Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - MECHATROLINK-II Communications Reference - Manual (Page 144)

4.9 Safety Function
4-59
4
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
ON
M- II
Command
Status field
SVON
1 0 0
0 0 1
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
/HWBB1
/HWBB2
OFF
(Motor current
shut-off request)
ON
(Normal operation)
Status field
SVON
IO monitor field
HBB
SERVOPACK state
HWBB state BB state Operation
SV_ON
Command SV_ON
Command
0
1 0
0
0
1
M- II
Command
SV_OFF
Command
M-II