YASKAWA GA800 Technical Reference page 307

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Enabling and Disabling the Drive Output ("Safe Torque Off")
Refer to Figure 5.33 for an example of drive operation when the drive changes from "Safe Torque Off" status to usual
operation.
Switching from Usual Operation to "Safe Torque Off"
Turn OFF (open) safety input terminal H1 or H2 to enable the Safe Disable function. When the Safe Disable function
is enabled while the motor is operating, the drive output and motor torque turn off and the motor always coasts to
stop. The b1-03 [Stopping Method Selection] setting does not have an effect on the stopping method.
The "Safe Torque Off" status is only possible with the Safe Disable function. Clear the Run command to stop the
drive. Turning off drive output (a baseblock condition) ≠ "Safe Torque Off".
Note:
• When it is necessary to ramp to stop the motor, do not turn off terminals H1 and H2 until the motor fully stops. This will prevent the motor
from coasting to stop during usual operation.
• A maximum of 3 ms will elapse from when terminals H1 or H2 shut off until the drive switches to the "Safe Torque Off" status. Set the OFF
status for terminals H1 and H2 to hold for at least 3 ms. The drive may not be able to switch to the "Safe Torque Off" status if terminals H1
and H2 are only open for less than 3 ms.
Going from "Safe Torque Off" to Usual Operation
The safety input will only release when there is no Run command.
• During Stop
When the Safe Disable function is triggered during stop, close the circuit between terminals H1-HC and H2-HC to
disable "Safe Torque Off". Enter the Run command after the drive stops correctly.
• During Run
If you trigger the Safe Disable function during run, clear the Run command, then close the circuit between terminals
H1-HC and H2-HC to disable "Safe Torque Off". Enter the Stop command, then enter the Run command when
terminals H1 and H2 are activated.
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Safe Disable Monitor Output Function and Keypad Display
Refer to Table 5.30 for information about the relation between the input channel status, Safety monitor output status,
and drive output status.
Table 5.30 Safe Disable Input and External Device Monitor (EDM) Terminal Status
Input 1 (H1-HC)
Input Channel Status
Input 2 (H2-HC)
MFDO Terminal
(H2-xx = 21)
MFDO Terminal
(H2-xx = 21)
MFDO Terminal
(H2-xx = 121)
Drive Output Status
Keypad Display
LED Status Ring
MEMOBUS Register
0020 (Hex.)
YASKAWA SIEPC71061737D GA800 Drive Technical Reference
Figure 5.33 Safe Disable Operation
ON (Close the circuit) OFF (Open)
ON (Close the circuit) ON (Close the circuit)
OFF OFF
ON
Baseblock (Drive ready) Safety status (STo)
Normally displayed SToF (Flashing)
Ready: Illuminated ALM/ERR: Flashing
bit C: 0 bit C: 1
bit D: 0 bit D: 0
5.6 Safe Disable Input
ON (Close the circuit)
OFF (Open)
OFF
ON ON
Safety status (STo)
SToF (Flashing)
ALM/ERR: Flashing
bit C: 1
bit D: 0
5
OFF (Open)
OFF (Open)
ON
OFF
Safety status (STo)
STo (Flashing)
Ready: Flashing
bit C: 0
bit D: 1
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