Emergency stop

Emergency stop brakes the kinematic model to standstill using the ramps set for the current operating mode. An emergency stop occurs in the following situations:

• Fault status of a software module
• When canceling the enable signal: In this case, the enable state of the individual axis is automatically canceled after standstill is reached; as a result, emergency stop is activated by means of the brakes or the inverter controllers.

Emergency stop is not used if the inverter reports a fault or if controller inhibit is set. In this case, each inverter uses the emergency stop ramp configured in the inverter to brake and decelerate its drive.