Exceptional Operation - YASKAWA E-V Series User Manual

6 Safety Functions

6.3.4 Exceptional Operation

(2) Returning Timing
 When the Servo ON Command Is Not Input
 When the Servo ON Command Is Input
When the safety request input status is ON, the SBB function stops operating. However, if the servo ON com-
mand is input at that point, the SERVOPACK continues in the HWBB state. To return to normal operation, the
servo must be turned OFF to change the SERVOPACK to the BB status. For details on returning to the opera-
tion of the SERVOPACK, refer to the user's manual of the SERVOPACK being used.
6.3.4

Exceptional Operation

(1) After Resetting the System
After the system is reset, the SBB function is executed according to the Safety Request Input Signals during
completion of the initialization processing.
For details on how to return to normal operation from the HWBB state, refer to 6.3.3 Returning Method.
6-12
Returning conditions
Not met
Servo ON command
ON
SERVOPACK state
td: Delay time (40 ms max.)
OFF (Safety
Function
Safety request
Execution
Request)
input state A
Safety function A
Operating
operation state
(SBB function)
Not met
Returning conditions
Servo ON command ON
SERVOPACK state HWBB state
System reset
S-RDY signal
Safety Request
ON
Input Signals
SERVOPACK state
Motor power state
Operation Timing
Met
td
OFF
HWBB state BB state
Operation Timing
ON
Met
OFF
BB state
Operation Timing
OFF
tc
OFF (Safety Function
Undefined Operation Request)
Initialization
HWBB state
SBB function executed
ON