— 9-2 —
9.1.2. Emergency Stop
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Turning on the EMST input stops the position loop control function and stops the Motor in the
servo-lock state* under velocity loop control.
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No motion commands will be accepted while EMST input is on.
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In the EMST state, the LED on the front panel indicates “F4”. The DRDY output remains
unchanged (closed).
* The polarity of the EMST signal input port is set to A contact before shipment, but it can be
changed to B contact (refer to the AB parameter).
* Position loop control is not performed this time. If the possibility exists of an
external force being applied to the Motor in this state, use a mechanical brake. When
the SVON input is OFF after EMST input is ON, the Motor remains servo
ﾐ
on for one
second after the EMST input went on. If the EMST input is ON when the SVON
input off, motor will be servo-off.
Figure 9-3
1 sec
ON
OFF
ON
OFF
Activated
Deactivated
Position
control loop
SVON input
Servo
EMST input
ON
OFF
10 ms min.
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The Driver Unit may not accept EMST input unless it stays on for 10 ms or longer.
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