YASKAWA Sigma-7 SGD7S Series - Page 481

Safety request
input signal
Active mode stop
(6041h, bit 8)
Controlword
(6040h)
Velocity actual
value (606Ch)
Statusword
(6041h)
OFF (Safety function
operation requested.)
0 01
Internal deceleration reference
Pn622 or Pn623
Pn624
Safety active
(6041h, bit 15)
0 01
Pc11 or Pc21
0
ON ON
Ready to
Switch on
Switch on
Disabled
Operation enabled
Operation enabled
Shutdown
Enable operation
Pn625
Enable operation
Fig. 355: When Using the SBB-D Function
The motor is stopped at the set deceleration rate (Pn622 or Pn623) and then the servo is
locked (Operation Enabled state).
Safety request
input signal
OFF (Safety function
operation requested.)
Pn624
0
0
0 1
ON ON
Controlword
(6040h)
Enable operation (Halt = 0)
Statusword
(6041h)
Active mode stop
(6041h, bit 8)
Velocity actual
value (606h)
0 01
Safety active
(6041h, bit 15)
Enable operation (Halt = 1)
Operation enabled
Pn622 or Pn623
Pn625
Internal deceleration
reference
Fig. 356: When Using the SPM-D Function
When Using the SPM-D
Function (Position or
Speed Control)
Sigma-7 Series SERVOPACKs
Safety Functions
Safety Module Safety Functions > Active Mode Function
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