YASKAWA E-V Series User Manual page 98

6 Safety Functions
6.3.5 Related SERVOPACK Functions
(8) Relationship with MECHATROLINK-III Commands
If the SERVOPACK changes to the HWBB state during the execution of any of the following MECHATRO-
LINK-III commands, a command warning will occur. A command warning will also occur if a MECHATRO-
LINK-III command now being executed is canceled with the CMD_CANCEL (cancellation of move
command) control bit.
If a warning occurs, cancel the HWBB state first, and then send a new motion command, or disable the
CMD_CANCEL control bit to resume the operation.
SV_ON
INTERPOLATE
POSING
FEED
EX_POSING
EX_FEED
ZRET
6-16
MECHATROLINK-III Commands Related with SBB Function
Command
Servo ON
Interpolation
Positioning
Constant speed feed
Positioning by external input command
Positioning at constant speed by external input command
Zero point return
Function Name