Settings; Returning Method; Exceptional Operation - YASKAWA E-V Series User Manual

6.5.2 Settings

To use the SPM-D function, make the settings for using the SPM-D function of either Safety Function A or
Safety Function B in the parameters. For details on selecting the safety functions, refer to 6.2.1 Selecting a
Safety Function.

6.5.3 Returning Method

The method of returning to normal operation depends on the operation state of the SPM-D function.
(1) During Deceleration Monitoring or Position Monitoring
The SERVOPACK will return to normal operation when the input state of safety request is turned to ON.
(2) During Safe (HWBB) State
The method of returning after an alarm has occurred and the SERVOPACK has changed to the safe (HWBB)
state is the same as that for the SBB function. For details, refer to 6.3.3 Returning Method.

6.5.4 Exceptional Operation

(1) After Resetting the System
After the system is reset, if the Safety Request Input Signal turns OFF (Safety Function Execution Request)
when the S-RDY signal turns OFF, the Safety Module performs position monitoring instead of deceleration
monitoring.
Safety Request Input Signal
SPM-D function operation state
(2) While Recalculating Parameters
Similar to the CONFIG command for MECHATROLINK-II communications or MECHATROLINK-III com-
munications, if the Safety Request Input Signal turns OFF (Safety Function Execution Request) when the S-
RDY signal turns OFF during parameter recalculation to enable the specified parameters, position monitoring
is performed instead of deceleration monitoring.
SPM-D function operation state
System reset
ALM signal
S-RDY signal
ON
Safety Module state
SERVOPACK state
Parameter recalculation request
S-RDY signal
SERVOPACK state
ON
Safety Request Input Signal
6.5 Safe Position Monitor with Delay Function (SPM-D Function)
Operation Timing
ON
OFF
Undefined ON OFF
Initialization
Initialization
HWBB HWBB
Operation Timing
OFF
Parameter recalculation
OFF
HWBB Position monitoring
SPM-D function executed
OFF
ON
Operating
Position monitoring
ON
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