NSK EDD Megatorque Motor - Stop: STP

7. Operational Function
— 7-7 —
7.1.6. Stop: STP
 This input stops all operations and prohibits entering positioning commands.
 The input can be used for stopping the Motor in the middle of positioning and for the interlock signal for a
positioning start command.
Table 7-9: Signal logic of the input STP
Logic
Description
OFF
Positioning
ON
Starts deceleration. Prohibits positioning.
 Effects on the internal positioning command
 An activation of the input STP in the middle of positioning caused by an internal command, such as
positioning, jogging and Home Return, the Motor decelerates and stops with the deceleration specified at
the positioning operation.
 Once the input STP activates, the Motor decelerates and stops even the input STP is released in
the middle of deceleration.
 When the parameter MD (STP move deceleration) is specified, the System compares the deceleration
between the value of parameter MB and MD and applies the higher deceleration. (The System chooses the
deceleration to stop the Motor quickly.)
Table 7-10: Parameter related to the input STP
Parameter
Function
Initial
setting
Value range
Unit
MD
Deceleration for input
STP
0.0
0.0: Applies the deceleration value currently
programmed in the positioning.
0.1 to 800.0
-
s
-2
 The warning F5 (Program error) occurs if a program start command is ON during the STP is ON.
Fig 7-6: Signal timing of the input STP (Internal command)
Motor motion
MA
MD
ON
OFF
Velocity in
CW or CCW
closed
open
Max. 2 ms
ON
OFF
Input STP
Starting
command
invalid
Max. 1 ms
Min. 1 ms
Max. 1 ms
RUN input
closed
open
OFF
Output WRN
Example: Warning F5: Program error
closed
open
Output BUSY
closed
open
Output IPOS
(FW > 0: FIN)
Max. 0.5 ms
Max. 0.5 ms
Max. 1 ms.
• Closed: when the target position data is secured.
• Open: when the target position data is lost.
Output IPOS
(FW< 0: CFIN)
(FW = 0: IPOS)