Emergency Stop Parameters

Emergency stop parameters are parameters related to the emergency stop function. These parameters are set using functions such as SetParam and SetEmergencyStopParam.

This page contains explanations for the following emergency stop parameters:

• E-Stop Dec

• Enable E-Stop Signal

• E-Stop Signal Source

• E-Stop Signal Level

• Invert E-Stop Signal Polarity

• E-Stop Signal Byte Address

• E-Stop Signal Bit Address

• Enable E-Stop Status Signal

• E-Stop Status Signal Destination

• Invert E-Stop Status Signal Polarity

• E-Stop Status Signal Byte Address

• E-Stop Status Signal Bit Address

• E-Stop Level 1 Type

E-Stop Dec
Variable Name:	eStopDec
Type:	double
Unit:	user unit / second^2
Minimum Value:	1
Maximum Value:	274877906943
Default Value:	10000

The deceleration to stop the axis at when the axis is stopped using E-Stop (emergency stop) with with an EStopLevel of Level1.

Enable E-Stop Signal
Variable Name:	enableEStopSignal
Type:	bool
Default Value:	FALSE

Set to TRUE to assign an input, output, or user memory bit to trigger and release the E-Stop (emergency stop).

When the assigned signal bit is set high, an emergency stop will be triggered, and when it is set low, the emergency stop will be released.

An emergency stop can still be triggered by other methods (such as the ExecEStop function or the ExecEStop event) regardless of the value of this parameter.

The assigned signal bit will release the emergency stop on a falling edge (when the bit changes from high to low). If an emergency stop is triggered by another source while the signal bit is low, the emergency stop will not be released until the signal bit is set high for at least 1 cycle and then back low again. (The emergency stop can also be released with the ReleaseEStop function.)

The assigned signal bit will keep the system in emergency stop state continuously as long as it is high. While the signal bit is high, the ReleaseEStop function will not release the emergency stop (the EmergencyStopSignalOn error will be returned).

Axes cannot be commanded while in emergency stop state. Also see the discussion at ExecEStop.

E-Stop Signal Source
Variable Name:	eStopSignalSource
Type:	EStopSignalSource
Default Value:	Input

The source (input, output, or user memory) of the emergency stop signal. This parameter has no effect if the Enable E-Stop Signal parameter is set to FALSE.

If this parameter is set to Input, an I/O input bit will trigger the emergency stop.

If this parameter is set to Output, an I/O output bit will trigger the emergency stop.

If this parameter is set to UserMemory, a bit in the user memory space will trigger the emergency stop. See UserMemory for additional information regarding the user memory space.

E-Stop Signal Level
Variable Name:	eStopSignalLevel
Type:	EStopLevel
Default Value:	Level1

The level of the emergency stop that is triggered by the emergency stop signal. This parameter has no effect if the Enable E-Stop Signal parameter is set to FALSE.

See EStopLevel for additional information regarding the emergency stop levels.

Invert E-Stop Signal Polarity
Variable Name:	invertEStopSignalPolarity
Type:	bool
Default Value:	FALSE

If set to TRUE, the emergency stop signal polarity will be inverted so that the emergency stop is triggered when the signal is low and released when the signal is high. This parameter has no effect if the Enable E-Stop Signal parameter is set to FALSE.

E-Stop Signal Byte Address
Variable Name:	eStopSignalByteAddress
Type:	unsigned int
Minimum Value:	0
Maximum Value:	See Below
Default Value:	0

The maximum value for this parameter depends on the value of the E-Stop Signal Source parameter, and is summarized in the following table:

E-Stop Signal Source	Maximum Value
Input	maxIoInSize - 1
Output	maxIoOutSize - 1
UserMemory	maxUserMemoryBytes - 1

The byte address of the emergency stop signal. This parameter has no effect if the Enable E-Stop Signal parameter is set to FALSE.

E-Stop Signal Bit Address
Variable Name:	eStopSignalBitAddress
Type:	unsigned char
Minimum Value:	0
Maximum Value:	7
Default Value:	0

The bit address of the emergency stop signal. This parameter has no effect if the Enable E-Stop Signal parameter is set to FALSE.

Enable E-Stop Status Signal
Variable Name:	enableEStopStatusSignal
Type:	bool
Default Value:	FALSE

Set to TRUE to assign an output or user memory bit to show the triggered state of the E-Stop (emergency stop).

The assigned signal bit will be set to high while the emergency stop has been triggered and low while the emergency stop is released. This signal bit will contain the same value as the Emergency Stop status.

E-Stop Status Signal Destination
Variable Name:	eStopStatusSignalDestination
Type:	EStopStatusSignalDestination
Default Value:	Output

The destination (output or user memory) of the emergency stop status signal. This parameter has no effect if the Enable E-Stop Status Signal parameter is set to FALSE.

If this parameter is set to Output, the emergency stop status will be copied to an output bit.

If this parameter is set to UserMemory, the emergency stop status will be copied to a bit in the user memory space. See UserMemory for additional information regarding the user memory space.

Invert E-Stop Status Signal Polarity
Variable Name:	invertEStopStatusSignalPolarity
Type:	bool
Default Value:	FALSE

If set to TRUE, the emergency stop status signal polarity will be inverted so that the signal is low while the emergency stop is triggered and high while the emergency stop is released. This parameter has no effect if the Enable E-Stop Status Signal parameter is set to FALSE.

E-Stop Status Signal Byte Address
Variable Name:	eStopStatusSignalByteAddress
Type:	unsigned int
Minimum Value:	0
Maximum Value:	See Below
Default Value:	0

The maximum value for this parameter depends on the value of the E-Stop Status Signal Destination parameter, and is summarized in the following table:

E-Stop Status Signal Destination	Maximum Value
Output	maxIoOutSize - 1
UserMemory	maxUserMemoryBytes - 1

The byte address of the emergency stop status signal. This parameter has no effect if the Enable E-Stop Status Signal parameter is set to FALSE.

E-Stop Status Signal Bit Address
Variable Name:	eStopStatusSignalBitAddress
Type:	unsigned char
Minimum Value:	0
Maximum Value:	7
Default Value:	0

The bit address of the emergency stop status signal. This parameter has no effect if the Enable E-Stop Status Signal parameter is set to FALSE.

E-Stop Level 1 Type
Variable Name:	eStopLevel1Type
Type:	EStopLevel1Type
Default Value:	Dec

The action to take when a Level1 E-Stop (emergency stop) is triggered. This parameter affects all Level1 emergency stops, whether it was triggered by the ExecEStop function, the ExecEStop event, or the emergency stop signal set with Enable E-Stop Signal.