YASKAWA
TOEPC7106171FD FP605 DRIVE INSTALLATION & PRIMARY OPERATION
107
Figure 16.3 Safe Disable 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 2 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 2 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
When the Safe Disable function is triggered during run, close the circuit between terminals H1-HC and H2-HC to
disable
“
Safe Torque Off
”
after clearing the Run command. Enter the Stop command, then enter the Run command
when terminals H1 and H2 are ON or OFF.
■
Safe Disable Monitor Output Function and Keypad Display
Refer to
for information about the relation between the input channel status, Safety monitor output status,
and drive output status.
Table 16.3 Safe Disable Input and External Device Monitor (EDM) Terminal Status
Input Channel Status
Input 1 (H1-HC)
ON (Close the circuit)
OFF (Open)
ON (Close the circuit)
OFF (Open)
Input 2 (H2-HC)
ON (Close the circuit)
ON (Close the circuit)
OFF (Open)
OFF (Open)
MFDO Terminal
(H2-xx = 21)
MFDO Terminal
(H2-xx = 21)
OFF
OFF
OFF
ON
MFDO Terminal
(H2-xx = 121)
ON
ON
ON
OFF
Drive Output Status
Baseblock (Drive ready)
Safety status (STo)
Safety status (STo)
Safety status (STo)
Keypad Display
Normally displayed
SToF (Flashing)
SToF (Flashing)
STo (Flashing)
LED Status Ring
Ready: Illuminated
ALM/ERR: Flashing
ALM/ERR: Flashing
Ready: Flashing
MEMOBUS Register
0020 (Hex.)
bit C: 0
bit D: 0
bit C: 1
bit D: 0
bit C: 1
bit D: 0
bit C: 0
bit D: 1
Safety Function Status Monitor
The drive Safety monitor output sends a feedback signal about the status of the Safety function. The Safety monitor
output is one of the possible settings available for the MFDO terminals. If there is damage to the Safe Disable circuit,
a controller (PLC or safety relay) must read this signal as an input signal to hold the
“
Safe Torque Off
”
status. This
