Refer to Figure 1 for an example of drive operation when the drive changes from “Safe Torque Off” status to usual operation.

Figure 1. Safe Disable Operation

Switching from Usual Operation to “Safe Torque Off”

Turn OFF (open) safety input terminal H1 or H2 to enable the Safe Disable function. When the Safe Disable function is enabled while the motor is operating, the drive output and motor torque turn off and the motor always coasts to stop. The b1-03 [Stopping Method Selection] setting does not have an effect on the stopping method.

The “Safe Torque Off” status is only possible with the Safe Disable function. Clear the Run command to stop the drive. Turning off drive output (a baseblock condition) ≠ “Safe Torque Off”.

Note:

  • When it is necessary to ramp to stop the motor, do not turn off terminals H1 and H2 until the motor fully stops. This will prevent the motor from coasting to stop during usual operation.

  • A maximum of 3 ms will elapse from when terminals H1 or H2 shut off until the drive switches to the “Safe Torque Off” status. Set the OFF status for terminals H1 and H2 to hold for at least 3 ms. The drive may not be able to switch to the “Safe Torque Off” status if terminals H1 and H2 are only open for less than 3 ms.

Going from “Safe Torque Off” to Usual Operation

The safety input will only release when there is no Run command.

  • During Stop

    When the Safe Disable function is triggered during stop, close the circuit between terminals H1-HC and H2-HC to disable “Safe Torque Off”. Enter the Run command after the drive stops correctly.

  • During Run

    If you trigger the Safe Disable function during run, clear the Run command, then close the circuit between terminals H1-HC and H2-HC to disable “Safe Torque Off”. Enter the Stop command, then enter the Run command when terminals H1 and H2 are activated.