Shutdown Input

When enabled, the controller goes into a shutdown state when the shutdown signal goes from a low to high transition. The following actions take place in the shutdown state:

• All the axes are killed. On servo axes, the control loop is disabled and the output DACs are zeroed, allowing frictional forces alone to stop the motion. On stepper axes, the stepper pulse generation is stopped. On both axis types, there is no trajectory profile. If enabled, the inhibit output is activated to inhibit (disable) the servo amplifier or stepper driver. You can enable the inhibit outputs and set their polarity as active high or active low with the Configure Inhibit Outputs function.
• All the axes, encoders and ADCs are disabled.
• All the digital I/O is re-initialized to defaults. If the user has saved defaults using the Save Default Parameters function, the digital I/O is re-initialized to the user defaults, otherwise it is re-initialized to the factory defaults.
• All currently running onboard programs are stopped.
• The controller does not accept any functions, except for the following:
• Get Motion Board Information
• Read Error Message
• Enable Auto Start
• Read Variable

The shutdown functionality is disabled by default on power up. This functionality has to be enabled every time the controller is powered up. You must enable this feature only after the shutdown (E-Stop) circuit is properly configured and connected to the controller. After shutdown (E-Stop) is enabled, it can be disabled only by resetting or power cycling the controller.

Note  After the controller has shut down, you have to reset it or power cycle it before it can be used again.

Note  The active state of the shutdown (E-Stop) line is low. To prevent the controller from shutting down prematurely, the line must be high (inactive) when you enable shutdown (E-Stop).