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7.1. General Operation and Function
7.1.2. Emergency Stop (EMST) Input
7.1.2. Emergency Stop (EMST) Input
l Turning ON the EMST input terminates the position loop control function and stops the Motor
in the servo-lock state* under velocity loop control mode.
l No motion commands will be accepted while the EMST input is ON.
l In the state of emergency stop, the LED on the front panel indicates "F4." The DRDY output
remains unchanged (closed).
l The shipping set of the EMST signal polarity is the normally open contact (A contact). However,
you may change it to the normally closed contact (B contact). (Refer to the AB parameter.)
Figure 7-3
Position
control loop
SVON input
Servo
EMST input
(Normally
open)
* Provide a mechanical brake when an external force is applied to the Motor because the
position loop control is not performed in this state. The servo-off state cannot be
established for 4 seconds after the EMST input is ON even the SVON input is OFF.
The servo-lock state won't be established even though the EMST input is turned ON if
the SVON input is OFF.
Functioning
Not available
ON
OFF
ON
OFF
ON
OFF
à The Motor gets in Servo lock state in velocity loop control for 4 seconds after EMST
input is ON even though the SVON input is OFF.
à The Driver Unit may not accept the EMST input unless it stays ON for 10 ms or
longer.
4 sec
— 7-2 —
B
B
3
3
t
t
y
y
p
p
e
e
B
B
5
5
t
t
y
y
p
p
e
e
2
3
t
y
p
e
2
5
t
y
p
e
2
3
t
y
p
e
2
5
t
y
p
e
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Troubleshooting
