5.2 HWBB Function
5.2.4 Related Commands
5-8
If the /HWBB1 and /HWBB2 signals are OFF and the SV_ON (Servo ON: 31 hex) command is
received, the HWBB state will be maintained even after the /HWBB1 and /HWBB2 signals are
turned ON. Send the SV_OFF (Servo OFF: 32 hex) command for axis A and axis B to place the
SERVOPACK in the BB state and then send the SV_ON (Servo ON: 31 hex) command.
Note: If the SERVOPACK is placed in the BB state while the main circuit power supply is OFF, the HWBB state will
be maintained until the SV_OFF (Servo OFF: 32 hex) command is received.
5.2.4
Related Commands
If the /HWBB1 or /HWBB2 signal turns OFF and the HWBB function operates, the ESTP bit in
the servo command input signal monitor (SVCMD_IO) will change to 1. The host controller can
monitor this bit to determine the status.
If the state changes to the HWBB state during the execution of the next motion command, a
command warning occurs. If a warning occurs, clear the alarm to return to normal operating
status. After stopping or canceling the motion command, using the sequence of commands to
return to the HWBB state is recommended.
/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
V_ON
command
S
V_ON
command
OFF
(motor current
s
hut-OFF reque
s
t)
HWBB
s
tate
HWBB
s
tate
S
V_OFF
command
S
V_OFF
command
0
0
0
0
BB
s
tate
BB
s
tate
ON
(normal operation)
1
0
1
0
S
V_ON
command
S
V_ON
command
Operating
s
tate
Operating
s
tate
The following example uses 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.
Applicable Motion Commands
SV_ON (Servo ON)
INTERPORATE (Interpolating)
POSING (Positioning)
FEED (Constant Speed Feed)
EX_FEED (Constant Speed Feed with Position Detection)
LATCH (Interpolating with Position Detection)
EX_POSING (External Input Positioning)
ZRET (Origin Return)
Important
