Yaskawa Sigma-5 Series User Manual:: For Use with Large-Capacity Models-Setup. Rotary Motors - Manual (Page 96)

4 Safety Function
4-4
4.3
Safety Function Signal (CN8) Names and Functions
The following table shows the terminal layout of safety function signals (CN8).
∗ Do not use unused terminals. (connected to the internal circuits)
WARNING
• When using the HWBB function, be sure to perform a risk assessment of the
servo system in advance. Make sure that the safety level of the standards is met.
For details about the standards, refer to Harmonized Standards at the front of this
manual.
To meet the performance level d (PLd) in EN ISO 13849-1, the EDM signal must be mon-
itored by a host controller. If the EDM signal is not monitored by a host controller, the
system only qualifies for the performance level c (PLc).
• The following risks can be estimated even if the HWBB function is used. These
risks must be included in the risk assessment.
The servomotor will move in an application where external force is applied to the servo-
motor (for example, gravity on the vertical axis). Take measures to secure the servomotor,
such as installing a mechanical brake.
The servomotor may move within the electric angle of 180 degrees in case of the power
module failure, etc. Make sure that safety is ensured even in that situation. The maximum
motor rotation angle is 1/6 of a rotation (This is the converted rotation angle for the motor
shaft).
The HWBB function does not shut off the power to the SERVOPACK or electrically iso-
late it. Take measures to shut off the power to the SERVOPACK when performing main-
tenance on it.
Pin No.
Signal
Name
Function
1
* − − −
2
* − − −
3 /HWBB1-
Hard wire baseblock input 1
Hard wire baseblock input
Baseblock (motor current off)
when OFF
4 /HWBB1+
5 /HWBB2-
Hard wire baseblock input 2
6 /HWBB2+
7 EDM1-
Monitored circuit status output 1
ON when the /HWBB1 and the
/HWBB2 signals are input and
the SERVOPACK enters a
baseblock state.
8 EDM1+