Soft Stop
WHAT IS SOFT STOP
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.
