YASKAWA SGD7S series User Manual

This chapter provides detailed information on the safety
functions of the SERVOPACK.
11.1 Introduction to the Safety Functions . . . . 11-2
11.1.1 Safety Functions . . . . . . . . . . . . . . . . . . . . . . . . 11-2
11.1.2 Precautions for Safety Functions . . . . . . . . . . . 11-2
11.2 Hard Wire Base Block (HWBB) . . . . . . . . . 11-3
11.2.1 Risk Assessment . . . . . . . . . . . . . . . . . . . . . . . . 11-3
11.2.2 Hard Wire Base Block (HWBB) State . . . . . . . . . 11-4
11.2.3 Resetting the HWBB State . . . . . . . . . . . . . . . . 11-4
11.2.4 Detecting Errors in HWBB Signal . . . . . . . . . . . 11-5
11.2.5 HWBB Input Signal Specifications . . . . . . . . . . 11-5
11.2.6 Operation without a Host Controller . . . . . . . . . 11-5
11.2.7 /S-RDY (Servo Ready Output) Signal . . . . . . . . 11-6
11.2.8 /BK (Brake Output) Signal . . . . . . . . . . . . . . . . . 11-6
11.2.9 Stopping Methods . . . . . . . . . . . . . . . . . . . . . . 11-6
11.2.10 Settings to Clear the Position Deviation . . . . . . 11-7
11.2.11 ALM (Servo Alarm) Signal and ALO1, ALO2, and
ALO3 (Alarm Code Output) Signals . . . . . . . . . . 11-7
11.3 EDM1 (External Device Monitor) . . . . . . . . 11-8
11.3.1 EDM1 Output Signal Specifications . . . . . . . . . 11-8
11.4 Applications Examples for Safety Functions . . . 11-9
11.4.1 Connection Example . . . . . . . . . . . . . . . . . . . . . 11-9
11.4.2 Failure Detection Method . . . . . . . . . . . . . . . . . 11-9
11.4.3 Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-10
11.5 Validating Safety Functions . . . . . . . . . . . 11-11
11.6 Connecting a Safety Function Device . . . 11-12
Safety Functions
11

YASKAWA SGD7S series Specifications

General

Series	SGD7S
Safety	STO (Safe Torque Off)
Humidity	90% RH or less (non-condensing)
Control Method	PWM Control
Communication	EtherCAT, MECHATROLINK-III, MECHATROLINK-II
Output Power	0.1 kW to 15 kW
Feedback System	Incremental encoder, Absolute encoder
Protection Features	Overcurrent, Overvoltage, Undervoltage, Overload, Overheating, Encoder Error
Ambient Temperature	0 to 55°C
Storage Temperature	-20 to 85°C
Vibration Resistance	5.9 m/s²
Installation	Panel mounted
Certifications	CE, UL, cUL