CHAPTER 2 WIRING
Forced stop [EMG]: Sequence input signal (Reference value 10)
This signal is used to forcibly stop the servomotor.
Function
The servomotor is forcibly stopped while the forced stop [EMG] signal remains turned on
2
(switch:open).
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) provided on the operation panel or similar is
connected in regular cases.
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.
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 off
(switch:closed), 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 on (switch:open), 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 on (switch:open) under position or speed control, 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 on (switch:open). Turn the forced stop signal off (switch:closed) to arrange the state ready
to operate.
If the forced stop signal is turned on (switch:open) under torque control, the torque command
becomes zero and the servomotor free-run.
After removing the forced stop signal, there is no need to issue an alarm reset signal.
2-30 Description of I/O Signals
