— 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).
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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).
* Provide a mechanical brake when an external force is applied to the Motor as the position
loop control is not performed in this state. SERVO OFF cannot be established for 4
seconds after EMST input is ON even SVON input is OFF. Servo lock state won’t be
established if SVON input is OFF at the moment of EMST input is ON.
Figure 9-3
4 sec
ON
OFF
ON
OFF
Activated
Deactivated
Position
control loop
SVON input
Servo
EMST input
ON
OFF
10 ms min.
◊
The Driver Unit may not accept EMST input unless it stays on for 10 ms or longer.
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The Motor gets in Servo lock state in velocity loop control for 4 seconds after EMST input
is on even though SVON input is OFF.
◊
If the EMST input is ON while the main power is ON, the Motor gets in servo lock state
for 4 seconds. However, if the main power is OFF simultaneous with or after the input of
EMST, time for Servo lock state will be less than 4 seconds.
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