Related Commands - YASKAWA SERVOPACK Sigma 7W Series Product Manual

5.2 HWBB Function

5.2.4 Related Commands

If the /HWBB1 and /HWBB2 signals are OFF and the SV_ON (Servo ON: 31 hex) command is
received, the HWBB state will be maintained even after the /HWBB1 and /HWBB2 signals are
turned ON. Send the SV_OFF (Servo OFF: 32 hex) command for axis A and axis B to place the
SERVOPACK in the BB state and then send the SV_ON (Servo ON: 31 hex) command.
/HWBB1
/HWBB2
MECHATROLINK-III
command for axi A
V_ON command
tatu for axi A
E TP command
input ignal
monitor for axi A
ERVOPACK
tatu for axi A
MECHATROLINK-III
command for axi B
V_ON command
tatu for axi B
E TP command
input ignal
monitor for axi B
ERVOPACK
tatu for axi B
Note: If the SERVOPACK is placed in the BB state while the main circuit power supply is OFF, the HWBB state will
be maintained until the SV_OFF (Servo OFF: 32 hex) command is received.
5.2.4

Related Commands

Important
If the /HWBB1 or /HWBB2 signal turns OFF and the HWBB function operates, the ESTP bit in
the servo command input signal monitor (SVCMD_IO) will change to 1. The host controller can
monitor this bit to determine the status.
If the state changes to the HWBB state during the execution of the next motion command, a
command warning occurs. If a warning occurs, clear the alarm to return to normal operating
status. After stopping or canceling the motion command, using the sequence of commands to
return to the HWBB state is recommended.
SV_ON (Servo ON)
INTERPORATE (Interpolating)
POSING (Positioning)
FEED (Constant Speed Feed)
EX_FEED (Constant Speed Feed with Position Detection)
LATCH (Interpolating with Position Detection)
EX_POSING (External Input Positioning)
ZRET (Origin Return)
5-8
OFF
(motor current hut-OFF reque t)
V_ON
command
0
1
HWBB tate
V_ON
command
0
1
HWBB tate
The following example uses the Σ-7W SERVOPACK with MECHATROLINK-III commands. If you
use a Σ-7C SERVOPACK, you will need to use Controller Section commands instead of MECHA-
TROLINK-III commands.
Applicable Motion Commands
ON
(normal operation)
V_OFF V_ON
command command
0 1
0 0
BB tate Operating tate
V_OFF V_ON
command command
0 1
0 0
BB tate Operating tate