Soft Stop
Stops the communication, but doesn't cut down the power, among the axis and the pc. Therefore motors hold their positions. Should be implemented separately for platform and arm.
Contents
Hardware
You need to buy an emergency stop button (can be bought in most electronic shops). They all function in the same way, which is a "Normally closed push-button"
Usually Emergency stop buttons have 4 pins (industrial safety regulations require the safety systems to be redundant), however, to enable hard stop in youBot you only need 2 pins. Remaining two can be shorted.
Connecting
Arm
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. 1.1 Connect a switch to the stop interface of the connector board After removing the „stop jumper“ you can now connect a switch to the stop interface of the connector 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.
Base
The base masterboard provides a soft stop mechanism which will disable any communication between the four axes/wheel controllers and any external device. A communication loss will put the modules into a safe mode. 2.1 Remove Jumper first
The masterboard contains a single jumper which bypasses the soft stop functionality of the board . In order to use the stop functionality you have to remove this jumper first. 2.2 Connect a switch to the SOFT_STOP connector
After removing the „stop jumper“ you can now connect a switch to the SOFT_STOP connector of the masterboard (see picture above for the connector). 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 JST B3B-PH connector see the table below.
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