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
