Yaskawa MP920 Motion Module - Manual (Page 331)

7.2 Functions
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7
7.2.5 Emergency Stop
The PO-01 Module has a separate emergency stop input signal (DI04) for every axis.
„ Emergency Stop Procedure
The emergency stop procedure consists of either an immediate stop through hardware or
deceleration to a stop through software. Either procedure can be selected through motion
fixed parameters.
When an emergency stop signal (DI04) is input, the machine will stop according to one of
the preceding stop procedures and the deceleration to a stop signal (IW††01 bit 4) in the
emergency stop signal motion parameter will turn ON.
The PO-01 Module position when the emergency stop signal is input (PO-01 Module control
position) will also be held if the machine comes to an emergency stop through hardware, but
this position may not be the actual machine system stop position depending on various fac-
tors, such as being out of step due to the emergency stop or because of load conditions. If the
position is incorrect, clear the motion command code, reset the alarm after the emergency
stop is canceled, return to the zero point, and reset the position.
„ Procedure for Canceling an Emergency Stop
This section describes the procedure for canceling an emergency stop.
1. Cancel the emergency stop input signal (DI04).
2. Turn OFF Excitation ON (OW††01 bit 0).
3. Turn ON and then OFF the Cancel Bit for the Emergency Stop/Deceleration Stop Signal
(OW††01 bit 11).
Note: The emergency stop/deceleration stop signal will not be canceled
simply by canceling the emergency stop input signal (DI04). If emer-
gency stop/decelerate to a stop is canceled, then the emergency stop/
deceleration stop signal (IW††01 bit 4) in the motion monitoring
parameters will turn OFF.
4. Clear the motion command code (OW††20) to 0.
Note: If an emergency stop signal (DI04) is input while the axis is moving,
then Command Error End (IW††15 bit 5) will turn ON. Operation
cannot be restarted in this case.
Command Error End (IW††15 bit 5) can be canceled (turned OFF)
by setting the motion command code (OW††20) to 0.
Table 7.8 Emergency Stop Parameters
Motion Fixed
Parameter
Name Description
No. 14 Bit 5 Emergency
Stop Signal
Selection Selects an emergency stop procedure when the emergency
stop signal (DI04) is input.
0: Emergency stop: Immediate stop through hardware
1: Deceleration to a stop: Deceleration to a stop through soft-
ware. The rate of deceleration is set in motion setting
parameter OW††0D.