EmergencyStopFaultInput Parameter
Default Value: -1
Minimum Value: -2
Maximum Value: 23
Units: None
Type: int
Parameter Settings and Values
This table shows the value of the configuration for the parameter setting.
Table: Parameter Settings, Configurations, and Values
| Setting | Configurations |
|---|---|
|
ESTOP Input |
None |
|
Dedicated Input |
|
|
Input 0 |
|
|
Input 1 |
|
|
Input 2 |
|
|
Input 3 |
|
|
Input 4 |
|
|
Input 5 |
|
|
Input 6 |
|
|
Input 7 |
|
|
Input 8 |
|
|
Input 9 |
|
|
Input 10 |
|
|
Input 11 |
|
|
Input 12 |
|
|
Input 13 |
|
|
Input 14 |
|
|
Input 15 |
|
|
Input 16 |
|
|
Input 17 |
|
|
Input 18 |
|
|
Input 19 |
|
|
Input 20 |
|
|
Input 21 |
|
|
Input 22 |
|
|
Input 23 |
IMPORTANT: The controller generates an axis fault only if you set the corresponding bit in the FaultMask Parameter. When an axis fault is generated, you can configure what the axis does by changing the state of the corresponding bit in the FaultMaskDecel Parameter, the FaultMaskDisable Parameter, and the FaultMaskDisableDelay Parameter.
When the controller detects an Emergency Stop Fault Axis Fault on one axis, it automatically generates the fault on all system axes for which the corresponding bit is set in the FaultMask parameter.
HARDWARE: On the iXR3 and XR3, you can use this parameter only on the first axis because all digital inputs are connected only to the first axis.
The EmergencyStopFaultInput parameter specifies the digital input that the controller uses as the Emergency Stop (ESTOP) sense input. You can connect an ESTOP switch or circuit to a dedicated input or to one of the standard digital inputs. Drives without a dedicated input must use a digital input number. To determine if your drive has a dedicated input, refer to the hardware manual. The input is always fail safe, which means that the ESTOP condition occurs if the dedicated input is not driven or when the digital input is not connected.
The GL4 and the XL4s have a dedicated ESTOP input. To use this input, select the Dedicated Input option for the EmergencyStopFaultInput parameter.
As an alternative, you can use the SoftwareEmergencyStopInput Parameter to specify a digital binary input to be used as a software ESTOP for the system. This method is approximately 5 milliseconds slower than the EmergencyStopFaultInput drive method but supplies more choices for the input signal.
For drives with Safe Torque Off (STO) functionality, the Dedicated Input option relates to the STO inputs. In this configuration, an ESTOP condition occurs when you remove power from one or both of the STO inputs. As a result, the drive does a controlled stop and disables the axis before the hardware enters the STO state.
HARDWARE: On drives with Safe Torque Off (STO) functionality, the STO hardware functionality stays active and does not change based on the settings of the EmergencyStopFaultInput and FaultMask parameters. The software functionality supplied by the Emergency Stop fault is not safety rated. For information about the Safe Torque Off (STO) hardware feature that is safety rated, refer to the hardware manual for your drive.
For more information about how the software parameters are usually configured with STO, refer to the hardware manual for your drive. You can download your manual from the Manuals & Help Files section of www.aerotech.com.
