5.2 HWBB Function
5.2.3 Resetting the HWBB State
5-7
5
S
afety Function
s
5.2.3
Resetting the HWBB State
Normally, after the SV_OFF (Servo OFF: 32 hex) command is received and power is no longer
supplied to the Servomotor, the /HWBB1 and /HWBB2 signals will turn OFF and the SERVO-
PACK will enter the HWBB state. If you turn ON the /HWBB1 and /HWBB2 signals in this state,
the SERVOPACK will enter a base block (BB) state and will be ready to acknowledge the
SV_ON (Servo ON: 31 hex) command.
The following examples use the
Σ
-7W SERVOPACK with MECHATROLINK-III commands. If you
use a
Σ
-7C SERVOPACK, you will need to use Controller Section commands instead of MECHA-
TROLINK-III commands.
Important
/HWBB1
/HWBB2
MECHATROLINK-III
command
s
for axi
s
A
S
V_ON command
s
tatu
s
for axi
s
A
E
S
TP command
input
s
ignal
monitor for axi
s
A
S
ERVOPACK
s
tatu
s
for axi
s
A
MECHATROLINK-III
command
s
for axi
s
B
S
V_ON command
s
tatu
s
for axi
s
B
E
S
TP command
input
s
ignal
monitor for axi
s
B
S
ERVOPACK
s
tatu
s
for axi
s
B
0
1
0
1
S
MON command
and other command
s
S
MON command
and other command
s
OFF
(motor current
s
hut-OFF reque
s
t)
HWBB
s
tate
HWBB
s
tate
0
0
0
0
BB
s
tate
BB
s
tate
1
0
1
0
S
V_ON
command
S
V_ON
command
ON
(normal operation)
Operating
s
tate
Operating
s
tate
