YASKAWA Sigma-7 SGD7S Series

Controlword (6040h)
Enable
Operation
Shutdown
/HWBB1
/HWBB2
OFF
ON (normal
operation)
SERVOPACK
Status
/S-RDY (Servo
Ready Output
Signal)
Operating
Status
ON
HWBB state
BB state
ON
OFF (motor current
shut-OFF request)
ON (normal
operation)
Fig. 347: Servo Ready Output Signal
12.3.10 /BK (Brake Output) Signal
If the HWBB operates when the /HWBB1 or /HWBB2 signal is OFF, the /BK (Brake)
signal will turn OFF. At that time, the setting in Pn506 (Brake Reference - Servo OFF
Delay Time) will be disabled. Therefore, the Servomotor may be moved by external force
until the actual brake becomes effective after the /BK signal turns OFF.
CAUTION!
The brake signal is not a safety-related element. You must design the
system so that a hazardous condition does not occur even if the brake
signal fails in the HWBB state. Also, if a Servomotor with a Brake is used,
keep in mind that the brake in the Servomotor is used only to prevent the
moving part from being moved by gravity or an external force and it
cannot be used to stop the Servomotor.
12.3.11 Stopping Methods
If the /HWBB1 or /HWBB2 signal turns OFF and the HWBB operates, the Servomotor will
stop according to the stop mode that is set for stopping the Servomotor when the servo
turns OFF (Pn001 = n.X). However, if the dynamic brake is enabled (Pn001 =
n.0 or n.1), observe the following precautions.
CAUTION!
– The dynamic brake is not a safety-related element. You must design
the system so that a hazardous condition does not occur even if the
Servomotor coasts to a stop in the HWBB state. Normally, we recom-
mend that you use a sequence that returns to the HWBB state after
stopping for a reference.
– If the application frequently uses the HWBB, stopping with the
dynamic brake may result in the deterioration of elements in the SER-
VOPACK. To prevent internal elements from deteriorating, use a
sequence in which the HWBB state is returned to after the Servo-
motor has come to a stop.
12.3.12 ALM (Servo Alarm) Signal
The ALM (Servo Alarm) signal is not output in the HWBB state.
Sigma-7 Series SERVOPACKs
Safety Functions
Hard Wire Base Block (HWBB and SBB) > ALM (Servo Alarm) Signal
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