YASKAWA S-7 Series Command Manual page 144

 Recovery from Stop Status
Recover from the stop status by following the procedure below.
1.
Reset the HWBB1 or HWBB2 signal.
The HWBB state is still valid at this point.
2.
Send an SV_OFF command to shift the SERVOPACK to the base block state.
3.
Carry out controller and system recovery processing.
4.
Send an SV_ON command to establish the servo ON state.
5.
Complete the preparation for operation after establishing the servo ON state.
6.
Start operation.
Note: 1. If the SERVOPACK enters the HWBB status while sending an SV_ON command, reset the /HWBB1 or
/HWBB2 signal and then send a command other than SV_ON, such as SV_OFF. Then, send the SV_ON
command again to restore the normal operation status.
2. If the SERVOPACK enters the HWBB status during execution of an SV_OFF, INTERPOLATE, POSING,
FEED, EX_FEED, EX_POSING, or ZRET command, a command warning will occur since the SERVOPACK
status changes to the servo OFF state. Execute the clear alarm or warning (ALM_CLR) command to
restore normal operation.
5.7 Operation Sequence when a Safety Signal is Input
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