3) resetting the hwbb state, M-ii – Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - MECHATROLINK-II Communications Reference User Manual

Page 144

4.9 Safety Function

4-59

Ope

rat

ion

(3) Resetting the HWBB State

Usually after the servo OFF command (SV_OFF: 32H) is received and the servomotor power is OFF, the

SERVOPACK will then enter a hard wire baseblock (HWBB) state with the /HWBB1 and /HWBB2 signals
turned OFF. By then turning the /HWBB1 and /HWBB2 signals ON in this state, the SERVOPACK will enter

a baseblock (BB) state and can accept the servo ON command (SV_ON: 31H).

If the /HWBB1 and /HWBB2 signals are OFF and the servo ON command is received, the HWBB state will

be maintained after the /HWBB1 and /HWBB2 signals are turned ON.

Send the servo OFF command, and the SERVOPACK is placed in a BB state. Then send the servo ON com-

mand again.

Note: Even if the servomotor power is turned OFF by turning OFF the main circuit power, the HWBB status is retained

until a servo OFF command is received.

/HWBB1
/HWBB2

M-

Command

Status field
SVON

SMON
Command, etc.

SV_ON
Command

IO monitor field
HBB

SERVOPACK
state

HWBB state

BB state

Operation

(Normal operation)

OFF

(Motor current

shut-off request)

M-II