Omron CS1W-MC221 -, Operation Manual

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System Parameters Section 3-3
Emergency/Limit Input
Stop Method This parameter determines how the servomotor will be stopped when an
emergency stop input signal or CW/CCW limit input signal is received. There
are two stop methods: Instantly dropping the voltage output to 0 V and stop-
ping using accumulated pulses in the error counter. The MC Unit is equipped
with emergency stop, CW limit, and CCW limit external inputs for each axis.
Instantly Dropping Voltage Output to 0 V:
When the emergency stop or CW/CCW limit input signal turns OFF, the RUN
command output will turn OFF (servo unlock) using the timing shown in the
following figure.
The default setting is to instantly drop the voltage output to 0 V.
Changes Made to the Driver Alarm Input Stop Method
The method used to stop the servomotor when an error occurs at the servo
driver and a driver alarm input error (error code: 003C) is generated, has been
changed in the following way. The change is effective for models with -E9 at
the end of the lot number, and for models with lot numbers 991118 or later.
Specifications before Change
After the driver alarm input signal is received, brake output and RUN com-
mand output are turned OFF with the following timing. Brake output and RUN
command output will also be turned OFF when other errors that result in an
emergency stop are generated.
Emergency stop
0 V output for 0.5 s
Emergency stop
0 V output for 0.5 s
Brake output
Voltage output
Brake output
RUN command output
No brake output
Voltage output
RUN command output
Stop using accumulated pulses: When the emergency stop input signal or CW/CCW limit input
signal goes OFF, the motor will be stopped with the servo
locked after error counter pulses are deleted until there are no
pulses remaining.
Turns OFF after waiting
the brake ON time
(system parameter).
10 V
10 V