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Soft-Stop functionality

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Soft-Stop functionality
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The arm masterboard provides a soft stop mechanism which will disable any communication among the five arm axes controllers and any external devices. A communication loss will put the modules into a safe mode, resulting in an immediate stopping of the axes. 
For enabling the soft-stop funcionality, you need to connect a switch to the stop interface of the connector board which is shown in the following figure: 

soft_stop_board
If the SOFT_STOP pin is connected to the ground, the etherCAT communication is activated. If it is open, the communication and the joints will stop. For the pin configuration of the RJ11 (6P4C) connector see the table below.

soft_stop_connector