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CHAPTER 2 WIRING
Forced stop [EMG]: Sequence input signal (Reference value 10)
Used to forcibly stop the servomotor.
Function
(1) Forced stop
The servomotor is forcibly stopped while the forced stop [EMG] signal remains turned off.
2
This signal is enabled in all control modes and it is given the highest priority. Because the safety
and detection speed are significant, the forced stop signal is generally connected to the servo
amplifier directly.
A self-locked pushbutton switch (command switch) (normally closed contact) provided on the
operation panel or similar is connected in regular cases. The forced stop in IQ area is handled at
normally open contact (stopped at ON).
If forced stop is turned off during operation, controlled stop is caused within the limit specified in
PA2_60 (third torque limit).
Parameter setting
To assign forced stop to a sequence input terminal, specify the corresponding value ("10") to the
input terminal function setting parameter.
This signal is handled to be always turned on if it is not assigned to the sequence input terminal.
Relevant description
(1) Ready for servo-on [RDY]
If the forced stop signal is assigned to a sequence input terminal, the ready for servo-on [RDY]
signal is turned on with the servo-on [S-ON] signal and forced stop signal turned on, so that the
output shaft of the servomotor becomes ready to rotate. To assign the ready for servo-on signal to
a sequence output terminal, specify the corresponding value ("1") to the output terminal function
setting parameter.
(2) Forced stop detection
When the forced stop signal is turned off (under position or speed control for VS type), the forced
stop detection signal is turned on so that external equipment recognizes.
To assign forced stop detection to a sequence output terminal, specify the corresponding value
("41") to the output terminal function setting parameter.
(3) State of forced stop
If the forced stop signal is turned off under position or speed control (VS type), the servomotor is
stopped in the zero speed state with the zero rotation speed command. At this time, all rotation
commands are ignored.
The present position is not retained in the zero speed state. Because the present position is
controlled, there is no need to perform a homing motion again even if the forced stop signal is
turned off. Turn the forced stop signal on to arrange the state ready to operate.
After removing the forced stop signal, there is no need to issue an alarm reset signal.
If the forced stop signal is turned off under torque control (VS type), the torque command becomes
zero and the servomotor free-run.
2-50
Description of I/O Signals
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