11.2 Hard Wire Base Block (HWBB)
11.2.9 Stopping Methods
11-8
11.2.9
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.
11.2.10 Settings to Clear the Position Deviation
A position deviation in the HWBB state is cleared according to the setting of Pn200 = n.
X
(Clear Operation). If you specify not clearing the position deviation during position control
(Pn200 = n.
1
), the position deviation will accumulate unless the position reference from
the host controller is canceled in the HWBB state. The following conditions may result.
•
An A.d00 alarm (Position Deviation Overflow) may occur.
•
If you turn ON the servo after changing from HWBB state to BB state, the Servomotor may
move for the accumulated position deviation.
Therefore, stop the position reference from the host controller while in the HWBB state. If you
specify not clearing the position deviation during position control (Pn200 = n.
1
), input the
CLR (Position Deviation Clear) signal during the HWBB or BB state to clear the position devia-
tion.
11.2.11 ALM (Servo Alarm) Signal and ALO1, ALO2, and ALO3
(Alarm Code Output) Signals
The ALM (Servo Alarm) and the ALO1, ALO2, and ALO3 (Alarm Code Output) signals are signal
is not output in the HWBB state.
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 recommend 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 SERVOPACK. To prevent internal elements from deterio-
rating, use a sequence in which the HWBB state is returned to after the Servomotor has
come to a stop.