How to troubleshoot EtherCAT five-phase stepper drive EMG error

Explanation of EMG:

• This is a DI point, and this signal must remain in the Off state for the normal operation of driving the five-phase motor
• The EMG signal is primarily used for the safety mechanism during axis movement, such as when a door is opened or a sensor is triggered to prevent safety issues
• The default for the EMG in a five-phase stepper drive is a normally closed type sensor (or contact) switch
• During Servo-On mode, it will act as follows:
     – When EMG is On, all motion output commands will be rejected, and the module will enter an emergency stop state until the EMG signal is cleared
     – Besides the flashing EMG indicator light on the module, an error message will also be uploaded to the master station

EMG contact point and connection

How to troubleshoot?

• For actual sensor connection:
     – Verify if the connected EMG sensor is a normally closed type sensor or contact switch
          – 若If it is a normally open type sensor
               – Replace it with a normally closed type sensor
               – Alternatively, use the MyDrive tool to modify the EMG logic: Normal_Low  Normal_High
     – Ensure that the EMG connection points are correctly wired

• For non-sensor connection method:
     – Configure using the MyDrive tool
          – Change the default normally closed contact type(Normal_Low)  to normally open contact type(Normal_High)  and save to Flash
     – Directly short-circuit EMG with GND