWBB function as a
safety function of the SERVOPACKs.
5.1 Introduction to the HWBB Function . . . . . . 5-2
5.1.1 What Is the HWBB Function? . . . . . . . . . . . . . . . 5-2
5.1.2 Precautions for the HWBB Function . . . . . . . . . . 5-2
5.2 HWBB Function . . . . . . . . . . . . . . . . . . . . . . 5-3
5.2.1 Risk Assessment . . . . . . . . . . . . . . . . . . . . . . . . . 5-4
5.2.2 HWBB State . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4
5.2.3 Resetting the HWBB State . . . . . . . . . . . . . . . . . 5-7
5.2.4 Related Commands . . . . . . . . . . . . . . . . . . . . . . 5-8
5.2.5 Detecting Errors in HWBB Signal . . . . . . . . . . . . 5-9
5.2.6 HWBB Input Signal Specifications . . . . . . . . . . . 5-9
5.2.7 HWBB Input Signal Waveform Trace . . . . . . . . . . 5-9
5.2.8 Operation without a Host Controller . . . . . . . . . 5-10
5.2.9 /S-RDY (Servo Ready Output) Signal . . . . . . . . 5-10
5.2.10 /BK (Brake Output) Signal . . . . . . . . . . . . . . . . . 5-11
5.2.11 Stopping Methods . . . . . . . . . . . . . . . . . . . . . . 5-11
5.2.12 ALM (Servo Alarm) Signal . . . . . . . . . . . . . . . . . 5-11
5.3 EDM1 (External Device Monitor) . . . . . . . . 5-12
5.3.1 EDM1 Output Signal Specifications . . . . . . . . . 5-12
5.4 HWBB Function Application Example . . . . . . . . 5-13
5.4.1 Connection Example . . . . . . . . . . . . . . . . . . . . . 5-13
5.4.2 Failure Detection Method . . . . . . . . . . . . . . . . . 5-13
5.4.3 Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-14
5.5 Validating the HWBB Function . . . . . . . . . 5-15
5.6 Connecting the Safety Function Device . . 5-16
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