ESTOP – Emergency Stop
ESTOP is the software equivalent of triggering the /CEMG input. While the /CEMG input is low or the ESTOP command is received, all moving axes stop immediately, and no axis can start moving. By default, any axis stopped or prevented from moving by ESTOP or /CEMG triggers an EMG error MST[axis](bit16). The software must clear this error before the motion can resume. This command is write-only.
Applies to: CMD-4CR, CMD-4EX-SA
ASCII ESTOP
Syntax:
Write:
ESTOP
Reply
Command is accepted and executed
Write:
OK * Status becomes an EMG error
Command cannot be processed
An error message is returned. See Error Codes
Example:
Write: ESTOP * Stops all axes immediately and EMG error flag is set
Notes:
- ESTOP turns off the buffered move.
- The final pulse width may not be as expected in an emergency stop operation. As such, the motor drivers may not recognize the last pulses, so the Commander internal counter may not count these pulses. Therefore, after an emergency stop, the best practice is to perform a home routine to match the command position with the mechanical position.
- By default, IERR=0 triggers an EMG error MST[axis](bit16) for the axes moving when the /CEMG input is low, or the ESTOP command is received. No axis can operate while the /CEMG signal is low, and an axis cannot operate until clearing the EMG error. An EMG error trigger for any axis that tries to operate while the /CEMG signal is low. However, if an axis was not moving when the /CEMG or ESTOP was triggered, the EMG error is not set for that axis, and thus that axis can operate immediately after the /CEMG input goes high.
- By setting IERR=1, the EMG error state is ignored. The motor stops when the appropriate switch is triggered or the command sent; however, it does not enter an error state.
- To clear the EMG error, use the CLR[axis] command to clear the error in ASCII mode or the ECLEAR[axis] command in standalone mode.
See also:
Stop Motion, Limits/Safety Setup,