The Commander core has an emergency stop (/CEMG) input for dedicated use as an emergency stop signal.  When in operation, if the /CEMG input goes low or the ESTOP command is sent, all axes will stop immediately.  No axis can operate while the /CEMG signal is low.

The logical input of the /CEMG input cannot be changed.


Note: In a normal stop operation, the final pulse width is normal.  However, in an emergency stop operation, the final pulse width may not be normal.  As such the motor drivers may not recognize the last pulses, and therefore the Commander core internal counter may not match the mechanical position.  Therefore, after an emergency stop, it is recommended that you perform a homing operation to match the command and mechanical positions.


Emergency stop error

No axis can operate while the /CEMG signal is low. 

By default when IERR=0, any axis that is operating when the /CEMG signal goes low or the ESTOP command is sent will set an EMG error flag MST[axis](bit16) for that axis. In addition, any axis that tries to start operating while the /CEMG signal is low will set an EMG error flag for that axis.  Any axis with a set EMG error flag cannot operate until the EMG error flag has been cleared.  However, if an axis was not moving when the /CEMG or ESTOP was triggered, the EMG error flag will not be set for that axis, and thus that axis can operate immediately after the /CEMG input is cleared.

To clear the EMG error flag, use the CLR[axis] command in ASCII mode or the ECLEAR[axis] command in standalone mode. ECLEAR[axis] only works in SUB 31 as part of the standalone error handling function.  See section 2.7.5  Error Handling for more information.

The EMG error flags are ignored by setting IERR=1. In this case, all axes will still stop when /CEMG is triggered or ESTOP command is sent; and all axes can operate again immediately after the /CEMG input is cleared.