YASKAWA A1000 Series Quick Start Manual page 353

Safety Relay or PLC
with safety functionality
n Disabling and Enabling the Drive Output ("Safe Torque Off")
Figure C.13 illustrates the Safe Disable input operation.
Frequency
Run Command
H1, H2 Input
Drive Output
Entering the "Safe Torque Off" State
Whenever either one Safe Disable input or both inputs open, the motor torque is shut off by switching off the drive output. If
the motor was running before the Safe Disable inputs opened, then the motor will coast to stop, regardless of the stopping
method set in parameter b1-03.
Notice that the "Safe Torque Off" state can only be achieved using the Safe Disable function. Removing the Run command
stops the drive and shuts the output off (baseblock), but does not create a "Safe Torque Off" status.
Note: To avoid an uncontrolled stop during normal operation, make sure that the Safe Disable inputs are opened first when the motor has completely
stopped.
Returning to Normal Operation after Safe Disable
The Safe Disable function can only be deactivated when a Run command is not active.
If Safe Disable was activated during stop, turn on both Safe Disable inputs by deactivating "Safe Torque Off" to resume normal
operation.
If Safe Disable was activated during run, remove the Run command then turn on the Safe Disable inputs before restarting the
drive.
n Safe Disable Monitor Output Function and Digital Operator Display
Table C.13 explains the drive output and Safe Disable monitor state depending on the Safe Disable inputs.
YASKAWA ELECTRIC TOEP C710616 41G YASKAWA AC Drive - A1000 Quick Start Guide
HC
Safety
Outputs
Feedback
H1
H2
DM+
DM-
Drive
Figure C.12 Safe Disable Function Wiring Example (SINK Mode)
Motor coasts
Output
Run
ON (Safe Disable off)
OFF (Safe Disable activated)
Normal operation
Figure C.13 Safe Disable Operation
24 Vdc Control
Circuit
Jumper S3
Setting:
SOURCE
Gate Block 1
Gate Block 2
>=1
N.O.
N.O.
or
N.C.
N.C.
Slide Switch S6 Slide Switch S6
(ETC740301 (ETC740300)
and later)
to stop
Run Command must be
released to deactivate
Drive is ready for
Safe Disable
Stop
Safe Torque-Off Baseblock (Not Safe!)
C.3 Safe Disable Input Function
Main Power
N Power Module P
Motor
operation
C
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