— 7-1 —
7. Operational Function
7.1. Control Input
7.1.1. Emergency Stop: EMST
The input EMST turns the Motor servo off and stops the Motor by the dynamic brake.
Table 7-1: Signal logic of the input EMST (shipping set: normally closed)
Logic Description
OFF
Emergency stop
ON
Normal
◊ The shipping set of polarity of the input EMST is the normally closed contact (B
contact). It can be changed to the normally open contact. Refer to “8.1.3.1. Editing
Control Input” for the way of changing the polarity.
If the input EMST is turned OFF, the Motor servo is off and it stops by the dynamic brake.
No operation commands are accepted while the input EMST is OFF.
The output DRDY (Driver Unit ready) opens in the state of emergency stop.
Table 7-2: State of emergency stop
7 segments
LED
Command TA (Tell alarm status) Description Motor state
F4
F4 > Emergency Stop
Emergency stop Servo-off
The state of emergency stop may not be established if the input EMST signal is not being OFF
longer than 1 [ms].
Fig 7-1: Signal timing of the input EMST.
Motor motion
closed
open
ON
OFF
Output DRDY
InputEMST
Output SVST
closed
open
closed
open
Output BUSY
closed
open
Ouput IPOS
(FW <
0: CFIN)
(FW =
0: IPOS)
close
open
Output IPOS
(FW >
0: FIN)
Input SVON
ON
OFF
Max. 1 ms
Max. 1 ms .
Max. 1 ms
Max. 1 ms
Min. 1 ms
Stops with dynamic brake
Max. 170 ms (Max. 3.2 s
)
¹
1
¹
1) It takes 3.2 seconds to activate the Motor
servo for the first time after turning on the
main
ower.
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